Bird's nest positioning method and apparatus, device, medium, and program product

Abstract

The present application relates to the fields of electric power transmission and image processing, and in particular to a bird's nest positioning method and apparatus, a device, a medium, and a program product. The bird's nest positioning method comprises: acquiring regional image information of a target region; identifying whether the regional image information comprises a bird image feature, so as to determine whether any bird species are present in the target region; when the regional image information comprises the bird image feature, acquiring regional sound information in real time; and determining the position of a bird's nest on the basis of the regional sound information.

Description

Bird nest positioning method, device, equipment, medium and program product TECHNICAL FIELD

[0001] The present application relates to the field of power transmission and image processing, in particular to a bird nest positioning method, device, equipment, medium and program product. BACKGROUND

[0002] In the field of power transmission, short circuit or open circuit faults are prone to occur in the transmission line, causing power transmission interruption. Therefore, the staff needs to investigate and inspect the safety hazards of the transmission line to reduce the possibility of power transmission interruption.

[0003] One of the factors affecting the failure of the transmission line includes the bird damage caused by the bird nest. For example, the bird nest is usually erected on the tower of the transmission line, and the materials of the bird nest usually include straw and branches. These materials falling on the live equipment are prone to cause short circuit failure. For example, the bird droppings flashover failure of the power system, and the line failure caused by the activity of birds near the line or tower. Therefore, the staff of the power system needs to clean the bird nest on the transmission line in time to reduce the probability of bird damage failure of the power system.

[0004] At present, the existing technology collects the image and video of the transmission line through the intelligent terminal, and identifies the position of the bird nest through image analysis and processing technology, so that the operation and maintenance personnel can accurately position the bird nest and clean it according to the position of the bird nest.

[0005] However, the inventors found that the position of the bird nest may be outside the image collection range of the intelligent terminal, for example, the bird nest is blocked by the equipment, and the intelligent terminal cannot shoot the bird nest, so that the existing technology cannot timely find and position the bird nest. SUMMARY

[0006] The present application aims to provide a bird nest positioning method, device, equipment, medium and program product.

[0007] According to an aspect of the present application, a bird nest positioning method is provided, which includes collecting regional image information of a target area. Whether the regional image information has bird image features is identified to determine whether there is a bird in the target area. In the case that the regional image information has bird image features, the regional sound information is collected in real time. According to the regional sound information, the position of the bird nest is determined.

[0008] According to some embodiments, determining the bird nest location according to the regional sound information comprises: analyzing whether the bird sound data is included in the current regional sound information; determining the current bird location according to the current regional sound information in the case that the bird sound data is included in the current regional sound information; and determining the bird nest location according to the determined bird locations in the case that the determined bird locations meet the preset threshold condition. The preset threshold condition comprises that the aggregation degree of the bird locations reaches a preset aggregation degree threshold, and / or the total number of the bird locations reaches a preset number threshold.

[0009] According to some embodiments, the regional sound information comprises sound information collected by at least two audio collectors respectively. The method further comprises: identifying the bird sound data in the current sound information collected by the at least two audio collectors; determining the collection time corresponding to the bird sound data in each current sound information; and determining the current bird location according to the collection time corresponding to the bird sound data in each current sound information.

[0010] According to some embodiments, the method further comprises: sequentially sorting the bird sound data in the current sound information according to the collection time to obtain a bird sound data sequence corresponding to the current sound information; determining the bird sound data at the same sequence number in each bird sound data sequence as the bird sound data of the same sound source; and determining the current bird location corresponding to the same sound source according to the collection time of the bird sound data of the same sound source.

[0011] According to some embodiments, the method further comprises: in the case that the regional sound information meets a preset dormancy condition, issuing a stop collecting instruction to control the at least two audio collectors to stop collecting. The preset dormancy condition comprises that the regional sound information collected by the at least two audio collectors in a preset time length does not include the bird sound data.

[0012] According to some embodiments, the method further comprises: identifying the bird species corresponding to each bird sound data to determine the bird species corresponding to each bird location.

[0013] In the case that the determined bird locations meet the preset threshold condition, the method further comprises: in the case that the determined bird locations meet the preset threshold condition, classifying the bird locations according to the bird species to obtain the bird locations corresponding to each bird species. The bird nest location is determined according to the bird locations corresponding to each bird species.

[0014] According to some embodiments, identifying whether the bird image feature exists in the region image information comprises identifying whether a preset alarm feature exists in the region image information. In a case where the preset alarm feature exists in the region image information, it is determined whether the bird image feature exists in the preset alarm feature, so as to identify whether the bird image feature exists in the region image information.

[0015] According to an aspect of the present application, a bird nest positioning device is provided, which comprises an image acquisition module, a bird image identification module, a sound acquisition control module, and a bird nest positioning module. The image acquisition module is configured to acquire region image information of a target region. The bird image identification module is configured to identify whether a bird image feature exists in the region image information, so as to determine whether a bird exists in the target region. The sound acquisition control module is configured to acquire region sound information in real time in a case where the bird image feature exists in the region image information. The bird nest positioning module is configured to determine a bird nest position according to the region sound information.

[0016] According to an aspect of the present application, an intelligent terminal device is provided, which comprises an audio acquisition module, a visual module, and a control module. The audio acquisition module comprises at least two audio acquisition devices, and is configured to acquire region sound information. The visual module is configured to acquire region image information of a target region.

[0017] The control module comprises one or more processors, and a memory configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described above.

[0018] According to an aspect of the present application, a computer readable medium is provided, which stores a computer program. When the computer program is executed by a processor, the method as described above is implemented.

[0019] According to an aspect of the present application, a computer program product is provided. The computer program product comprises a computer program stored in a computer readable storage medium, and the computer program comprises program instructions. When the program instructions are executed by a computer, the computer executes the method as described above. Advantages

[0020] The present application first identifies whether a bird image feature exists in region image information. In a case where the bird image feature exists, the bird nest position is located by using region sound information. The present application does not simply locate the bird nest position by using image recognition, but locates the bird nest position by using sound. In this way, in a case where there is a monitoring blind spot such as a dead angle of a camera device or a bird nest being blocked, the bird nest position can be found and located in time, so as to facilitate timely processing after the bird nest position is found, thereby maintaining the stability of the power system. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative effort based on these drawings.

[0022] Fig. 1 is a flowchart of the bird nest positioning method according to an embodiment of the present application;

[0023] Fig. 2 is a flowchart of determining the bird nest position in step S104 according to an embodiment of the present application;

[0024] Fig. 3 is a flowchart of determining the current bird position in step S1042 according to an embodiment of the present application;

[0025] Fig. 4 is a flowchart of determining the current bird position according to the collection time in step S33 according to an embodiment of the present application;

[0026] Fig. 5 is a flowchart of determining the bird nest position according to the bird position in step S1043 according to an embodiment of the present application;

[0027] Fig. 6 is a flowchart of the bird nest positioning method controlling the audio collector to stop collecting sound according to an embodiment of the present application;

[0028] Fig. 7 is a flowchart of identifying the bird image features in step S102 according to an embodiment of the present application;

[0029] Fig. 8 is a basic flowchart of the bird nest positioning method according to an embodiment of the present application;

[0030] Fig. 9 is a block diagram of the bird nest positioning device according to an embodiment of the present application;

[0031] Fig. 10 is a diagram of the control module of the intelligent terminal device according to an embodiment of the present application; DETAILED DESCRIPTION

[0032] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments, however, can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and thus description thereof will not be repeated.

[0033] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the technology can be practiced without one or more of the specific details, or with other methods, components, materials, et cetera. In other instances, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail.

[0034] Furthermore, the term "comprising" and "including" and their derivatives, are intended to be broad and encompass the passing reference items or lists thereof. For example, a process, method, system, product, or apparatus that comprises a list of steps or elements is not necessarily limited to those listed steps or elements but can include other steps or elements not expressly listed or inherent to such process, method, system, product, or apparatus.

[0035] The terms "first", "second", and the like, in the description and in the claims of the present application, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the descriptive terms used in the context of the present application are applicable in any other interchangeable terms.

[0036] The technical solutions of the present application are described in detail below with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0037] According to an aspect of the present application, the present application provides a bird nest positioning method. Referring to FIG. 1, the bird nest positioning method is executed by a smart terminal device, and includes steps S101, S102, S103, and S104.

[0038] In step S101, the region image information of a target region is collected.

[0039] According to an example embodiment, the smart terminal device includes a vision module and a control module. The vision module is configured to capture images to collect corresponding image information.

[0040] The control module is composed of a CPU (Central Processing Unit), an NPU (Neural Processing Unit), a FLASH, and a DDR (Double Data Rate Synchronous Dynamic Random Access Memory). The CPU is mainly responsible for the running of the system, the scheduling of tasks, calculation, and the management of peripheral resources. The NPU is mainly responsible for the operation of image models. The DDR is responsible for the storage of cached data. The FLASH is responsible for the storage of programs and user data.

[0041] In step S101, the intelligent terminal device collects regional image information of a target region. Specifically, the control module can control the visual module to work to capture the target region to obtain the regional image information.

[0042] Optionally, in step S101, the visual module can collect the regional image information in real time or collect the regional image information once every preset interval, which is not limited herein.

[0043] Optionally, in step S101, the visual module specifically can include at least one of a front-view camera module, a rear-view camera module, and a downward-view camera module. The regional image information collected by the visual module specifically can include at least one of first regional image information, second regional image information, and third regional image information.

[0044] The front-view camera module is arranged on the front surface of the intelligent terminal device to capture the first regional image information corresponding to the region in front of the intelligent terminal device.

[0045] The rear-view camera module is arranged on the rear surface of the intelligent terminal device to capture the second regional image information corresponding to the region behind the intelligent terminal device.

[0046] The downward-view camera module is arranged on the lower surface of the intelligent terminal device to capture the third regional image information corresponding to the region below the intelligent terminal device.

[0047] In step S102, whether the regional image information has bird image features is identified to determine whether there is a bird in the target region.

[0048] According to an example embodiment, after the visual module of the intelligent terminal device collects the regional image information, the control module receives the regional image information in step S102. The control module identifies the regional image information to identify whether the regional image information has bird image features.

[0049] In step S102, if the intelligent terminal device identifies that there is a bird image feature in the region image information, it means that the intelligent terminal device determines that there is a bird in the target region.

[0050] Optionally, the intelligent terminal device can identify whether there is a bird image feature in the region image information by using a target recognition algorithm, or can process the region image information by using a neural network model to identify the bird image feature in the region image information, which is not limited here.

[0051] It is worth noting that the target recognition algorithm can be a Yolo series algorithm. The neural network model is a neural network model that has been trained by a large amount of sample data, and the sample data can be image information marked with birds.

[0052] According to some embodiments, if the region image information includes at least two of the first region image information, the second region image information, and the third region image information, in step S102, the control module identifies whether there is a bird image feature in the first region image information, the second region image information, and the third region image information, respectively. If there is a bird image feature in any one of the image information, it means that there is a bird in the target region.

[0053] In step S103, if the region image information has a bird image feature, the region sound information is collected in real time.

[0054] According to an example embodiment, the intelligent terminal device further includes an audio acquisition module, which can collect sound information.

[0055] In step S103, if the region image information has a bird image feature, it means that there is a bird in the target region near the intelligent terminal device. The control module can control the audio acquisition module to work so that the audio acquisition module starts to collect the region sound information in real time. The collected region sound information will include the sound of all the birds in the target region.

[0056] In step S104, the bird nest position is determined according to the region sound information.

[0057] According to an example embodiment, the control module can identify the bird sound from the region sound information collected by the audio acquisition module, and determine the position of the bird nest according to the bird sound.

[0058] In one possible implementation, the position of the bird can be determined according to the bird sound in the region sound information, the motion trajectory of the bird can be determined, and then the bird nest position can be determined by prediction or analysis according to the motion trajectory of the bird.

[0059] The bird nest positioning method of the present application can first identify whether there is a bird image feature in the regional image information, and in the case where there is a bird image feature, the bird nest position is located using the regional sound information. The bird nest positioning method of the present application does not simply use image recognition to locate the bird nest position, but uses sound to locate the bird nest position. In this way, in the case where there is a monitoring blind spot such as a dead angle of the camera device or a bird nest being blocked, the bird nest position can also be found and located, so that the bird nest position can be found and located in time, and further, it is conducive to timely processing after the bird nest position is found to maintain the stability of the power system.

[0060] Furthermore, the bird nest positioning method of the present application, in the case where the target region is identified by image recognition to have a bird species, the regional sound information is collected by the audio collection device in time to locate the bird nest position, which is conducive to reducing the power consumption of the intelligent terminal device.

[0061] According to some embodiments, with reference to FIG. 2, in the above step S104, the bird nest position is determined according to the regional sound information, which can be specifically implemented through steps S1041, S1042 and S1043.

[0062] In step S1041, it is analyzed whether the current regional sound information has bird sound data.

[0063] According to an example embodiment, the current regional sound information can be specifically the currently collected regional sound information.

[0064] According to an example embodiment, the bird sound data is the data of the sound emitted by the bird collected by the audio collection module.

[0065] According to an example embodiment, the audio collection module collects the sound emitted by each sound source in the surrounding environment, so that there are multiple sound data in the collected regional sound information. Furthermore, there can be bird sound data in the regional sound information, or there can only be sound data emitted by other sound sources in the environment, and there can be no bird sound data.

[0066] Therefore, in step S1041 of the present application embodiment, the control module of the intelligent terminal device can analyze in real time whether the current regional sound information has bird sound data.

[0067] According to an example embodiment, there is a specific signal feature for the sound of each sound source. For example, the sound emitted by a bird has a specific sound frequency band. In step S1041, the control module of the intelligent terminal device can analyze the signal feature corresponding to each sound data in the current area sound information. Then the control module determines whether the signal feature of each sound data belongs to the signal feature corresponding to the bird. The sound data whose signal feature belongs to the signal feature corresponding to the bird is the bird sound data.

[0068] Exemplarily, the current area sound information includes sound data a1, sound data a2 and sound data a3. The control module analyzes the frequency of sound data a1, analyzes the frequency of sound data a2 and analyzes the frequency of sound data a3. The control module determines whether the frequency of sound data a1, the frequency of sound data a2 and the frequency of sound data a3 belong to the sound frequency band of the bird, so as to identify whether there is bird sound data in the current area sound information.

[0069] According to some embodiments, the audio acquisition module of the intelligent terminal device can specifically include at least two audio acquisition devices. The at least two audio acquisition devices form a microphone array. The sound emitted by the sound source near the intelligent terminal device is respectively acquired by each audio acquisition device to obtain the sound information acquired by each audio acquisition device.

[0070] The current area sound information includes the current sound information acquired by each of the at least two audio acquisition devices. In step S1041, the control module analyzes whether there is bird sound data in the current area sound information, which can be respectively analyzed for each current sound information. In the case that there is at least one bird sound data in at least one current sound information, it is considered that there is bird sound data in the current area sound information.

[0071] In step S1042, in the case that there is bird sound data in the current area sound information, the current bird position is determined according to the current area sound information.

[0072] According to an example embodiment, in step S1042, the presence of bird sound data in the current area sound information indicates that there is a bird in the surrounding environment of the current intelligent terminal device. In this case, the control module of the intelligent terminal device can determine the current bird position according to the current area sound information, so as to determine the bird nest position according to the current bird position.

[0073] According to some embodiments, in step S1042, referring to FIG. 3, the way of determining the current bird position according to the current area sound information can specifically include step S31, step S32 and step S33.

[0074] In step S31, bird sound data in the current sound information collected by at least two audio collectors is identified.

[0075] According to an example embodiment, in step S31, the control module of the intelligent terminal device identifies the bird sound data in each current sound information.

[0076] It is worth mentioning that the manner of identifying the bird sound data in the current sound information can refer to the manner of identifying the bird sound data in the current area sound information in step S1042 in the above-mentioned embodiments, which will not be described here.

[0077] Exemplarily, in the case that the audio collection module includes a first audio collector, a second audio collector and a third audio collector, the current area sound information includes current sound information b1, current sound information b2 and current sound information b3.

[0078] Exemplarily, in step S31, the control module identifies that the bird sound data in the current sound information b1 includes bird sound data b11; the bird sound data in the current sound information b2 includes bird sound data b21; and the bird sound data in the current sound information b3 includes bird sound data b31.

[0079] In step S32, the collection time corresponding to the bird sound data in each current sound information is determined.

[0080] According to an example embodiment, in step S32, the control module of the intelligent terminal device identifies the collection time corresponding to each bird sound data in each current sound information.

[0081] Exemplarily, continuing the above-mentioned example in step S31, the control module determines the collection time of the bird sound data b11, the bird sound data b21 and the bird sound data b31.

[0082] According to an example embodiment, the collection time is the time when the bird sound data is collected by the audio collector. That is, the time when the sound emitted by the bird is transmitted to the audio collector.

[0083] In step S33, the current bird position is determined according to the collection time corresponding to the bird sound data in each current sound information.

[0084] According to an example embodiment, for the sound emitted by the same sound source, since the setting positions of the audio collectors are different, the time when the sound emitted by the sound source is transmitted to the audio collector is slightly different, which is in the order of milliseconds. That is, the collection time of the bird sound data collected by different audio collectors for the same sound source is different.

[0085] According to an example embodiment, in step S33, the control module can determine the current bird position according to the time difference of the collection time of the bird sound data in the current sound information.

[0086] According to some embodiments, in the case that only one bird sound data is included in each current sound information, each bird sound data corresponds to the sound emitted by the same bird at the same time. Therefore, in step S33, the control module can directly calculate the time difference of the collection time of each bird sound data, and use the time difference for coupling estimation to estimate the position of the bird at the time, i.e. the current bird position.

[0087] Exemplarily, the current sound information c1 collected at 10:00:00 includes bird sound data c11, the current sound information c2 includes bird sound data c21, and the current sound information c3 includes bird sound data c31. The time difference of the collection time of the bird sound data c11, the bird sound data c21 and the bird sound data c31 can be calculated to calculate the position of the bird at 10:00:00.

[0088] According to some embodiments, at the same time, multiple birds can emit sound, or one bird can emit multiple sounds at the current time. Therefore, multiple bird sound data can exist in each current sound information collected at the current time. Referring to FIG. 4, in step S33, the control module can determine the current bird position according to the collection time of the bird sound data by implementing steps S331, S332 and S333.

[0089] In step S331, the bird sound data in the current sound information is sequentially sorted according to the order of the collection time to obtain the bird sound data sequence corresponding to the current sound information.

[0090] According to an example embodiment, in the case that the bird emits sound, the corresponding bird sound data exists in the current sound information of each audio collector. In step S331, in the case that only one bird sound data is included in one current sound information, the bird sound data sequence determined by the control module only includes the bird sound data, and the number of the bird sound data is 1.

[0091] In the case that at least two bird sound data are included in one current sound information, the control module can sort the at least two bird sound data in each current sound information according to the order of the collection time from early to late to obtain the bird sound data sequence corresponding to each current sound information.

[0092] Exemplarily, the current sound information d1 includes bird sound data d11 and bird sound data d12. The current sound information d2 includes bird sound data d21 and bird sound data d22. The current sound information d3 includes bird sound data d31 and bird sound d32.

[0093] In step S331, the control module determines that the current sound information d1 corresponds to the bird sound data sequence d1, which includes

bird sound data d11, bird sound data d12

[0094] Similarly, in step S331, the control module determines that the current sound information d2 corresponds to the bird sound data sequence d21 and the current sound information d3 corresponds to the bird sound data sequence d31.

[0095] In step S332, the bird sound data in each bird sound data sequence with the same sequence number is determined as bird sound data of the same sound source.

[0096] The bird sound data of the same sound source refers to the data of the sound emitted by the same bird organism at the same sound emission moment. For example, the bird organism x emits two sounds successively, and the two sounds are successively collected by the audio collector z1. In the current sound information z1, there are two bird sound data, which belong to bird sound data of different sound sources.

[0097] For another example, the bird organism x emits one sound. The sound is collected by the audio collector z1 and the audio collector z2. The bird sound data z1 in the current sound information z1 and the bird sound data z2 in the current sound data z2 are bird sound data of the same sound source.

[0098] According to the example embodiment, the sequence number represents the position of the bird sound data in the bird sound data sequence. For example, the bird sound data d11 is located at the first position in the bird sound data sequence d1, and the corresponding sequence number is 1.

[0099] According to the example embodiment, the sound emission moments of different sound sources are different. The sound emitted by the sound source with the earlier sound emission moment is also collected by each audio collector first. Therefore, the bird sound data with the same sequence number in different current sound information is bird sound data of the same sound source. In step S332, the control module can determine the bird sound data with the same sequence number in each bird sound data sequence as bird sound data of the same sound source.

[0100] Exemplarily, for the current sound information d1, the current sound information d2 and the current sound information d3. The sequence numbers of the bird sound data d11, the bird sound data d21 and the bird sound data d31 are all 1, which are the bird sound data corresponding to the sound source 1.

[0101] The sequence numbers of the bird sound data d12, the bird sound data d22 and the bird sound d32 are all 2, which are the bird sound data corresponding to the sound source 2.

[0102] In step S333, according to the collection time of each bird sound data of the same sound source, the current bird position corresponding to the same sound source is determined.

[0103] According to an example embodiment, for each bird sound data of any one same sound source, in step S333, the control module can calculate the collection time difference of the bird sound data, so as to calculate the current bird position corresponding to the any one same sound source according to the collection time difference.

[0104] Exemplarily, in step S333, the control module calculates the bird position corresponding to the sound source 1 according to the collection time of the bird sound data d11, the bird sound data d21 and the bird sound data d31. And the control module calculates the current bird position corresponding to the sound source 2 according to the collection time of the bird sound data d12, the bird sound data d22 and the bird sound d32, which is equivalent to that the control module calculates two current bird positions.

[0105] In step S1043, in the case that the determined bird positions meet the preset threshold condition, the nest position is determined according to the determined bird positions.

[0106] The preset threshold condition includes that the aggregation degree of the bird positions reaches a preset aggregation threshold, and / or the total number of the bird positions reaches a preset number threshold.

[0107] According to an example embodiment, the area where the nest is located is usually an area where birds are more active, and it is difficult to accurately predict the position of the nest for the bird positions occasionally measured, for example, two bird positions are measured.

[0108] Therefore, in step S1043 of the embodiment of the present application, the control module first judges whether the determined bird positions meet the preset threshold condition, and then determines the nest position according to the determined bird positions in the case that the preset threshold condition is met.

[0109] According to an example embodiment, in step S1043, the control module calculates the aggregation degree of the bird location according to the determined bird location. Then the control module determines whether the aggregation degree of the bird location is greater than a preset aggregation threshold. In the case that the aggregation degree of the bird location is greater than the preset aggregation threshold, it means that the bird location meets the preset threshold condition.

[0110] According to an example embodiment, in step S1043, the control module calculates the aggregation degree of the bird location can be achieved by a singular point detection algorithm. The control module can calculate the local density corresponding to each bird location by using the singular point detection algorithm, so as to obtain the aggregation degree corresponding to each bird location. The local density is the aggregation degree of the bird location in the local area where the bird location is located.

[0111] In step S1043, the control module calculates the aggregation degree of the bird location can also be calculated by cluster analysis. For example, the control module divides the bird location data into different groups, each group represents a bird aggregation area, and the density of the bird location in each bird aggregation area is calculated respectively, so as to calculate the aggregation degree of each bird aggregation area.

[0112] In step S1043, the control module calculates the aggregation degree of the bird location can also use geographic information system software to perform spatial analysis on the bird location data, so as to calculate the aggregation degree of the bird location.

[0113] The control module can also calculate the total number of the determined bird locations, and determine whether the total number reaches a preset number threshold. In the case that the total number reaches the preset number threshold, it means that the determined bird location meets the preset threshold condition.

[0114] The control module can also calculate the total number of the bird locations and the aggregation degree of the bird locations at the same time. In the case that the aggregation degree of the bird locations is greater than the preset aggregation threshold and the total number of the bird locations reaches the preset number threshold, it means that the determined bird location meets the preset threshold condition. Or the control module can also determine that the bird location meets the preset threshold condition in the case that the aggregation degree of the bird locations is greater than the preset aggregation threshold and the total number of the bird locations does not reach the preset number threshold. Or the control module can also determine that the bird location meets the preset threshold condition in the case that the aggregation degree of the bird locations is less than the preset aggregation threshold and the total number of the bird locations reaches the preset number threshold.

[0115] In a case where the bird location does not satisfy the preset threshold condition, it is represented that the sufficient number of bird locations is not collected at present to accurately locate the bird nest location. In a case where the bird location does not satisfy the preset threshold condition, the control module can control the audio collector to continue collecting the regional sound information, and continue analyzing the bird sound data in the regional sound information and determining the bird location according to the bird sound data. Until the control module judges that the bird location satisfies the preset threshold condition.

[0116] In step S1043, in a case where the bird location satisfies the preset threshold condition, the control module can determine the bird nest location according to the determined bird locations.

[0117] In a possible implementation, the manner in which the control module determines the bird nest location can be specifically as follows: the control module can convert the bird locations into a heat map by using a heat map tool and the coordinates of the bird locations. The color of a region in the heat map where the bird locations are more concentrated is darker, and the control module can determine a region in the heat map where the color depth exceeds a preset depth as the bird nest location.

[0118] In another possible implementation, the manner in which the control module determines the bird nest location can also be as follows: the control module calculates and estimates the local density of each bird location by using a singular point detection method, and determines a bird location with a local density significantly higher than the local densities of other bird locations as the bird nest location.

[0119] In another possible implementation, referring to FIG. 5, in step S1043, in a case where the determined bird location satisfies the preset threshold condition, the bird nest location is determined according to the determined bird locations, which can also be implemented by steps S51 and S52.

[0120] In step S51, in a case where the determined bird location satisfies the preset threshold condition, each bird location is classified according to the bird species to obtain the bird locations corresponding to each bird species.

[0121] According to some embodiments, before step S1043, the method can further include identifying the bird species corresponding to each bird sound data to determine the bird species corresponding to each bird location. The control module can identify the signal features corresponding to each bird sound data, and determine the bird species corresponding to each bird sound data according to the specific signal features of the sounds emitted by different bird species. The bird location is determined by the control module according to the bird sound data, and therefore the bird species corresponding to the bird sound data is the bird species corresponding to the bird location.

[0122] According to an example embodiment, in step S51, in a case where the determined bird positions satisfy the preset threshold condition, the control module classifies the bird positions according to bird species.

[0123] For example, the current determined bird positions include bird position m1, bird position m2, bird position m3, bird position n1, and bird position n2. In step S51, the control module can obtain that the bird positions corresponding to bird species m are bird position m1, bird position m2, and bird position m3, and the bird positions corresponding to bird species n are bird position n1 and bird position n2.

[0124] In step S52, the bird nest position is determined according to the bird positions corresponding to various bird species.

[0125] According to an example embodiment, in step S52, the control module determines the bird nest position according to the bird positions corresponding to various bird species.

[0126] In a possible implementation, in step S52, the control module determines the bird nest position by classifying the bird positions according to bird species, generating a corresponding heat map according to the bird positions corresponding to each bird species, and determining the bird nest position corresponding to the bird species according to the heat map corresponding to the bird species, to determine the bird nest position.

[0127] For example, in step S52, the control module determines the heat map corresponding to bird species m by using bird position m1, bird position m2, and bird position m3, to determine the bird nest position corresponding to bird species m. In addition, the control module determines the heat map corresponding to bird species n according to bird position n1 and bird position n2, to determine the bird nest position corresponding to bird species n.

[0128] In another possible implementation, in step S52, the control module determines the bird nest position by classifying the bird positions according to bird species, determining the bird species whose number of bird positions is less than the preset number of bird positions, deleting the bird positions corresponding to the bird species, and determining the bird nest position according to the bird positions corresponding to the remaining bird species.

[0129] The bird nests corresponding to different bird species are generally different. Therefore, in step S51, the control module classifies the bird positions according to different bird species, and in step S52, the control module determines the bird nest position according to the bird positions corresponding to the bird species, which can reduce the probability of affecting the accuracy of the bird nest position due to different bird species corresponding to the bird positions.

[0130] According to some embodiments, after analyzing whether the current regional sound information has the bird sound data in step S1041, with reference to FIG. 6, the method further includes step S61.

[0131] In step S61, in the case that the regional sound information meets the preset hibernation condition, a stop collection instruction is issued to control the at least two audio collectors to stop collection.

[0132] The preset hibernation condition includes that the regional sound information collected by the at least two audio collectors in the preset time length does not have the bird sound data.

[0133] According to example embodiments, the regional sound information collected in the preset time length does not have the bird sound data, which means that no bird sound is collected in the preset time length. Therefore, in this case, it can be considered that there is no bird in the region where the current intelligent terminal device is located, and therefore, in order to reduce power consumption, in step S51, the control module can issue a stop collection instruction to control the audio collection module, i.e., to control the at least two audio collectors to stop collection.

[0134] According to some embodiments, with reference to FIG. 7, in step S102, whether the regional image information has the bird image feature can be implemented by step S71 and step S72.

[0135] In step S71, whether the regional image information has the preset alarm feature is identified.

[0136] The preset alarm feature includes an image feature that causes a power transmission line fault. For example, an engineering vehicle alarm image feature, a line deposition dirt image feature, and a bird image feature, etc.

[0137] According to example embodiments, in step S71, the control module can identify whether the preset alarm feature exists in the regional image information, and in the case that the preset alarm feature exists, the preset alarm feature is identified and determined.

[0138] In step S72, in the case that the regional image information has the preset alarm feature, whether the bird image feature exists in the preset alarm feature is determined to identify whether the regional image information has the bird image feature.

[0139] According to example embodiments, in step S72, in the case that the control module identifies that the preset alarm feature exists, the control module determines whether the bird image feature exists in the preset alarm feature, so as to identify whether the regional image information has the bird image feature.

[0140] Referring to FIG. 8, the control module intelligently analyzes the regional image information, and finds that the preset alarm feature is present, i.e., it is determined whether the bird image feature is present, in the case where the bird image feature is present, the control module controls the audio acquisition module to start acquiring the regional sound information, and locates the bird nest position.

[0141] In the case where the control module determines that the bird image feature is not present in the preset alarm feature, the preset alarm feature can be sent to the remote operation and maintenance management platform, so that the operation and maintenance personnel can view the corresponding early warning situation through the remote operation and maintenance management platform, so as to identify other factors that can cause the fault of the power transmission line, and to improve the operation stability of the power transmission line.

[0142] In the case where the control module analyzes that the regional image information does not have the preset alarm feature, it means that the current power transmission line has no security risks, and the acquisition of the regional image information or hibernation to reduce power consumption can be continued.

[0143] According to some embodiments, the intelligent terminal device further includes a power module and a communication module. The power module is composed of a power control board, a battery and a photovoltaic panel, to supply power to the control module, the communication module, the visual module and the audio acquisition module. In the case where the light is sufficient, the intelligent terminal device is powered by the photovoltaic panel, and the battery is also charged. When the light is insufficient, the intelligent terminal device is powered by the battery.

[0144] The communication module is in communication connection with the control module, including a WIFI module, a 4G (Long Term Evolution, commonly known as the fourth generation mobile communication technology) module and a Beidou GPS (Global Positioning System) module. And adopt 4G private network to carry out VPN (Virtual Private Network) encryption to ensure data reliability, the WIFI module supports local WIFI connection, can carry out equipment configuration debugging to the intelligent terminal device on the tower under the tower, reduces manual tower climbing operation, at the same time, through the Beidou module, the intelligent terminal device can be positioned and time is adjusted.

[0145] It should be clearly understood that the present application describes how to form and use specific examples, but the present application is not limited to any details of these examples. On the contrary, based on the teachings of the disclosure of the present application, these principles can be applied to many other embodiments.

[0146] Those skilled in the art can understand that all or part of the steps of the above embodiments are realized as a computer program executed by a CPU. When the computer program is executed by the CPU, the above functions defined by the above method provided by the present application are executed.

[0147] According to an aspect of the present application, the embodiment of the present application introduces a bird nest positioning device from the perspective of a virtual module or a virtual unit, which will be described in detail in the following embodiments.

[0148] The device embodiment of the present application described below can be used to execute the method embodiment of the present application. For details not disclosed in the device embodiment of the present application, reference can be made to the method embodiment of the present application.

[0149] As shown in FIG. 9, the bird nest positioning device can include an image acquisition module 901, a bird image recognition module 902, a sound acquisition control module 903, and a bird nest positioning module 904.

[0150] Referring to FIG. 9 and the foregoing description, the image acquisition module 901 is configured to acquire regional image information of a target region. The bird image recognition module 902 is configured to identify whether the regional image information has bird image features, so as to determine whether there is a bird in the target region. The sound acquisition control module 903 is configured to acquire regional sound information in real time when the regional image information has bird image features. The bird nest positioning module 904 is configured to determine a bird nest position according to the regional sound information.

[0151] The device performs similar functions as the method provided above, and other functions can be referred to the foregoing description, which will not be described herein.

[0152] The embodiment of the present application also introduces an intelligent terminal device from the perspective of an entity device. The intelligent terminal device includes an audio acquisition module, a visual module, and a control module.

[0153] The audio acquisition module includes at least two audio acquisition devices, which are configured to acquire regional sound information. The visual module is configured to acquire regional image information of a target region.

[0154] The intelligent terminal device further includes a power module and a communication module. The power module is composed of a power control board, a battery, and a photovoltaic panel, which are configured to supply power to the control module, the communication module, the visual module, and the audio acquisition module.

[0155] The communication module is in communication connection with the control module, and includes a WIFI module, a 4G module, and a Beidou GPS module.

[0156] Referring to FIG. 10, the control module includes a processor 1001 and a memory 1003. The processor 1001 and the memory 1003 are connected, for example, via a bus 1002. Optionally, the electronic device 1000 can further include a transceiver 1004. It should be noted that the transceiver 1004 is not limited to one in actual applications, and the structure of the control module does not constitute a limitation on the embodiments of the present application.

[0157] The processor 1001 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure. The processor 1001 can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc.

[0158] The bus 1002 can include a path for transmitting information between the above-mentioned components. The bus 1002 can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 1002 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is shown in FIG. 10, but it does not mean that there is only one bus or only one type of bus.

[0159] The memory 1003 can be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read-Only Memory), a CD-ROM (Compact Disc Read-Only Memory) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0160] The memory 1003 is configured to store application program codes for implementing the solutions of the present application, and the processor 1001 is configured to control the execution of the application program codes. The processor 1001 is configured to execute the application program codes stored in the memory 1003 to implement the content shown in the foregoing method embodiments.

[0161] According to an aspect of the present application, the embodiments of the present application provide a computer readable storage medium, which stores a computer program. When the computer program is run on a computer, the computer can execute the corresponding content in the foregoing method embodiments. The storage medium can be a ROM, a disk or a CD, etc.

[0162] According to an aspect of the present application, the embodiments of the present application provide a computer program product, which includes a computer program stored on a computer readable storage medium. The computer program includes program instructions, which, when executed by a computer, cause the computer to perform the method described in the foregoing method embodiments.

[0163] Finally, it should be noted that the above only refers to the preferred embodiments of the present application and is not intended to limit the present application. Although the foregoing embodiments of the present application are described in detail, those skilled in the art can still modify the technical solutions of the foregoing embodiments or make equivalent replacements to some technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of locating a bird's nest, characterized by, The method comprises: collecting regional image information of a target region; identifying whether the regional image information has bird image features to determine whether there are bird creatures in the target region; collecting regional sound information in real time in the case that the regional image information has bird image features; determining a bird nest position according to the regional sound information.

2. The method of claim 1, wherein, The determination of the bird nest position according to the regional sound information comprises: analyzing whether the current regional sound information has bird sound data; determining a current bird position according to the current regional sound information in the case that the current regional sound information has bird sound data; determining a bird nest position according to the determined bird positions in the case that the determined bird positions meet preset threshold conditions; wherein the preset threshold conditions include that the aggregation degree of the bird positions reaches a preset aggregation degree threshold, and / or the total number of the bird positions reaches a preset number threshold.

3. The method of claim 2, wherein, The regional sound information comprises sound information collected by at least two audio collectors respectively. The determination of the current bird position according to the current regional sound information comprises: identifying bird sound data in the current sound information collected by the at least two audio collectors; determining a collection time corresponding to the bird sound data in each current sound information; determining the current bird position according to the collection time corresponding to the bird sound data in each current sound information.

4. The method of claim 3, wherein, The determination of the current bird position according to the collection time corresponding to the bird sound data in each current sound information comprises: sequentially sorting the bird sound data in the current sound information according to the collection time to obtain a bird sound data sequence corresponding to the current sound information; determining bird sound data of the same sound source as bird sound data located at the same sequence number in each bird sound data sequence; determining a current bird position corresponding to the same sound source according to the collection time of the bird sound data of the same sound source.

5. The method of claim 3, wherein, The method further comprises: issuing a stop collecting instruction to control the at least two audio collectors to stop collecting in the case that the regional sound information meets preset dormancy conditions; wherein the preset dormancy conditions include: none of the regional sound information collected by the at least two audio collectors within a preset time length has bird sound data.

6. The method of claim 2, wherein, The method further comprises: identifying bird species corresponding to each bird sound data to determine bird species corresponding to each bird position; wherein the determination of the bird nest position according to the determined bird positions in the case that the determined bird positions meet preset threshold conditions comprises: classifying each bird position according to bird species to obtain bird positions corresponding to each bird species in the case that the determined bird positions meet preset threshold conditions; determining a bird nest position according to the bird positions corresponding to each bird species.

7. The method of claim 1, wherein, The identification of whether the regional image information has bird image features comprises: identifying whether the regional image information has preset alarm features; In a case where the region image information has a preset alarm feature, it is determined whether the preset alarm feature has a bird image feature, to identify whether the region image information has the bird image feature.

8. A bird's nest positioning device, characterized in that The device comprises: an image acquisition module configured to acquire region image information of a target region; a bird image identification module configured to identify whether the region image information has a bird image feature, to determine whether the target region has a bird; a sound acquisition control module configured to acquire region sound information in real time in a case where the region image information has the bird image feature; a bird nest positioning module configured to determine a bird nest position according to the region sound information.

9. An intelligent terminal device, characterized by The device comprises: an audio acquisition module comprising at least two audio acquisition devices, configured to acquire region sound information; a visual module configured to acquire region image information of a target region; a control module comprising one or more processors and a memory; the memory is configured to store one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method according to any one of claims 1-7.

10. A non-transitory computer readable medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the method according to any one of claims 1-7.

11. A computer program product, characterised in that, The computer program comprises program instructions stored on a computer readable storage medium, and the program instructions are executed by a computer to cause the computer to perform the method according to any one of claims 1-7.

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