Evaluation Methods and Devices for Bird Collision Warning Devices on Overhead Transmission Lines

Abstract

This invention relates to the field of power protection technology, and discloses a method and device for evaluating the effectiveness of bird collision warning devices for overhead transmission lines. The evaluation method includes: acquiring satellite signals, correcting the satellite signals using carrier phase differential technology to calculate bird position information, acquiring bird flight characteristics using a flight attitude inertial sensing module, and analyzing the bird position information and flight characteristics to obtain the bird flight trajectory; constructing a three-dimensional model of the overhead transmission line using laser point cloud technology; superimposing the bird flight trajectory with the three-dimensional model of the overhead transmission line, analyzing the safe distance between the bird and the line, and evaluating the effectiveness of the warning device based on the safe distance. RTK and inertial sensing modules are used to obtain the spatial trajectory of bird flight, and then the spatial distance between the bird and the overhead line is analyzed; by comparing changes in behavioral parameters such as the offset of the bird flight trajectory, the minimum approach distance, and attitude adjustments, the avoidance effect of the warning device is quantitatively evaluated.

Description

Technical Field

[0001] This invention relates to the field of power protection technology, specifically to a method and device for evaluating the effectiveness of bird collision warning devices for overhead transmission lines. Background Technology

[0002] Currently, the problem of birds accidentally colliding with overhead power lines is receiving increasing attention, especially with the growing demand for the protection of rare bird species. Internationally, a large number of birds are injured or killed each year due to collisions with overhead power lines. Experts have developed various measures to prevent bird collisions, but scientific methods for evaluating their effectiveness are lacking. Current methods for monitoring birds flying over overhead lines involve video cameras, manually tracing the birds' flight path, or recording their flight characteristics. However, these methods cannot obtain accurate behavioral characteristics of birds flying over overhead power lines, making it difficult to analyze the effectiveness of warning devices and failing to meet the requirements for refined bird collision prevention. Summary of the Invention

[0003] In view of this, the present invention provides a method and device for evaluating the effectiveness of bird collision warning devices for overhead transmission lines, in order to solve the problem that existing bird prevention measures for overhead transmission lines lack scientific means of effectiveness evaluation.

[0004] In a first aspect, the present invention provides a method for evaluating the protective effect of a bird collision warning device for overhead transmission lines, the method comprising:

[0005] Satellite signals are collected by an RTK tracking device carried by the bird. The satellite signals are corrected by carrier phase differential technology to calculate the bird's position information. The bird's flight characteristics are collected by a flight attitude inertial sensor module. The bird's flight trajectory is obtained by analyzing the bird's position information and flight characteristics.

[0006] A three-dimensional model of an overhead power transmission line was constructed using laser point cloud technology.

[0007] The flight paths of birds are superimposed on a three-dimensional model of an overhead power line to analyze the safe distance between the birds and the line, and the effectiveness of the warning device is evaluated based on the safe distance.

[0008] This invention provides a method for evaluating the effectiveness of bird collision warning devices for overhead power transmission lines. By integrating RTK positioning and inertial navigation, it achieves precise dynamic analysis of the spatial relationship between bird flight trajectories and power transmission lines, filling a technological gap in this field and providing an innovative solution for evaluating the effectiveness of bird-proofing devices. It employs a bird-line safety distance analysis method combined with a three-dimensional model to achieve a three-dimensional spatial representation of the overhead power transmission line, and uses RTK and inertial sensing modules to obtain the spatial trajectory of birds, thereby analyzing the spatial distance between the birds and the overhead lines. By comparing changes in behavioral parameters such as the offset of bird flight trajectories, minimum approach distance, and attitude adjustments, the avoidance effect of the warning device is quantitatively evaluated.

[0009] In one optional implementation, satellite signals are acquired using an RTK tracking device carried by the bird. Carrier phase differential technology is used to correct the satellite signals to calculate the bird's position information. A flight attitude inertial sensing module is used to acquire the bird's flight characteristics. The bird's position information and flight characteristics are analyzed to obtain its flight trajectory, including:

[0010] The base station is fixed at a preset coordinate point, and the first satellite signal is received through the base station receiver, generating differential correction numbers containing error information.

[0011] The receiver of the RTK tracking device receives the signal from the second satellite.

[0012] The second satellite signal is corrected based on the differential correction to obtain the third satellite signal;

[0013] By learning the normal phase change patterns and cycle slip features in historical bird location information, a cycle slip recognition model is constructed.

[0014] The cycle slip identification model is used to perform real-time analysis of the third satellite signal to identify abnormal jump points;

[0015] Bird flight characteristics are collected by the flight attitude inertial sensing module, and abnormal jump points are corrected based on the bird flight characteristics to obtain the fourth satellite signal;

[0016] The bird's location coordinates are calculated based on the fourth satellite signal, and the bird's location coordinates include longitude, latitude, and altitude.

[0017] In one optional implementation, satellite signals are acquired using an RTK tracking device carried by the bird. Carrier phase differential technology is used to correct the satellite signals to calculate the bird's position information. A flight attitude inertial sensing module is used to acquire the bird's flight characteristics. The bird's position information and flight characteristics are analyzed to obtain its flight trajectory. The method further includes:

[0018] Based on the characteristics of bird flight, the cutoff altitude angle is dynamically optimized.

[0019] In one alternative implementation, the method includes:

[0020] When birds enter the preset range of the power transmission line, the proximity sensing unit is used to activate the RTK tracking device and the flight attitude inertial sensing module.

[0021] In one optional implementation, when a bird enters a preset range of the power transmission line, the proximity sensing unit is used to activate the RTK tracking device and the flight attitude inertial sensing module, including:

[0022] When the proximity sensing unit is powered on, an environmental electromagnetic baseline is established through self-calibration, and the zero-point drift of the sensor in the proximity sensing unit is periodically corrected.

[0023] An axially optimized coil layout is adopted to monitor the rate of change of electromagnetic field intensity in real time.

[0024] When a valid gradient signal with a continuous preset period is detected and its amplitude exceeds a set threshold, the subsequent RTK tracking device and flight attitude inertial sensing module are woken up in stages.

[0025] In one alternative implementation, a three-dimensional model of the overhead transmission line is constructed using laser point cloud technology, including:

[0026] Point cloud data is acquired using airborne lidar or ground-based mobile scanning equipment.

[0027] Extract conductors and towers to generate a power transmission and transformation equipment model with semantic information;

[0028] The RANSAC algorithm was used to fit the catenary equation of the conductor. The catenary equation of the conductor was then combined with the power transmission and transformation equipment model to assemble a three-dimensional model of the overhead transmission line.

[0029] In one optional implementation, the bird flight trajectory is overlaid with a three-dimensional model of the overhead transmission line to analyze the safe distance between the birds and the line, including:

[0030] A three-dimensional model of the overhead line was created with the center pile of the small side tower of the analysis section as the origin. Based on the characteristics of the flexible cable structure of the overhead transmission line, the spatial morphology of the overhead line was fitted by a quadratic equation.

[0031] The bird flight trajectory was transformed in three dimensions to obtain a spatial coordinate sequence with the center pile of the small side tower of the analysis section as the origin.

[0032] Calculate the distance between each spatial sequence coordinate point and the overhead line spatial curve to obtain the safe distance between birds and the line.

[0033] Secondly, the present invention provides a device for evaluating the effectiveness of bird strike prevention warning devices for overhead transmission lines, the device comprising:

[0034] The data acquisition module is used to acquire satellite signals through the RTK tracking device carried by the bird, correct the satellite signals using carrier phase differential technology to calculate the bird's position information, acquire the bird's flight characteristics using the flight attitude inertial sensing module, and analyze the bird's position information and the bird's flight characteristics to obtain the bird's flight trajectory.

[0035] The model building module is used to construct three-dimensional models of overhead transmission lines using laser point cloud technology.

[0036] The effect evaluation module is used to overlay bird flight trajectories with a three-dimensional model of overhead power transmission lines, analyze the safe distance between birds and the lines, and evaluate the effectiveness of the warning device based on the safe distance.

[0037] This invention provides an evaluation device for the effectiveness of bird collision warning devices on overhead power transmission lines. By integrating RTK positioning and inertial navigation, it achieves precise dynamic analysis of the spatial relationship between bird flight trajectories and power transmission lines, filling a technological gap in this field and providing an innovative solution for evaluating the effectiveness of bird-proofing devices. It employs a bird-line safety distance analysis method combined with a three-dimensional model to achieve a three-dimensional spatial representation of the overhead power transmission line, and uses RTK and inertial sensing modules to obtain the spatial trajectory of birds, thereby analyzing the spatial distance between the birds and the overhead lines. By comparing changes in behavioral parameters such as the offset of bird flight trajectories, minimum approach distance, and attitude adjustments, the avoidance effect of the warning device is quantitatively evaluated.

[0038] Thirdly, the present invention provides a computer device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the above-described method for evaluating the effectiveness of the bird collision warning device for overhead transmission lines according to the first aspect or any corresponding embodiment.

[0039] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the method for evaluating the prevention effect of the overhead transmission line bird collision warning device according to the first aspect or any corresponding embodiment described above. Attached Figure Description

[0040] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0041] Figure 1 This is a flowchart illustrating the method for evaluating the effectiveness of bird collision warning devices for overhead transmission lines according to an embodiment of the present invention.

[0042] Figure 2 This is a schematic diagram of point selection according to an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the θ angle according to an embodiment of the present invention;

[0044] Figure 4 This is a time history diagram of the bird line distance before the installation of the warning device according to an embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of the bird line distance time history after the installation of the warning device according to an embodiment of the present invention;

[0046] Figure 6 This is a time history diagram of the bird's pitch angle before the installation of the warning device according to an embodiment of the present invention;

[0047] Figure 7 This is a time history diagram of the bird's pitch angle after the warning device is installed according to an embodiment of the present invention.

[0048] Figure 8 This is a structural block diagram of a method for evaluating the prevention effect of a bird collision warning device for overhead transmission lines according to an embodiment of the present invention;

[0049] Figure 9 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Existing bird-proofing measures for overhead transmission lines lack precise and quantifiable methods for effectiveness evaluation, making it difficult to scientifically verify the actual protective effectiveness of bird-proofing devices. Specifically, this manifests in the following technical challenges:

[0052] Outdated evaluation methods: Traditional methods that rely on manual observation or ordinary video surveillance cannot accurately capture the micro-behaviors of birds when they are near electricity (such as flight trajectory deviation and attitude adjustment), resulting in a high degree of subjectivity and insufficient data support in the evaluation of the effectiveness of bird deterrent devices.

[0053] Deficiencies in monitoring technology: Existing bird tracking technologies (such as ordinary GPS) suffer from low positioning accuracy (meter level) and low sampling frequency, and cannot simultaneously record the real-time spatial relationship between bird flight posture and power transmission lines.

[0054] Data disconnect: There is a lack of means to integrate and analyze bird behavior data with the three-dimensional spatial information of power transmission lines, making it difficult to quantify the safe distance between birds and power lines and to build a digital model of the "bird-line" interaction behavior.

[0055] According to an embodiment of the present invention, an embodiment of a method for evaluating the prevention effect of a bird collision warning device for overhead transmission lines is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0056] This embodiment provides a method for evaluating the effectiveness of bird strike prevention warning devices for overhead transmission lines. Figure 1 This is a flowchart of a method for evaluating the effectiveness of a bird-collision warning device for overhead transmission lines according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps:

[0057] Step S1: Satellite signals are collected using the RTK tracking device carried by the bird. The satellite signals are corrected using carrier phase differential technology to calculate the bird's position information. The bird's flight characteristics are collected using the flight attitude inertial sensor module. The bird's flight trajectory is obtained by analyzing the bird's position information and flight characteristics.

[0058] Specifically, the bird flight monitoring device is a backpack-style unit that can be mounted on a bird's back, with a weight kept below 100g. Considering the entire device is designed for bird use, lightweight RTK boards, antennas, and housings are employed. Miniaturized, lightweight antennas are selected, and carbon fiber is recommended for the housing. The bird flight monitoring system includes an RTK tracking device, a proximity induction trigger module, a flight attitude inertial sensing module, a solar power supply, and a communication module. The solar power supply features a dynamic voltage regulation design, with a sleep power consumption of only 0.05W, meeting the needs of long-term field monitoring. The communication module uses the Air780 series chip and employs a 4G network to transmit data to a server for subsequent analysis.

[0059] The RTK tracking device employs a multi-band GNSS receiver, integrates a high-precision antenna, and supports joint calculations from multiple systems including GPS, BeiDou, and GLONASS, achieving a positioning update rate of 20Hz. The RTK tracking device incorporates a low-noise amplifier (LNA) and an anti-interference filter to ensure stable operation in complex electromagnetic environments, achieving a horizontal positioning accuracy of ±1cm and a vertical accuracy of ±2cm. The RTK tracking device utilizes carrier phase differential technology, eliminating ionospheric errors and multipath effects through real-time data linkage between the base station and the rover.

[0060] The bird flight monitoring device is equipped with an inertial measurement unit (IMU) module to identify the flight characteristics of birds. For large birds such as black-necked cranes and white cranes, their normal flight is stable. By collecting data on whether birds rise (descend), accelerate or decelerate, turn, or tilt when encountering overhead power lines, the device analyzes and determines whether there are changes in the bird's flight behavior when encountering overhead power lines and warning devices. The ADIS16507 six-axis sensor is selected as the core module of the inertial measurement unit.

[0061] Step S2: Construct a three-dimensional model of the overhead transmission line using laser point cloud technology.

[0062] Specifically, step S2 above includes:

[0063] Step S21: Acquire point cloud data using airborne lidar or ground-based mobile scanning equipment.

[0064] Step S22: Extract conductors and towers to generate a power transmission and transformation equipment model with semantic information.

[0065] Step S23: The RANSAC algorithm is used to fit the catenary equation of the conductor, and the catenary equation of the conductor is combined with the power transmission and transformation equipment model to assemble a three-dimensional model of the overhead transmission line.

[0066] In this embodiment of the invention, a three-dimensional model of an overhead transmission line is constructed using laser point cloud technology. The specific process includes data acquisition, point cloud preprocessing, three-dimensional modeling, and analysis and application. First, high-precision point cloud data is acquired using airborne LiDAR or ground-based mobile scanning equipment. UAV aerial surveys cover a large area of ​​the line (accuracy ±2cm@100m), while ground scanning supplements details such as towers and insulators (error <5mm). During data acquisition, the flight path overlap rate must be planned (≥30%) and adverse weather conditions must be avoided to ensure data quality. The raw point cloud undergoes preprocessing such as denoising and registration to remove vegetation interference and fuse multi-source data (e.g., infrared thermal imaging). Then, algorithms are used to extract key objects such as conductors and towers, ultimately generating a BIM model with semantic information. In the modeling stage, the RANSAC algorithm is used to fit the catenary equation of the conductors. Laser point cloud scanning is applied to obtain the various components of the line, assembling and constructing a three-dimensional model of the overhead transmission line. The registration of the position and attitude of the transmission and transformation equipment model uses a transformation matrix, performing scaling, translation, and rotation operations on various types of models. The model types are primarily based on the IFC format under the BIM system. In Revit software, the model formats include RVT, and it is also compatible with common model types such as OBJ, STL, FBX, 3DS, and OSGB. 3D model pose registration involves the transformation, matching, and rotation of the model's position and orientation. In a spatial scene, this refers to changes from one location to another, and from one angle to another.

[0067] Step S3: Overlay the bird flight trajectory with the three-dimensional model of the overhead power transmission line, analyze the safe distance between the birds and the line, and evaluate the effectiveness of the warning device based on the safe distance.

[0068] Specifically, the process of overlaying bird flight paths with a 3D model of overhead power lines to analyze safe distances and evaluate the effectiveness of warning devices is as follows:

[0069] First, the bird's flight trajectory is obtained by analyzing the RTK tracking device and the flight attitude inertial sensing module. Then, with the help of three-dimensional spatial transformation, it is converted into a spatial coordinate sequence with the center pile of the small side tower of the analysis section as the origin, forming the flight trajectory of the bird crossing the overhead line. At the same time, a three-dimensional model of the overhead transmission line is constructed by laser point cloud technology, and the spatial morphology of the overhead line is fitted by mathematical expression.

[0070] Subsequently, the bird flight paths were overlaid with the 3D model, and the distance between each trajectory coordinate point and the overhead line's spatial curve was calculated to obtain the safe distance between the birds and the line. When evaluating the effectiveness of the warning device based on this safe distance, the time-history curves of the bird-line distance before and after installation were compared: if the distance between the birds and the line increased after installation, and the birds exhibited obvious avoidance behavior during flight, the device was considered effective; if there was no significant change in distance before and after installation, the device was considered ineffective.

[0071] This invention provides a method for evaluating the effectiveness of bird collision warning devices for overhead power transmission lines. By integrating RTK positioning and inertial navigation, it achieves precise dynamic analysis of the spatial relationship between bird flight trajectories and power transmission lines, filling a technological gap in this field and providing an innovative solution for evaluating the effectiveness of bird-proofing devices. It employs a bird-line safety distance analysis method combined with a three-dimensional model to achieve a three-dimensional spatial representation of the overhead power transmission line, and uses RTK and inertial sensing modules to obtain the spatial trajectory of birds, thereby analyzing the spatial distance between the birds and the overhead lines. By comparing changes in behavioral parameters such as the offset of bird flight trajectories, minimum approach distance, and attitude adjustments, the avoidance effect of the warning device is quantitatively evaluated.

[0072] In one optional implementation, step S1 includes:

[0073] Step S11: Fix the base station at a preset coordinate point, receive the first satellite signal through the base station receiver, and generate a differential correction number containing error information.

[0074] Step S12: Receive the second satellite signal through the receiver of the RTK tracking device.

[0075] Step S13: Correct the second satellite signal according to the differential correction to obtain the third satellite signal.

[0076] Specifically, in RTK tracking devices, carrier phase differential technology is one of the core technologies for achieving high-precision positioning. Carrier phase differential technology eliminates positioning errors through real-time data linkage between the base station and the rover. The base station provides precise reference coordinates, while the rover (the RTK tracking device carried by the bird) receives satellite signals while simultaneously receiving differential data transmitted from the base station. By comparing the carrier phase measurements of the two, factors affecting positioning accuracy, such as ionospheric errors and multipath effects, are calculated and eliminated, resulting in higher-precision position information. With this technology, the positioning accuracy of the RTK tracking device is significantly improved, enabling precise capture of position changes during bird flight. This lays a high-precision data foundation for subsequent matching of bird flight trajectories with 3D models of power transmission lines and spatial distance analysis.

[0077] Step S14: Learn the normal phase change pattern and cycle slip features in the historical bird location information to construct a cycle slip recognition model.

[0078] Step S15: Use the cycle slip identification model to perform real-time analysis on the third satellite signal and identify abnormal jump points.

[0079] Step S16: Collect bird flight characteristics through the flight attitude inertial sensing module, correct abnormal jump points based on bird flight characteristics, and obtain the fourth satellite signal.

[0080] Step S17: Calculate the bird's location coordinates based on the fourth satellite signal. The bird's location coordinates include longitude, latitude, and altitude.

[0081] Specifically, cycle slips refer to discontinuous jumps (integer cycle deviations) in GNSS carrier phase measurements caused by satellite signal obstruction, interference, or receiver malfunctions. If not corrected promptly, these jumps severely impact positioning accuracy. This paper introduces machine learning algorithms to assist in cycle slip detection. By learning from normal phase change patterns and cycle slip characteristics in historical positioning data, a cycle slip identification model is constructed. This model can analyze carrier phase observations acquired by RTK tracking devices in real time, quickly identifying abnormal jump points and distinguishing cycle slips from normal signal fluctuations (such as signal changes caused by rapid bird flight). Once a cycle slip is detected, it is corrected using IMU inertial sensing data to eliminate its impact on positioning results, ensuring the continuity and accuracy of carrier phase measurements. Motion compensation using an IMU integrated with a bird flight monitoring device can compensate for insufficient RTK sampling frequency, correct bird flight trajectories, and resolve issues related to temporary satellite signal obstruction.

[0082] Machine learning is introduced to assist in detecting cycle slips in carrier phase measurement. After detecting cycle slips, raw data such as acceleration and angular velocity from the IMU (Inertial Measurement Unit) are fused. Short-term high-precision trajectory prediction is maintained through inertial sensing data to make up for the positioning gap during signal interruption and improve trajectory continuity.

[0083] In an optional implementation, step S1 further includes:

[0084] Step S18: Dynamically optimize the cutoff altitude angle based on the flight characteristics of birds.

[0085] Specifically, the cutoff elevation angle is a parameter used in satellite navigation and positioning to filter satellite signals, meaning only satellite signals with an elevation angle higher than a certain threshold are received. A lower cutoff elevation angle can receive more satellite signals (including low-altitude satellites), but is more susceptible to obstruction or interference from ground obstacles (such as trees and buildings); a higher cutoff elevation angle can reduce interference signals, but may reduce the number of usable satellites, affecting positioning stability. Birds fly in complex environments, potentially switching between low altitudes, forests, and areas near power lines. Using a fixed cutoff elevation angle would be difficult to adapt to different airspaces. Therefore, the cutoff elevation angle is set within the range of 10° to 30° and dynamically adjusted, allowing the algorithm to adaptively optimize based on the real-time flight environment of birds (such as satellite signal strength and obstruction).

[0086] In one alternative implementation, the method includes:

[0087] Step S0: When birds enter the preset range of the power transmission line, the RTK tracking device and the flight attitude inertial sensing module are activated by the proximity sensing unit.

[0088] Specifically, step S0 above includes:

[0089] Step S01: When the proximity sensing unit is powered on, an environmental electromagnetic baseline is established through self-calibration, and the zero-point drift of the sensor in the proximity sensing unit is periodically corrected.

[0090] Step S02 involves using an axially optimized coil layout to monitor the rate of change of electromagnetic field intensity in real time.

[0091] Step S03: When a valid gradient signal with a continuous preset period is detected and its amplitude exceeds a set threshold, the subsequent RTK tracking device and flight attitude inertial sensing module are woken up in stages.

[0092] Specifically, the proximity sensing unit intelligently triggers the monitoring device only when birds approach the transmission line; otherwise, the device remains in sleep mode to conserve energy. The preset range is 3 meters from the transmission line. The proximity sensing module uses high-voltage electromagnetic induction detection technology to monitor changes in the surrounding electromagnetic field. It incorporates a programmable comparator to achieve multi-level threshold triggering and is equipped with an electromagnetic shielding shell to ensure detection reliability. The module innovatively employs axially optimized coil layout and dynamic baseline calibration technology, improving detection directionality by 40% and enabling stable identification of the unique 50 / 60Hz power frequency magnetic field characteristics of transmission lines in complex electromagnetic environments.

[0093] At the software algorithm level, the system achieves intelligent triggering through adaptive threshold learning and gradient analysis. The software monitors the rate of change of electromagnetic field strength (ΔB / Δt) in real time. Only when a valid gradient signal is detected for three consecutive cycles and its amplitude exceeds a set threshold will the subsequent RTK / IMU modules be woken up in stages. The algorithm integrates three core functions: background field strength learning, fault self-diagnosis, and dynamic power consumption management. It establishes an environmental electromagnetic baseline through power-on self-calibration and periodically corrects sensor zero-point drift. It adopts an event-driven architecture to control the module's standby power consumption to below 10μA. At the same time, it supports parameterized configuration to adapt to the detection requirements of different voltage levels from 35kV to 1000kV. This deep hardware and software collaborative design enables the module to have both millimeter-level positioning and triggering accuracy and a battery life of several months, providing a reliable proximity detection solution for bird flight trajectory research.

[0094] In one optional implementation, step S3 includes:

[0095] Step S31: Using the center pile of the small side tower of the analysis section as the origin, create a three-dimensional model of the overhead line. Based on the characteristics of the flexible cable structure of the overhead transmission line, use a quadratic equation to fit the spatial morphology of the overhead line.

[0096] Step S32: Perform a three-dimensional transformation on the bird's flight trajectory to obtain a spatial coordinate sequence with the center pile of the small side tower of the analysis section as the origin.

[0097] Step S33: Calculate the distance between each spatial sequence coordinate point and the overhead line spatial curve to obtain the safe distance between birds and the line.

[0098] Specifically, the bird's flight path is superimposed on a three-dimensional model of the overhead power transmission line to analyze the spatial position between the bird and the line, and thus determine the safe distance between the bird and the line.

[0099] In the specific calculation, the center pile of the small side tower of the analysis section is taken as the origin. A three-dimensional model of the overhead line is made, and the mathematical expression is fitted to the mathematical expression of the overhead line.

[0100] Based on the characteristics of the flexible cable structure of overhead transmission lines, the spatial morphology of overhead lines can be represented relatively accurately using a quadratic equation:

[0101] (1)

[0102] Using a spatial model of the overhead line obtained from 3D point cloud scanning, with the center of the small side tower pile foundation as the origin, the coordinates of the overhead ground wire were extracted along the span. , , Note that when selecting points, the spacing should not be equal, but a relatively obvious distance should be maintained to prevent the two points from being symmetrical with respect to the middle of the matrix. Otherwise, the coefficient matrix will become singular and unsolvable. Figure 2 This is a diagram illustrating the selection of points.

[0103] Since equation (1) is a quadratic curve in the plane, it is necessary to first planarize the selected points 1, 2, and 3, and then use the rotation method to obtain the coordinates in the plane, that is, rotate around the y-axis by an angle θ. The method for calculating the angle θ is as follows: taking point 1 as the origin, calculate the coordinates of points 2 and 3 as follows: , .

[0104] Calculate angle θ:

[0105] (2)

[0106] Rotate each of the three points by an angle θ around the y-axis to achieve planarization. See the diagram for the θ angle. Figure 3 The calculation method is as follows:

[0107] (3)

[0108] (4)

[0109] (5)

[0110] in For rotation matrix, , , These are the coordinates of the three points after rotation.

[0111] Next, calculate the coefficients in equation (1), that is, calculate a, b, c:

[0112] (6)

[0113] Calculating abc yields the equation of the overhead line in the plane. A further inverse rotation yields the spatial equation, i.e., a reverse rotation by an angle θ, with the rotation matrix as follows:

[0114]

[0115] The specific calculation method can continue to use the matrix solution method. Take six asymmetric points: 11, 12, 13, 14, 15, 16, 17, and 18. Calculate the x, y, and z coordinates of each point after rotation.

[0116] Due to the properties of the parabola equation, a curve in space can be represented as:

[0117] (7)

[0118] Substituting points 11, 12, 13, 14, 15, 16, 17, and 18 into equation (7), we obtain eight equations, which can then be solved. u 1. u 2. u 3. u 4. u 5. u 6. u 7. u 8. The spatial equations for overhead lines can then be obtained.

[0119] The bird's flight trajectory was obtained by analyzing the RTK tracking device and inertial sensing module, and with the help of three-dimensional spatial transformation, a spatial coordinate sequence with the center pile of the small side tower of the analysis section as the origin was obtained, which is the flight trajectory of the bird crossing the overhead line.

[0120] The coordinate representation of each spatial sequence is obtained as follows:

[0121] , , ...

[0122] The distance between the bird and the line can be obtained by calculating the distance between each spatial sequence coordinate point and the overhead line's spatial curve. The method for calculating the spatial distance between points and lines will not be elaborated here.

[0123] Analyzing the spatial distance between bird flight paths and overhead power lines and plotting time-history curves can help analyze the effectiveness of warning devices. The time-history relationships between bird flight paths and overhead power lines vary considerably when birds fly over them; the most typical scenario is presented here. Figure 4 The time history of bird line distance before the installation of warning devices, Figure 5 The time-lapse data shows the distance between the birds and the overhead line after the warning device was installed. It can be seen that the distance between the birds and the overhead line increased after the device was installed, and the birds showed obvious avoidance behavior during flight, indicating that the device was effective. However, if it is found that there is no change in the distance before and after installation, it can be judged that the warning device is not very effective.

[0124] The effectiveness of the warning device can also be reflected by obtaining the attitude angles of birds flying over overhead power lines using an inertial sensing module. For example, if the bird's pitch angle shows more significant fluctuations when approaching the overhead power line, the warning device can be judged to be effective. Figure 6 The pitch angle time history of the bird before the warning device was installed. Figure 7 This represents the pitch angle time-course of the bird after the warning device was installed. Other indicators can also reflect the effectiveness of the warning device, mainly reflected in the changes in the time-course of indicators before and after the installation of the warning device.

[0125] This embodiment also provides a device for evaluating the effectiveness of bird collision warning devices for overhead transmission lines. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0126] This embodiment provides a device for evaluating the effectiveness of bird strike prevention warning devices for overhead transmission lines, such as... Figure 8 As shown, it includes:

[0127] The data acquisition module 81 is used to acquire satellite signals using an RTK tracking device, correct the satellite signals using carrier phase differential technology to calculate bird position information, acquire bird flight characteristics using a flight attitude inertial sensor module, and analyze the bird position information and bird flight characteristics to obtain the bird flight trajectory. The RTK tracking device is a bird-borne type.

[0128] Model building module 82 is used to build a three-dimensional model of an overhead transmission line using laser point cloud technology;

[0129] The effect evaluation module 83 is used to overlay the bird flight trajectory with the three-dimensional model of the overhead power transmission line, analyze the safe distance between the bird and the line, and evaluate the effect of the warning device based on the safe distance.

[0130] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0131] In this embodiment, the evaluation device for the bird collision warning device on overhead transmission lines is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0132] This invention provides an evaluation device for the effectiveness of bird collision warning devices on overhead power transmission lines. By integrating RTK positioning and inertial navigation, it achieves precise dynamic analysis of the spatial relationship between bird flight trajectories and power transmission lines, filling a technological gap in this field and providing an innovative solution for evaluating the effectiveness of bird-proofing devices. It employs a bird-line safety distance analysis method combined with a three-dimensional model to achieve a three-dimensional spatial representation of the overhead power transmission line, and uses RTK and inertial sensing modules to obtain the spatial trajectory of birds, thereby analyzing the spatial distance between the birds and the overhead lines. By comparing changes in behavioral parameters such as the offset of bird flight trajectories, minimum approach distance, and attitude adjustments, the avoidance effect of the warning device is quantitatively evaluated.

[0133] This invention also provides a computer device having the above-described features. Figure 8 The device shown is an evaluation device for the bird strike prevention warning device on overhead power transmission lines.

[0134] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 9As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 9 Take a processor 10 as an example.

[0135] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0136] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0137] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0138] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0139] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0140] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0141] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for evaluating the effectiveness of a bird-collision warning device for overhead transmission lines, characterized in that, The method includes: Satellite signals are collected by an RTK tracking device carried by the bird. The satellite signals are corrected by carrier phase differential technology to calculate the bird's position information. The bird's flight characteristics are collected by a flight attitude inertial sensor module. The bird's flight trajectory is obtained by analyzing the bird's position information and flight characteristics. A three-dimensional model of an overhead power transmission line was constructed using laser point cloud technology. By overlaying bird flight trajectories onto a three-dimensional model of overhead power lines, the safe distance between birds and the lines is analyzed, and the effectiveness of warning devices is evaluated based on the safe distance. When birds enter the preset range of the power transmission line, the proximity sensing unit is used to activate the RTK tracking device and the flight attitude inertial sensing module.

2. The method for evaluating the preventive effect of the bird collision warning device for overhead transmission lines according to claim 1, characterized in that, Satellite signals are acquired using an RTK tracking device carried by the bird. Carrier phase differential technology is used to correct the satellite signals to calculate the bird's position information. A flight attitude inertial sensor module is used to acquire the bird's flight characteristics. The bird's flight trajectory is obtained by analyzing the position information and flight characteristics, including: The base station is fixed at a preset coordinate point, and the first satellite signal is received through the base station receiver, generating differential correction numbers containing error information. The receiver of the RTK tracking device receives the signal from the second satellite. The second satellite signal is corrected based on the differential correction to obtain the third satellite signal; By learning the normal phase change patterns and cycle slip features in historical bird location information, a cycle slip recognition model is constructed. The cycle slip identification model is used to perform real-time analysis of the third satellite signal to identify abnormal jump points; Bird flight characteristics are collected by the flight attitude inertial sensing module, and abnormal jump points are corrected based on the bird flight characteristics to obtain the fourth satellite signal; The bird's location coordinates are calculated based on the fourth satellite signal, and the bird's location coordinates include longitude, latitude, and altitude.

3. The method for evaluating the preventive effect of the bird collision warning device for overhead transmission lines according to claim 2, characterized in that, The system acquires satellite signals using an RTK tracking device carried by the bird, corrects the satellite signals using carrier phase differential technology to calculate the bird's position information, acquires the bird's flight characteristics using a flight attitude inertial sensing module, and analyzes the bird's position information and flight characteristics to obtain the bird's flight trajectory. The system also includes: Based on the characteristics of bird flight, the cutoff altitude angle is dynamically optimized.

4. The method for evaluating the preventive effect of the bird collision warning device for overhead transmission lines according to claim 1, characterized in that, When birds enter the preset range of the power transmission line, the proximity sensing unit activates the RTK tracking device and the flight attitude inertial sensing module, including: When the proximity sensing unit is powered on, an environmental electromagnetic baseline is established through self-calibration, and the zero-point drift of the sensor in the proximity sensing unit is periodically corrected. An axially optimized coil layout is adopted to monitor the rate of change of electromagnetic field intensity in real time. When a valid gradient signal with a continuous preset period is detected and its amplitude exceeds a set threshold, the subsequent RTK tracking device and flight attitude inertial sensing module are woken up in stages.

5. The method for evaluating the preventive effect of the bird collision warning device for overhead transmission lines according to claim 1, characterized in that, A three-dimensional model of an overhead transmission line was constructed using laser point cloud technology, including: Point cloud data is acquired using airborne lidar or ground-based mobile scanning equipment. Extract conductors and towers to generate a power transmission and transformation equipment model with semantic information; The RANSAC algorithm was used to fit the catenary equation of the conductor. The catenary equation of the conductor was then combined with the power transmission and transformation equipment model to assemble a three-dimensional model of the overhead transmission line.

6. The method for evaluating the preventive effect of the bird collision warning device for overhead transmission lines according to claim 1, characterized in that, By overlaying bird flight paths onto a 3D model of overhead power lines, the safe distance between birds and the lines is analyzed, including: A three-dimensional model of the overhead line was created with the center pile of the small side tower of the analysis section as the origin. Based on the characteristics of the flexible cable structure of the overhead transmission line, the spatial morphology of the overhead line was fitted by a quadratic equation. The bird flight trajectory was transformed in three dimensions to obtain a spatial coordinate sequence with the center pile of the small side tower of the analysis section as the origin. Calculate the distance between each spatial sequence coordinate point and the overhead line spatial curve to obtain the safe distance between birds and the line.

7. A device for evaluating the effectiveness of bird collision warning devices for overhead transmission lines, characterized in that, The device includes: The data acquisition module is used to acquire satellite signals through the RTK tracking device carried by the bird, correct the satellite signals using carrier phase differential technology to calculate the bird's position information, acquire the bird's flight characteristics using the flight attitude inertial sensing module, and analyze the bird's position information and the bird's flight characteristics to obtain the bird's flight trajectory. The model building module is used to construct three-dimensional models of overhead transmission lines using laser point cloud technology. The effect evaluation module is used to overlay bird flight trajectories with a three-dimensional model of overhead power transmission lines, analyze the safe distance between birds and lines, and evaluate the effect of warning devices based on the safe distance. When birds enter the preset range of the power transmission line, the proximity sensing unit is used to activate the RTK tracking device and the flight attitude inertial sensing module.

8. A computer device, characterized in that, include: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the method for evaluating the effectiveness of the bird collision warning device for overhead transmission lines as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the method for evaluating the effectiveness of the bird collision warning device for overhead transmission lines as described in any one of claims 1 to 6.

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