CN103823449B - For Centralized Monitoring subsystem and the method for supervising of unmanned plane polling transmission line - Google Patents
For Centralized Monitoring subsystem and the method for supervising of unmanned plane polling transmission line Download PDFInfo
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Abstract
The invention discloses a kind of Centralized Monitoring subsystem for unmanned plane polling transmission line, for accessing the status information of mobile substation and unmanned plane during flying platform and patrolling and examining data, unmanned plane patrol task is planned with synchronous, mobile substation and unmanned plane during flying platform that unmanned plane is patrolled and examined carry out real-time remote monitoring, carry out defect diagonsis to patrolling and examining data, statistics, analyze and show, real-time status scene and the electric power environmental of patrolling and examining of current unmanned plane are described, the personnel that unmanned plane patrol task is related to, equipment and patrol and examine circuit and plan and manage, and the result of patrolling and examining is managed concentratedly and defect diagonsis, strengthen informationization and automaticity that unmanned plane is patrolled and examined process and patrolled and examined result treatment, improve the efficiency that unmanned plane is patrolled and examined, for realizing safety and the reliability service of unmanned plane line data-logging, technical support is provided.
Description
Technical field
The invention belongs to the Maintenance and Repair field of power system device, relate to unmanned plane polling transmission line field, especially a kind ofFor Centralized Monitoring subsystem and the method for supervising of unmanned plane polling transmission line.
Background technology
Utilize unmanned plane line data-logging in polling transmission line, bringing into play more and more important effect. Unmanned plane inspection system canPart replaces line walking workman and has man-machine inspection system, can patrol and examine power transmission and transformation line in the suitable time, finds in time lineThe fault on road and hidden danger, and pass on-the-spot situation back ground control centre in time, get rid of in time circuit to make accurate judgmentFault. Can greatly alleviate electrical power services personnel's live load, reduce the probability of contingent personnel's danger, reduce electric powerThe maintenance cost of equipment, the safety and reliability of raising electrical network.
Adopt unmanned plane to carry out polling transmission line and there is certain risk, especially severe at the natural environment such as mountain area, plateau,Polling transmission line is carried out in the area of climate variability. Unmanned plane polling transmission line both domestic and external is all in pilot and examination stage,Need to gather and store state of flight information, the gondola state of the operational factor that unmanned plane is patrolled and examined, especially unmanned plane in this stageThe result datas that information and unmanned plane are patrolled and examined etc., realize the effective monitoring that unmanned plane is patrolled and examined. For comprehensive assessment and the existing nothing of analysisThe Technical Economy of man-machine line data-logging and reliability, the operation management of improving unmanned plane line data-logging provides support, and realizes unmannedThe safety that machine circuit is patrolled and examined and reliability service, need to be patrolled and examined and collect unmanned plane by up to date technics means and management methodMiddle monitoring.
At present, domestic to patrol and examine for unmanned plane the system of monitoring little, and the whole bag of tricks proposing, mostly in test rankSection, and be all to monitor for single unmanned plane, and do not carry out Centralized Monitoring for multiple unmanned planes of patrolling and examining. MonitoringObject mostly be the view data that unmanned plane is patrolled and examined, the monitoring of status information, gondola information and the weather information that unmanned plane is patrolled and examinedLess, lower for informationization and the automaticity of patrolling and examining result data processing.
Application number is " electric power line walking monitoring unmanned system " patent of 201120477071.2, proposes by ground monitoring to beSystem carries out real-time video monitoring to unmanned plane. Application number is 201120186312.8 " a kind of unmanned plane wireless video monitoring systemSystem " patent, carried WCDMA communication mode realize unmanned plane is carried out to real-time monitoring remote video. Both monitoring meansSingle with object, only cannot reflect the flight of the status information that unmanned plane is patrolled and examined, particularly unmanned plane by video monitoring comprehensivelyStatus information, gondola status information and ground moving substation information etc.
Application number is " real-time positioning monitoring management system of unmanned aerial vehicle " patent of 201020519831.7, by the GPS location of unmanned planeInformation exchange is crossed radio communication and is uploaded in real time monitoring system, and multiple unmanned planes are positioned to monitoring. The monitoring of this system only forThe GPS information of unmanned plane, cannot carry out effective monitoring to the real-time state of flight information of unmanned plane, also should not in power systemWith.
Application number is " a kind of line-walking real-time system of unmanned aerial vehicle " patent of 201010595330.1, and it is right to realize by ground control stationThe real-time monitoring of unmanned plane line walking data, and the image information of patrolling and examining is uploaded in internet by 3G passage, it is right only to realizeThe remote monitoring of image, cannot be to the efficient remote of the status information of unmanned plane, gondola status information and ground moving substation informationMonitoring. The related system of this patent is not carried out follow-up automation processing, particularly monitoring system to the result data of patrolling and examiningAnd between unmanned plane, can only monitor one to one, cannot realize the effective monitoring of simultaneously multiple unmanned planes being patrolled and examined information.In sum, the existing method for supervising that unmanned plane is patrolled and examined, its effect is not very desirable, still has a lot of problems to need to solve.
Summary of the invention
The present invention seeks to, in order to overcome the deficiencies in the prior art, provides a kind of Centralized Monitoring for unmanned plane polling transmission lineSubsystem and method for supervising, the mode combining by remote centralized control and local monitor, to the more than one line walking of accessState of flight, gondola state, the transmission line of electricity of unmanned plane and patrol and examine the information such as result and carry out Centralized Monitoring, strengthens unmanned plane and patrols and examinesProcess and informationization and the automaticity of patrolling and examining result treatment, improve the efficiency that unmanned plane is patrolled and examined, and patrols for realizing unmanned plane circuitSafety and the reliability service of inspection, provide technical support.
To achieve these goals, the present invention adopts following technical scheme.
For a centralized monitoring system for unmanned plane polling transmission line, comprise Centralized Monitoring subsystem, mobile substation and unmannedMachine flying platform. Between Centralized Monitoring subsystem and mobile substation, be connected in the mode of one-to-many, mobile substation and unmanned plane flyRow platform is connected in man-to-man mode.
Wherein, described Centralized Monitoring subsystem, for accessing the status information of mobile substation and unmanned plane during flying platform and patrolling and examining numberAccording to, unmanned plane patrol task is planned with mobile substation and unmanned plane during flying platform synchronous, that unmanned plane is patrolled and examined and carried out realityTime remote monitoring, carry out defect diagonsis, statistics, analysis and displaying to patrolling and examining data, describe current unmanned plane patrol and examine in real timeState scene and electric power environmental;
Wherein, mobile substation, for the planning of aerial mission with issue, to patrolling and examining status information and patrolling and examining data and carry out this locality and superviseControl, carries out pretreatment to patrolling and examining view data, and carries out defect and diagnose in advance patrolling and examining result data.
Wherein, unmanned plane during flying platform comprises for the gondola module as wireline inspection terminal, unmanned plane during flying platform is carried outThe flight control module that flight is controlled, carries out the GPS module of GPS location, for the communication module that communicates with mobile substation withAnd unmanned plane body. Flight control module, gondola module and GPS module are led to by digital transmission communication link and mobile substation respectivelyLetter; Gondola module passes communication link by figure detected image information is sent in mobile substation. Described gondola module comprises visibleLight video camera and/or thermal infrared imaging camera and/or ultraviolet imagery video camera etc.
Described Centralized Monitoring subsystem comprises human-computer interaction module, patrol task planning module, inspection device administration module, patrols and examinesPersonal management module, GIS module, transmission line management module, patrol and examine defect diagonsis module, patrol and examine Reports Administration module, dataMemory module, patrol and examine results management module, defect defect elimination module, patrol task monitoring module and communication module.
Human-computer interaction module, for obtaining and resolve external command, sends to corresponding data by the external command after resolving and processes mouldPiece processing, and corresponding result is displayed; Described human-computer interaction module adopt comprise current unmanned plane controlling equipment orPerson is selected from remote controller, keyboard, mouse, audio frequency apparatus, display, multichannel ring curtain stereo projection system, for obtaining and separatingAnalyse external command, the external command after resolving is sent to corresponding data processing module, by modes such as audio frequency, video and imagesDisplay.
Patrol task planning module, carries out task division for the transmission line of electricity that unmanned plane is patrolled and examined, reliable according to inspection deviceProperty, personnel patrol record, patrol and examine the influence factor such as geographical environment, weather environment, determine and respectively patrol and examine the power transmission line of set cycle checkingSection, the crew who patrols and examines equipment needed thereby and patrol and examine, the planned time of clearly patrolling and examining etc., and to the patrol task of cooking upInquire about, newly-built, editor, examination & verification and patrol task notice and the operation such as issue, complete the planning of patrol task; DescribedPatrol task planning module comprises patrol task planning unit, patrol task administrative unit and patrol task information synchronizing unit. PatrolInspection mission planning unit is connected with inspection device administration module, patrol officer's administration module, GIS module and transmission line management moduleConnect, for the transmission line of electricity of patrolling and examining, equipment, personnel and unmanned plane are drawn in the enterprising professional etiquette of GIS map, according to equipment dependability,Personnel's skill master degree, patrol and examine geographical environment complexity, circuit importance, Seasonal and economy etc. affect because ofElement, the key elements such as definite transmission line of electricity, equipment, personnel and time of patrolling and examining; Patrol task administrative unit and patrol task planning are singleUnit is connected, for the patrol task of having planned is inquired about, the management such as newly-built, editor, examination & verification; Patrol task informationLock unit is connected with patrol task administrative unit, arrives corresponding mover for synchronous selected unmanned plane patrol task informationStand.
Patrol task monitoring module, for monitor unmanned plane patrol and examine on-the-spot weather environment information, unmanned plane during flying status information,Real-time status information and the electric power environmental information such as mobile substation status information, GPS positional information, gondola control information, and pass throughAudio-visual and image mode is described real-time status scene and the electric power environmental of patrolling and examining of current unmanned plane; Described patrol task monitoring module,Comprise mobile substation monitoring unit, state of flight monitoring unit, gondola monitoring unit and meteorological environmental monitoring unit, for monitoringUnmanned plane is patrolled and examined on-the-spot real-time status information and electric power environmental information, and it is connected with communication module, human-computer interaction module, logicalCross audio-visual and image mode and describe real-time status scene and the electric power environmental of patrolling and examining of current unmanned plane. Wherein the monitoring of mobile substation is singleUnit, monitors for the GPS information to mobile substation, and at the movement locus of GIS map record move substation, and to historyRunning orbit carries out record; Described state of flight monitoring unit, for the flight gps coordinate to unmanned plane, speed, highly, turnThe status informations such as speed, total distance, cylinder temperature, cell voltage, battery current, battery electric quantity are monitored; Described gondola monitoring unit,Monitor for the angle to unmanned plane during flying gondola, shooting time, shooting GPS positional information etc.; Described weather environment monitoringUnit, for showing the weather environment information such as temperature, humidity, wind speed, atmospheric density (air pressure) and altitude information.
Patrol and examine results management module, patrol and examine the management of result data for unmanned plane, itself and communication module and data memory module phaseConnect, realize patrol and examine result data synchronous, browse, play, contrast, analysis and Report Server Management, complete patrolling and examining number of resultsAccording to management;
Patrol and examine defect diagonsis module, for the result data of patrolling and examining being comprised to image and video information are screened, pretreatment and scarceFall into diagnosis, at the image identification defective locations of patrolling and examining, defect is described with word, storage is patrolled and examined defect in database,Examine patrolling and examining accordingly the operations such as defect image identifies, revises, deletes, inquires about and browses, complete the defect of patrolling and examining resultDisconnected; The described defect diagonsis module of patrolling and examining comprises defect experts database, defect diagonsis unit, image pretreatment unit and defect management listUnit, wherein image pretreatment unit, for the pretreatment of image information, can carry out definition and select scape standard the original image of patrolling and examiningExactness is differentiated, deletes definition not and selects the not accurate enough image of scape, and can diagnostic image be spliced and be edited; DefectExperts database, for the feature database of integrated transmission line of electricity defect, is connected with defect diagonsis unit, by pretreated image and scarceSunken experts database compares, and analyzes transmission line of electricity defect, and on image, the mode of station location marker and explanatory note identifies phaseAnswer defect; Defect diagonsis unit, stores the defect of diagnosing out into data memory module; Defect management unit, realizes patrolling and examiningMark, amendment, the deletion of defect picture, inquire about, browse etc.
Patrol and examine Reports Administration module, for generating the patrol task report of unmanned plane patrol task, describe the defeated of corresponding patrol taskThe defect information of electric line, equipment, personnel, time, aerial mission report and Air Diary information and discovery, and to patrolling and examiningReport is browsed, edits, is deleted and the operation such as examination & verification, completes the management to patrolling and examining report;
Defect defect elimination module, for processing patrolling and examining the defect information of patrolling and examining that report provides, by the power transmission line of patrolling and examining outRoad defect triggers defect defect elimination flow process, carries out the operation such as issue, distribution, notice, defect elimination and defect elimination confirmation of defect defect elimination task,Complete unmanned plane and patrol and examine the found defect elimination operation of patrolling and examining defect; Described defect defect elimination module comprise defect task release unit,Defect task push unit, defect elimination confirmation unit. Wherein, defect task release unit, for patrolling and examining the issue of defect task,And can patrol and examine the distribution of defect task; Defect task push unit is for passing through note, mail and short by defect mission bit streamThe form of message sends to the fortune inspection defect elimination personnel of the affiliated transmission line of electricity section of defect, and by fortune inspection defect elimination, personnel carry out defect elimination task;Defect elimination confirmation unit, completes defect elimination task for transporting inspection defect elimination personnel, and submits to corresponding defect elimination to prove after picture, and confirmation defect elimination is appointedBusiness completes.
GIS module for importing and deriving transmission line information, is shown transmission line information, and transmission of electricity is provided in GIS moduleThe operations such as interval division, selection and the frame choosing of circuit, and be used in and on GIS map, browse, edit and delete corresponding circuit letterBreath, the flight air route information that also can show unmanned plane on GIS map; Described GIS module, comprises that GIS line information imports and exportsUnit, line information display unit, line information maintenance unit. Wherein, GIS line information imports and exports unit, for GISIn map, unmanned plane is patrolled and examined importing and the derivation of transmission line information, the form of its importing and derivation include but not limited to text, XML,The forms such as CSV, EXCEL, WORD, PDF; Line information display unit, for showing transmission line information on GIS map;Line information maintenance unit, for browsing, edit and delete corresponding line information on GIS map.
Communication module, for reading mobile substation real-time status information, the teleinstruction of response human-computer interaction module, realization is patrolled and examinedMission bit stream issues to mobile substation, and Real-time Obtaining moves the information of patrolling and examining of substation and unmanned plane during flying platform, completes Centralized MonitoringBetween subsystem and mobile substation information alternately with communicate by letter; Described communication module can adopt the access of GPRS wireless communication module mobileSubstation, reads mobile substation real-time status information, and for responding the teleinstruction of human-computer interaction module, Real-time Obtaining is above-mentioned to be movedThe information of patrolling and examining of mover station and unmanned plane during flying platform. Above-mentioned communication module include but not limited to current GSM, GPRS, CDMA,WCDMA, TD-SCDMA and LTE communication standard wireless mobile communications, wifi radio communication, LAN and internet communication.
Transmission line management module, for the shaft tower GPS position of transmission line of electricity, shaft tower model, shaft tower height, initial shaft tower numbering,Importing, the derivation of the information such as shaft tower numbering, inquire about, browse, delete and the operation such as editor, complete the pipe to transmission line informationReason; Described transmission line management module, comprises that line information imports and exports unit, line information query unit and line information dimensionProtect unit. Wherein line information imports and exports unit, for the shaft tower GPS position of transmission line of electricity, shaft tower model, shaft tower height,Importing, the derivation of the information such as initial shaft tower numbering, shaft tower numbering, the form of its importing and derivation include but not limited to text, XML,The forms such as CSV, EXCEL, word, pdf. Line information query unit, can number by circuit number, shaft tower position, shaft tower,The inquiry such as GPS position transmission line information, also can be connected with GIS module, inquires about respective lines information on GIS map; CircuitMaintenance of information unit is browsed, deletes and edit for line information.
Patrol officer's administration module, for to patrolling and examining crew and patrol task administrative staff carry out personnel by ID card informationInquiry, maintenance, registration and the deletion management of essential information, realize automatic inquiry and the exhibition of personal information by card reader of ID cardShow, and inquire about patrolling and examining crew's patrol record information, browse, editor and deletion action, complete patrol officer's letterThe management of breath; Described patrol officer's administration module comprises that card reader of ID card, personnel information management unit and patrol record management are singleUnit. Wherein, card reader of ID card is for reading patrol officer's identification card number information, its with personnel information management unit between lead toCrossing serial ports connects; Personnel information management unit, for realizing inquiry, maintenance, registration and the deletion to patrol officer's essential information,Personnel information management unit is connected with card reader of ID card, realizes automatic inquiry and the displaying of personal information; Patrol record managementUnit, inquires about, browses, edits and deletes patrol officer's patrol record for realizing.
Inspection device administration module, for the facility information of patrolling and examining is managed, realize facility information importing, derive, look intoAsk, browse, register, maintenance and deletion action, and maintenance to inspection device status information, comprise the free time, patrol and examine use,The states such as maintenance or maintenance, realize the effective management and using to inspection device; Described inspection device administration module, comprises and establishingStandby information imports and exports unit, facility information query unit, equipment information management unit. Wherein facility information imports and exports unit,For importing and the derivation of facility information, the form of its importing and derivation include but not limited to text, XML, EXCEL, word,The forms such as pdf; Facility information query unit, for the inquiry of facility information, can by the title of equipment, numbering, classification tree withAnd the mode such as fuzzy query realizes the inquiry of facility information; Equipment information management unit, for the registration of facility information, maintenance andDelete.
Data memory module, for by the storage of the mode such as database and file completion system data, passes through data memory moduleComplete centralized management subsystem master data, patrol and examine process data, patrol and examine result data and the monitor data of patrolling and examining etc. entersRow storage, the screen data of wherein patrolling and examining are stored by file, and the file path of storage stores database into.
Above-mentioned mobile substation comprises human-computer interaction module, patrol task synchronization module, gondola control module, GIS module, flies to control mouldPiece, aerial mission planning module, the pre-diagnostic module of defect, image pretreatment module, weather monitoring module, aerial mission monitoringModule, data memory module, GPS module and communication module.
Human-computer interaction module, for obtaining and resolve external command, sends to corresponding data by the external command after resolving and processes mouldPiece processing, and corresponding result is displayed, realize the input and output of system data, complete the mutual of people and system;Described human-computer interaction module adopts and comprises current unmanned plane controlling equipment or be selected from remote controller, displacement tracking equipment, six degree of freedomMotion platform, keyboard, mouse, audio frequency apparatus, display, multichannel ring curtain stereo projection system.
Described patrol task synchronization module, arrives this locality for the patrol task information of synchronous Centralized Monitoring subsystem, to being synchronized toThe operations such as local patrol task is inquired about, state-maintenance and current patrol task setting, complete the synchronous of patrol task informationAnd management; Described patrol task synchronization module, comprises patrol task information synchronizing unit, patrol task query unit and current patrollingInspection task setting unit, arrives local for the patrol task information of synchronous Centralized Monitoring subsystem. Patrol task information is synchronously singleUnit is synchronous for patrol task information; Patrol task query unit, inquires about the patrol task information on mobile substation; Current patrollingInspection task setting unit, for setting the patrol task of current acquiescence.
Gondola control module, for realizing monitoring and the control to gondola on unmanned plane during flying platform, reads in real time and comprises but do not limitIn gondola information such as gondola angle, battery electric quantity, cell voltage, battery current, shooting time, shooting GPS values, also can basisExternal command, issues control instruction, controls the angle of gondola, carries out and takes and stop taking action, completes unmanned plane during flyingGondola monitoring on platform.
GIS module, for the transmission line information to patrol task import, derivation and display function, and provide GIS mapThe operation such as frame choosing, location, GPS position, the functions such as the proving operation of the GPS location point on GIS map are provided. Described GIS mouldPiece, comprises that GIS line information imports unit, line information display unit. GIS line information imports unit, for importing GISLine information, the file format of its importing includes but not limited to text, XML, CSV, EXCEL, WORD, PDF etc.; Circuit letterBreath display unit, for showing transmission line information in GIS low pass.
Fly to control module, for the status information of unmanned plane during flying platform is monitored and controlled, read in real time unmanned plane during flying flatThe GPS information of platform, speed, highly, the information such as rotating speed, total distance, cylinder temperature, cell voltage, battery current and battery electric quantity, andAccording to external command, transmitting order to lower levels, to unmanned plane during flying platform, is controlled unmanned plane during flying platform. Describedly fly to control module,Comprise flight monitoring unit and flight control module. Wherein, flight monitoring unit is connected with communication module, in real time to unmanned planeThe GPS information that includes but not limited to of flying platform, speed, highly, rotating speed, total distance, cylinder temperature, cell voltage, battery current andThe information such as battery electric quantity are monitored; Flight control module is connected with communication module, and according to external command, transmitting order to lower levels is to nothingMan-machine flying platform, controls unmanned plane during flying platform.
Aerial mission planning module, for transmission line information, geographical environment information, the weather environment letter of patrolling and examining according to unmanned planeBreaths etc. are cooked up landing point, hover point, track points that unmanned plane is patrolled and examined on GIS map, and the height of corresponding flight,Flying speed, line-spacing etc., generate corresponding flight air route, and to unmanned plane during flying mission bit stream inquire about, browse and delete,The operations such as importing and derivation, complete management and the planning of aerial mission. Described aerial mission planning module, comprises flight program listUnit, aerial mission information import and export unit and aerial mission information management unit. Wherein flight program unit, to patrol and examine circuitSection transmission line information, GIS geography information and weather information etc. be constraint, cook up patrol unmanned machine landing point, hangRest point, track points, and the height of corresponding flight, flying speed, line-spacing etc. Aerial mission information management unit, forInquire about, browse and delete aerial mission information. Aerial mission imports and exports unit can import, derive corresponding aerial mission file,The file format importing, derive include but not limited to aerial mission description document or text, XML, CSV, EXCEL, WORD,BMP, JPEG, GIF, TIFF, TGA, EXIF etc.
The pre-diagnostic module of described defect, for image being edited and being spliced processing, will have the picture of latent defect possibilityScreen, in image information, identify defect information and defective locations information, and corresponding defect information is identified, repaiiedOperations such as changing, delete, inquire about and browse, completes defect diagonsis and the management of patrolling and examining result.
Image pretreatment module, for the image information of patrolling and examining is carried out to pretreatment and management, carries out clear to corresponding defect informationLook at, edit, screening and pretreatment operation, by the shooting clear degree in shooting figure item not, shooting angle not just and select scape notAccurate picture screens, and figure is carried out to denoising, adjust the processing such as definition and contrast of image, realizes image informationPretreatment. Described image pretreatment module, comprises that picture browsing unit, picture editting unit, optical sieving unit and image are pre-Processing unit. Wherein picture browsing unit browsing for image information; Picture editting unit carries out manual edit and deletes imageExcept operation; Optical sieving unit is for screening away the definition of image information and the inadequate image information of the degree of accuracy; Image is pre-Processing unit carries out denoising to image, adjusts the processing such as definition and contrast of image, realizes the pretreatment of image information.
Described weather monitoring module, patrols and examines on-the-spot weather information to unmanned plane and carries out Real-Time Monitoring, by matched interfaces and flightMission Monitor module is connected, and monitoring weather information is sent to Centralized Monitoring subsystem; Described weather monitoring module, adopts bagDraw together but be not limited to meteorological comprehensive monitor or temperature sensor, humidity sensor, air velocity transducer, atmospheric density (air pressure)Sensor, height above sea level tester etc., patrol and examine on-the-spot temperature, humidity, wind speed, atmospheric density (air pressure) and height above sea level to unmanned planeInformation etc. are carried out Real-Time Monitoring, and described equipment adopts matched interfaces to be connected with aerial mission monitoring module.
Aerial mission monitoring module, for to state of flight information, patrol and examine on-the-spot weather information, GPS positional information etc. and monitor,In human-computer interaction module, display; Corresponding aerial mission monitor message can also be sent to and concentrated prison by communication moduleControl subsystem.
Data memory module, for the storage of system data, is completed centralized management subsystem master data, is patrolled by dataInspection process data, patrol and examine result data and the monitor data of patrolling and examining etc. is stored, the screen data of wherein patrolling and examining are passed through fileStorage, the file path of storage stores database into. ;
Described GPS module, for the GPS location of mobile substation, it is connected by serial ports with aerial mission monitoring module, will moveThe GPS information at mover station sends to Centralized Monitoring subsystem;
Communication module for realizing the mutual of data between Centralized Monitoring subsystem, is synchronously patrolled from Centralized Monitoring subsystemInspection mission bit stream, and will patrol and examine data and patrol and examine and on monitor data, deliver to Centralized Monitoring subsystem; Also can be by digital transmission module and figureTransmission module, reads the unmanned plane status information of unmanned plane during flying platform and the video information of patrolling and examining. Described communication module, comprises nothingLine communication unit, wire communication unit, number leaflet unit and figure leaflet unit. Wireless communication unit employing includes but not limited to currentGSM, GPRS, CDMA, WCDMA, TD-SCDMA and LTE communication standard wireless mobile communications, the communication of wifi radio communicationModule; Information interaction, by ethernet communication, is realized in wire communication unit; Number leaflet unit realizes and unmanned plane by data radio stationThe data communication of flying platform; Figure leaflet unit passes by figure the video information that antenna reception unmanned plane during flying platform sends.
The present invention also provides a kind of method for supervising of the Centralized Monitoring subsystem for unmanned plane polling transmission line, comprises threePart: result treatment and patrol task monitoring are carried out, patrolled and examined to patrol task. Its concrete flow process is as follows:
The first step, patrol task is distributed, the status information according to the information of the transmission line of electricity of patrolling and examining with the mobile substation monitoring,Carry out patrol task distribution, determine each patrol task corresponding power transmission line section, monitoring time, patrol and examine type and patrol and examine objectEtc. information, and each patrol task is carried out to the configuration of patrol officer and equipment. The prison of the status information of this stage to mobile substationControl is mainly that GPS positional information to mobile substation and integrity degree, crew's degree of crew etc. of mover station equipment are enteredRow monitoring, is convenient to corresponding patrol task to distribute.
Second step, patrol task carry out, corresponding patrol task information is audited, examination & verification pass through after by under patrol task informationSend out corresponding mobile substation, carry out corresponding patrol task. In the patrol task execution phase, by communication to patrolling and examiningTasks carrying situation is monitored, the meteorology at equipment state, GPS positional information and scene, mobile substation to mobile substationEnvironmental information is monitored.
The 3rd step, aerial mission is newly-built, and, according to the patrol task information issuing, appoint the flight that patrol task is corresponding mobile substationBusiness is planned, determines that this patrol task completes required aerial mission, and the landing flight of a corresponding aircraft of aerial mission is patrolledInspection; Newly-built aerial mission, should determine corresponding shaft tower and the power transmission line section patrolled and examined of aerial mission, and aerial mission is correspondingMonitoring equipment (infrared, ultraviolet or visible ray), cooks up corresponding flight air route, if directly lead in existing flight air routeEnter.
The 4th step, aerial mission is carried out, and the air route information of flying in the aerial mission that mobile substation will be carried out sends and flies to control in module,Start unmanned plane, fly and patrol and examine. In the process of patrolling and examining, aerial mission being monitored, is mainly to state of flight, gondolaState, flight track and weather information are monitored.
The 5th step, aerial mission completes, and should import in mobile substation patrolling and examining accordingly result data, to the image letter of patrolling and examiningBreath carries out pretreatment, in conjunction with flight course information, generates flight report, and receives the flight report, the flight that send in real timeResult data, flight course data, flight monitor data.
The 6th step, patrol task completes, and Centralized Monitoring subsystem is to the result data of patrolling and examining, and the image information of mainly patrolling and examining is carried outPatrol and examine defect diagonsis, determine and patrol and examine defect; And to the defect verification tentatively providing in flight report and diagnosis; To patrol taskCarry out completeness inspection, guarantee that patrol task completeness is 100%, inspection method is 1) by the transmission of electricity of patrolling and examining in aerial missionLine length is the transmission line length of patrolling and examining specifying in patrol task. 2) related overhead line structures in patrol task, all carry outCrossing flight patrols and examines.
The 7th step, patrol task is closed, and centralized management subsystem is according to patrolling and examining procedural information, object information and defect information, rawBecome to patrol and examine accordingly report, provide and patrol and examine process prescription and patrol and examine result and describe; To patrol and examine accordingly and in report, patrol and examine defect and carry outDefect defect elimination, and defect defect elimination result is reflected to and is patrolled and examined in report.
Beneficial effect of the present invention: according to the present invention, can achieve a butt joint into unmanned plane effective Centralized Monitoring of patrolling and examining, and canThe status data that the unmanned plane of access is patrolled and examined carries out statistical analysis, improves the safety and reliability of unmanned plane line data-logging.
Adopt the mode of Centralized Monitoring can realize the unified monitoring that unmanned plane is patrolled and examined, the technology warp that is conducive to unmanned plane to be patrolled and examinedJi property and reliability are analyzed, for the operation management of improving unmanned plane line data-logging provides support.
Adopt GPRS communication mode that the image information of the real-time status information of unmanned plane line walking and shooting is real-time transmitted to and concentrates prisonControl subsystem, carries out automation processing to the result data of patrolling and examining, and promotes automation and the level of informatization of line walking, improves line walkingEfficiency, reduce the cost of line walking.
By the Centralized Monitoring of status information that unmanned plane is patrolled and examined, making unmanned plane patrol and examine dispatcher can patrol overall unmanned planeInspection is effectively grasped, and line data-logging that can flexible dispatching unmanned plane improves the service efficiency of line walking unmanned plane, and balance is usedLine walking unmanned plane, in the service life of prolongation unmanned plane, reduces use cost.
Brief description of the drawings
Fig. 1 is that unmanned plane is patrolled and examined centralized monitoring system Organization Chart.
Fig. 2 is Centralized Monitoring subsystem structure chart of the present invention.
Fig. 3 is mobile substation system construction drawing.
Fig. 4 is method for supervising flow chart of the present invention.
Fig. 5 is that the present invention patrols and examines result treatment flow chart.
Fig. 6 is unmanned plane patrol task flow chart of the present invention.
Fig. 7 is unmanned plane during flying mission flow diagram of the present invention.
Wherein, 1, Centralized Monitoring subsystem; 2, mobile substation; 3, unmanned plane during flying platform; 4, gondola module; 5, flightControl module; 6, a GPS module; 7, first communication module; 8, the first human-computer interaction module; 9, patrol task planningModule; 10, inspection device administration module; 11, patrol officer's administration module; 12, a GIS module; 13, transmission line of electricityAdministration module; 14, patrol and examine results management module; 15, patrol and examine defect diagonsis module; 16, patrol and examine Reports Administration module; 17,The first data memory module; 18, defect defect elimination module; 19, patrol task monitoring module; 20, second communication module; 21,The second human-computer interaction module; 22, patrol task synchronization module; 23, gondola control module, 24, the 2nd GIS module; 25,Fly to control module; 26, aerial mission planning module; 27, the pre-diagnostic module of defect; 28, image pretreatment module; 29, meteorologyMonitoring modular; 30, aerial mission monitoring module; 31, the second data memory module; 32, the 2nd GPS module; 33, the 3rdCommunication module.
Detailed description of the invention
Clearer in order to make to invent the technical problem, technical scheme and the beneficial effect that solve, below in conjunction with accompanying drawing and realityExecute example, the present invention is further elaborated. Should be appreciated that specific embodiment described herein is only in order to explain thisInvention, is not intended to limit the present invention.
Be that a kind of unmanned plane is patrolled and examined centralized monitoring system as shown in Figure 1, this system comprises:
Centralized Monitoring subsystem 1, mobile substation 2 and unmanned plane during flying platform 3.
Wherein, access and activation line when described Centralized Monitoring subsystem 1 and multiple mobile substation 2.
In Centralized Monitoring subsystem, in 1, the first human-computer interaction module 8, can select unmanned plane controlling equipment as basic man-machine friendshipEquipment mutually, also can select or combine simultaneously remote controller, keyboard, mouse, audio frequency apparatus, display, the three-dimensional throwing of multichannel ring curtainShadow system, as required configuration;
Patrol task planning module 9 and inspection device administration module 10, patrol officer's administration module 11, a GIS module 12 andTransmission line management module 13 is connected, for the transmission line of electricity of patrolling and examining, equipment, personnel and unmanned plane are carried out on GIS mapPlanning, according to equipment dependability, personnel's skill master degree, patrol and examine geographical environment complexity, circuit importance, seasonalityThe influence factor such as factor and economy, determines transmission line of electricity, equipment, personnel and the time of patrolling and examining; Patrol task planning module 9Also be connected with second communication module 20 for patrol task information being sent to mobile substation 2, corresponding patrolling and examining carried out in mobile substation 2Task;
Patrol task monitoring module 19 is connected with second communication module 20, the first human-computer interaction module 8, patrols for reading unmanned planeExamine on-the-spot real-time status information and electric power environmental information, and describe the reality of patrolling and examining of current unmanned plane by audio-visual and image modeTime state scene and electric power environmental;
Patrol and examine results management module 14 and be connected with the first data memory module 17 with second communication module 20, for reading and storingUnmanned plane is patrolled and examined status data and is patrolled and examined result data, realizes and patrols and examines the browsing of data, contrasts, analysis and Report Server Management; PatrolInspection defect diagonsis module 15 and the first data memory module 17 with patrol and examine results management module 14 and be connected, realization is to patrolling and examining number of resultsAccording to comprising the defect information such as picture and the video diagnosis of patrolling and examining, associated disadvantages diagnostic result is marked by position on picture and videoThe mode of knowledge and explanatory note is shown, and can defect processing result be browsed, edit and delete;
Patrol and examine Reports Administration module 16 and patrol and examine defect diagonsis module 15 and be connected with the first data memory module 17, for generating nothingThe patrol task report of man-machine patrol task, describes the process of patrolling and examining of corresponding patrol task and the defect of object information and discovery letterBreath, and can to patrolling and examining, report be browsed, edits, deletion and review operations;
Patrol and examine Reports Administration module 16 interconnected with defect defect elimination module 18 and first communication module 20, for the row of report will be patrolled and examinedThe defect of patrolling and examining going out is announced, and is pushed to defect elimination personnel by the mode of mail, note and short message, by defect defect elimination peopleMember carries out defect elimination;
The one GIS module 12 is associated with transmission line management module 13, realize to unmanned plane patrol and examine transmission line information at GISImporting, displaying, editor, deletion and preservation on map;
Second communication module 20 in Centralized Monitoring subsystem 1 can access mobile substation by GPRS radio communication, reads mobile substationReal-time status information, and for responding the teleinstruction of human-computer interaction module, the above-mentioned mobile substation of Real-time Obtaining and unmanned plane during flyingThe information of patrolling and examining of platform. Described second communication module 20 also can select GSM, CDMA, WCDMA, TD-SCDMA and LTE logicalNews standard wireless mobile communications, wifi radio communication, LAN are realized and being communicated by letter with internet communication mode;
In Centralized Monitoring subsystem 1, patrol and examine defect diagonsis module 15 and comprise defect experts database, defect diagonsis unit, image pretreatment listUnit and defect management unit, wherein image pretreatment unit is connected with the first data memory module 17, and original image is carried out in advanceProcess, screening is fallen definition not and is selected the not accurate enough image of scape; Defect experts database is connected with defect diagonsis unit, to complying withCarry out defect diagonsis according to image information, on image, the mode of station location marker and explanatory note identifies associated disadvantages;
The module of defect defect elimination described in Centralized Monitoring subsystem 1 18 comprises defect task release module, defect task pushing module, disappearsLack and confirm module. Wherein, defect task release module is connected with defect task pushing module, reads and by defect mission bit streamSend to the fortune inspection defect elimination personnel of transmission line of electricity section under defect by the form of note, mail and short message, by fortune inspection defect eliminationPersonnel carry out defect elimination task; Defect elimination is confirmed module, completes defect elimination task, and submit to corresponding defect elimination to prove for transporting inspection defect elimination personnelAfter picture, confirm that defect elimination task completes.
In Centralized Monitoring subsystem 1, described transmission line management module 13, comprises that line information imports and exports unit, line informationQuery unit and line information maintenance unit. Wherein line information imports and exports unit, for the importing of transmission line information, leadGo out, the form of its importing and derivation can be selected XML file format, also can select text, CSV, EXCEL, word, pdf etc.Form.
In Centralized Monitoring subsystem 1, described inspection device administration module 10, comprises that facility information imports and exports unit, facility informationQuery unit, equipment information management unit. Wherein facility information imports and exports unit, for importing and the derivation of facility information,The form of its importing and derivation is selected XML file format, also can select the forms such as text, EXCEL, word, pdf.
In Centralized Monitoring subsystem 1, a described GIS module 12, comprises that GIS line information imports and exports unit, line information exhibitionShow unit, line information maintenance unit, GIS line information imports and exports file format can adopt XML file, also can adopt text,The forms such as CSV, EXCEL, WORD, PDF.
As shown in Figure 3, mobile substation 2 comprises the second human-computer interaction module 21, patrol task synchronization module 22, gondola control mouldPiece 23, the 2nd GIS module 24, fly to control module 25, aerial mission planning module 26, the pre-diagnostic module 27 of defect, image pretreatmentModule 28, weather monitoring module 29, aerial mission monitoring module 30, the second data memory module 31, the 2nd GPS module 32 andThird communication module 33.
Described the second human-computer interaction module 21 adopts unmanned plane controlling equipment to realize man-machine interaction, also can select or combine remote controller,Displacement tracking equipment, 6-dof motion platform, keyboard, mouse, audio frequency apparatus, display, the stereoprojection of multichannel ring curtainSystem.
Aerial mission planning module 26 with patrol task synchronization module 22, gondola control module 23, fly to control module 25 and the 2nd GIS mouldPiece 24 is connected, and completes the planning of unmanned plane during flying task.
Aerial mission planning module 26, comprises that flight program unit, aerial mission information import and export unit and aerial mission informationAdministrative unit. Aerial mission imports and exports unit can import, derive corresponding aerial mission file, the tray that imports, derivesFormula adopts XML file format, also can selection or combine text, XML, CSV, EXCEL, WORD, BMP, JPEG, GIF,TIFF, TGA, EXIF etc.
The pre-diagnostic module 27 of defect is connected with the second data memory module 31 with image pretreatment module 28, completes mobile substation 2In patrol and examine the pre-diagnosis of result data, tentatively filter out useless image information.
Aerial mission monitoring module 30 is associated with weather monitoring module 29, the 2nd GPS module 24 and third communication module 33, forTo the patrol task information of unmanned plane during flying platform 3 with patrol and examine result data and monitor.
30 of moulds of aerial mission monitoring are associated with third communication module 33, patrolling and examining of the unmanned plane reading and mobile substation 2 can be appointedBusiness information and patrol and examine and deliver to Centralized Monitoring subsystem 1 on result data.
Described weather monitoring module 29, can adopt meteorological comprehensive monitor, can also select or combination temp sensor, humiditySensor, air velocity transducer, atmospheric density (air pressure) sensor, height above sea level tester etc.
Described the 2nd GIS module 24, comprises that GIS line information imports unit, line information display unit. GIS line information importsUnit, for importing GIS line information, the file format of its importing can adopt XML, also can select text, CSV, EXCEL,WORD, PDF etc.;
Described third communication module 33, comprises wireless communication unit, wire communication unit, number leaflet unit and figure leaflet unit. WirelessCommunication unit adopts GPRS communication mode, also can select or combine GSM, GPRS, CDMA, WCDMA, TD-SCDMA andLTE communication standard wireless mobile communications, wifi radio communication communication module.
Unmanned plane during flying platform 3 mainly comprises gondola module 4, flight control module 5, a GPS module 6, first communication module 7And unmanned plane body. Gondola module 4, flight control module 5 and a GPS module 6 are by first communication module 7 and mobile substation2 communicate. Described first communication module 7 comprises several leaflet units and figure leaflet unit, can adopt digital radio station, can also adopt mouldIntend radio station. Gondola module 4 adopts and can, by light video camera, also can select or combine camera, thermal infrared imaging camera and ultravioletThe equipment such as imaging video camera. Described unmanned plane body can be selected rotor wing unmanned aerial vehicle, also optional majority rotor or fixed-wing unmanned plane.
The monitoring flow process of the Centralized Monitoring subsystem that as shown in Figure 4, unmanned plane of the present invention is patrolled and examined has been divided into three large basic proceduresRespectively: patrol task is carried out flow process, patrolled and examined result treatment flow process and patrol task monitoring flow process. Unmanned plane is patrolled and examined Centralized MonitoringInteraction flow is as follows:
The first step, patrol task is distributed, the status information according to the information of the transmission line of electricity of patrolling and examining with the mobile substation 2 monitoring,Carry out patrol task distribution, determine each patrol task corresponding power transmission line section, monitoring time, patrol and examine type and patrol and examine objectEtc. information, and each patrol task is carried out to the configuration of patrol officer and equipment. The prison of the status information of this stage to mobile substation 2Control is mainly that GPS positional information to mobile substation 2 and integrity degree, crew's degree of crew etc. of mobile substation 2 equipment are enteredRow monitoring, is convenient to corresponding patrol task to distribute.
Second step, patrol task carry out, corresponding patrol task information is audited, examination & verification pass through after by under patrol task informationSend out corresponding mobile substation 2, carry out corresponding patrol task. In the patrol task execution phase, by communication to patrolling and examiningTasks carrying situation is monitored, the meteorology at equipment state, GPS positional information and 2 scenes, mobile substation to mobile substation 2Environmental information is monitored.
The 3rd step, aerial mission is newly-built, and, according to the patrol task information issuing, appoint the flight that patrol task is corresponding mobile substation 2Business is planned, determines that this patrol task completes required aerial mission, and the landing flight of a corresponding aircraft of aerial mission is patrolledInspection; Newly-built aerial mission, should determine corresponding shaft tower and the power transmission line section patrolled and examined of aerial mission, and aerial mission is correspondingMonitoring equipment (infrared, ultraviolet or visible ray), cooks up corresponding flight air route, if directly lead in existing flight air routeEnter.
The 4th step, aerial mission is carried out, and the air route information of flying in the aerial mission that mobile substation 2 will be carried out sends and flies to control in module,Start unmanned plane, fly and patrol and examine. In the process of patrolling and examining, aerial mission being monitored, is mainly to state of flight, gondolaState, flight track and weather information are monitored.
The 5th step, aerial mission completes, and should import in mobile substation 2 patrolling and examining accordingly result data, to the image letter of patrolling and examiningBreath carries out pretreatment, in conjunction with flight course information, generates flight report, and receives the flight report, the flight that send in real timeResult data, flight course data, flight monitor data.
The 6th step, patrol task completes, and Centralized Monitoring subsystem 1 is to the result data of patrolling and examining, and the image information of mainly patrolling and examining is carried outPatrol and examine defect diagonsis, determine and patrol and examine defect; And to the defect verification tentatively providing in flight report and diagnosis; To patrol taskCarry out completeness inspection, guarantee that patrol task completeness is 100%, inspection method is 1) by the power transmission line of patrolling and examining in aerial missionRoad length is the transmission line length of patrolling and examining specifying in patrol task. 2) related overhead line structures in patrol task, all carried outFlight is patrolled and examined.
As shown in Figure 5, the 7th step, patrol and examine result treatment flow process as follows:
The 1st step, image pretreatment, carries out pretreatment to patrolling and examining the image copy information of taking in result, by the bat in pictures takenTake the photograph definition not, shooting angle not just and select the inaccurate picture of scape to screen, picture is carried out to denoising, adjust pictureDefinition and contrast;
The 2nd step, defect diagonsis, the defect sample providing according to defect experts database is diagnosed, and confirms that whether information in image beDefect is added defect map layer on picture, in new image layer, identifies by square or circular and explanatory noteDefect, and by diagnostic result save data storehouse;
The 3rd step, defect manual handle, to being saved in the defect information in database, carries out manual confirmation, and what confirmation was diagnosed out isNo is defect, can again identify defect, deletes defect, revises defect and browse associated disadvantages; Also can pass through imageManagement, browses original image information, and the defect of artificial discovery is identified.
The 8th step, patrol task is closed, and centralized management subsystem 1 is according to patrolling and examining procedural information, object information and defect information, rawBecome to patrol and examine accordingly report, provide and patrol and examine process prescription and patrol and examine result and describe; To patrol and examine accordingly and in report, patrol and examine defect and carry outDefect defect elimination, and defect defect elimination result is reflected to and is patrolled and examined in report.
As shown in Figure 6, unmanned plane patrol task flow process can be divided into following 8 steps execution:
The first step, patrol task is newly-built, in GIS map transmission line of electricity, according to existing transmission line information and and corresponding lineThe defect condition of patrolling and examining on section, determines the power transmission line section of patrol task, specifies monitoring time, patrols and examines type, patrols and examines orderEtc. information; Patrol task is newly-built also can complete the newly-built of patrol task by clone, and clone need to revise corresponding patrol task and holdThe parameters such as line time. Determine that at present patrol task information comprises task names, line name, electric pressure, plays stopping bar number, barTower (base), line length, patrol and examine type, patrol and examine object, the information such as planned start time, plan end time, director.
Second step, patrol task configuration, according to the type of patrol task with patrol and examine object, determines the class of sense terminals and unmanned planeType; According to the planned time section of patrol task and machine set type, select survey monitor group membership idle in this time period and patrol and examine and establishStandby.
The 3rd step, patrol task examination & verification, polling transmission line administrative staff, audit patrol task, and examination & verification is by enteringEnter step 4; Otherwise, if task configuration audit does not pass through, enter step 2, again corresponding patrol task is configured;Do not pass through if patrol and examine layout of roads examination & verification, enter step 1, adjust the power transmission line section of patrolling and examining.
The 4th step, patrol task notice, the patrol task that examination & verification is passed through, by the form of note, short message and mail, sends outCloth patrol task notice.
The 5th step, patrol task issues, and corresponding patrol task, by the form of Ethernet or wireless network, is patrolled and examined correspondingTask sends in corresponding mobile substation 2, completes issuing of patrol task.
The 6th step, patrol task is carried out, and in mobile substation 2, according to corresponding patrol task, sets up corresponding aerial mission,Execution unmanned plane during flying is patrolled and examined, and the procedural information of patrolling and examining and object information are sent in Centralized Monitoring subsystem 1.
The 7th step, patrol task completes, and reaches 100% by the inspection of patrol task completeness, and by the mistake of all patrol tasksJourney information, object information and flight report and Air Diary information send to Centralized Monitoring subsystem 1.
The 8th step, patrol task is closed, according to the procedural information of patrolling and examining, object information, Air Diary and flight report, rightPatrolling and examining result carries out, after defect recognition processing, providing and patrolling and examining defect list; The corresponding defect of patrolling and examining is sent to and patrols and examines defect defect elimination mouldPiece, carries out defect defect elimination; Generate and patrol and examine accordingly report according to the procedural information of patrolling and examining, object information and defect information, closePatrol task.
After patrol task completes, the final result of patrolling and examining should form and patrols and examines report, patrol and examine report comprised the procedural information of patrolling and examining,The contents such as state of flight information, weather information, Air Diary, the defect information of patrolling and examining out and patrol task information.
As shown in Figure 7, in mobile substation, unmanned plane during flying tasks carrying flow process can be divided into following 6 steps:
The first step, aerial mission is newly-built, according to the unmanned plane patrol task information being synchronized in mobile substation 2, sets up unmanned plane and fliesThe aerial mission that row is patrolled and examined. In GIS map, show and need to patrol and examine transmission line information, the shaft tower part of path of selecting flight to patrol and examine,The GPS positional information of patrolling and examining shaft tower and takeoff and landing point is written in XML file, and frame selects the GIS satellite ground of patrolling and examining automaticallyFigure, for patrolling and examining map.
Second step, air Route Planning Method, if there has been corresponding flight air route in the corresponding shaft tower power transmission line section of patrolling and examining, choosingSelect corresponding flight air route; Otherwise, according to the shaft tower power transmission line section of patrolling and examining of determining in aerial mission, carry out unmanned plane during flying boatCircuit planning, the flight way point of planning department's unmanned plane, the hover point of patrolling and examining, homeward air route and landing point etc.
The 3rd step, aerial mission examination & verification, determines and patrols and examines transmission line of electricity and corresponding flight air route is examined unmanned plane during flying taskCore, examination & verification is by entering step 4; Examination & verification, not by entering step 2, is planned again to flight air route.
The 4th step, aerial mission is carried out, by definite aerial mission flight air route information, hover point GPS positional information and flightMap is issued to and flies to control in module, start unmanned plane and carry out polling transmission line flight, in flight course by fly to control module withUnmanned plane carries out alternately, controls unmanned plane during flying; The detection gondola of controlling unmanned plane by gondola control module 23 take pictures andShooting.
The 5th step, flight completes, and in unmanned plane during flying process, the status information of flight is accordingly sent to mobile substation 2, and willThe result data (picture, video) that flight is patrolled and examined sends to mobile substation 2.
The 6th step, task completes, Air Diary imported in mobile substation 2, and according to flight course data and flight number of resultsAccording to, carry out preliminary defect diagonsis analysis, generate corresponding flight report, the flight report of generation is sent to Centralized Monitoring pipeReason subsystem 1.
More than by the detailed description of concrete and preferred embodiment the present invention, but it will be understood by those skilled in the art that thisInvention is not limited to the above embodiment, within the spirit and principles in the present invention all, any amendment of doing, is equal to and replacesChange etc., within all should being included in protection scope of the present invention.
Claims (10)
1. for the Centralized Monitoring subsystem of unmanned plane polling transmission line, it is characterized in that, comprising:
Human-computer interaction module, for obtaining and resolve external command, sends to corresponding data by the external command after resolving and processes mouldPiece processing, and corresponding result is displayed;
Patrol task planning module, carries out task division for the transmission line of electricity that unmanned plane is patrolled and examined, reliable according to inspection deviceProperty, personnel patrol record, patrol and examine the influence factor of geographical environment, weather environment, determine the power transmission line of respectively patrolling and examining set cycle checkingSection, the crew who patrols and examines equipment needed thereby and patrol and examine, the planned time of clearly patrolling and examining, and the patrol task of cooking up is enteredRow inquiry, newly-built, editor, examination & verification and patrol task notice and issue operation, complete the planning of patrol task;
Patrol task monitoring module, for monitor unmanned plane patrol and examine on-the-spot weather environment information, unmanned plane during flying status information,Mobile substation status information, GPS positional information, gondola control information real-time status information and electric power environmental information, and pass through shadowSound and image mode are described real-time status scene and the electric power environmental of patrolling and examining of current unmanned plane;
Patrol and examine results management module, patrol and examine the management of result data for unmanned plane, itself and communication module and data memory module phaseConnect, realize patrol and examine result data synchronous, browse, play, contrast, analysis and Report Server Management, complete patrolling and examining number of resultsAccording to management;
Patrol and examine defect diagonsis module, for the result data of patrolling and examining being comprised to image and video information are screened, pretreatment and scarceFall into diagnosis, at the image identification defective locations of patrolling and examining, defect is described with word, storage is patrolled and examined defect in database,Identify patrolling and examining accordingly defect image, revise, delete, inquiry and browse operation, complete the defect diagonsis of patrolling and examining result;
Patrol and examine Reports Administration module, for generating the patrol task report of unmanned plane patrol task, describe the defeated of corresponding patrol taskThe defect information of electric line, equipment, personnel, time, aerial mission report and Air Diary information and discovery, and to patrolling and examiningReport is browsed, is edited, deletion and review operations, completes the management to patrolling and examining report;
Defect defect elimination module, for processing patrolling and examining the defect information of patrolling and examining that report provides, by the power transmission line of patrolling and examining outRoad defect triggers defect defect elimination flow process, and carry out issue, distribution, notice, defect elimination and the defect elimination of defect defect elimination task and confirm operation,Complete unmanned plane and patrol and examine the found defect elimination operation of patrolling and examining defect;
GIS module for importing and deriving transmission line information, is shown transmission line information, and transmission of electricity is provided in GIS moduleInterval division, selection and the frame selection operation of circuit, and can be used in and on GIS map, browse, edit and delete corresponding circuit letterBreath, the flight air route information that can also show unmanned plane on GIS map;
Communication module, for reading mobile substation real-time status information, the teleinstruction of response human-computer interaction module, realization is patrolled and examinedMission bit stream issues to mobile substation, and Real-time Obtaining moves the information of patrolling and examining of substation and unmanned plane during flying platform, completes Centralized MonitoringBetween subsystem and mobile substation information alternately with communicate by letter;
Transmission line management module, for the shaft tower GPS position of transmission line of electricity, shaft tower model, shaft tower height, initial shaft tower numbering,Importing, the derivation of shaft tower number information, inquire about, browse, deletion and edit operation, complete the management to transmission line information;
Patrol officer's administration module, for to patrolling and examining crew and patrol task administrative staff carry out personnel by ID card informationInquiry, maintenance, registration and the deletion management of essential information, realize automatic inquiry and the exhibition of personal information by card reader of ID cardShow, and inquire about patrolling and examining crew's patrol record information, browse, editor and deletion action, complete patrol officer's letterThe management of breath;
Inspection device administration module, for the facility information of patrolling and examining is managed, realize facility information importing, derive, look intoAsk, browse, register, maintenance and deletion action, and maintenance to inspection device status information, comprise the free time, patrol and examine use,Safeguard or maintenance state, realize the effective management and using to inspection device;
Data memory module, for by the storage of database and file mode completion system data, complete by data memory moduleBecome centralized management subsystem master data, patrol and examine process data, patrol and examine result data and the storage of the monitor data of patrolling and examining,The screen data of wherein patrolling and examining are stored by file, and the file path of storage stores database into.
2. the Centralized Monitoring subsystem for unmanned plane polling transmission line as claimed in claim 1, is characterized in that,
Described patrol task planning module comprises that patrol task planning unit, patrol task administrative unit and patrol task information are synchronousUnit; Patrol task planning unit and inspection device administration module, patrol officer's administration module, GIS module and transmission line managementModule is connected, and for the transmission line of electricity of patrolling and examining, equipment, personnel and unmanned plane are drawn in the enterprising professional etiquette of GIS map, determines and patrols and examinesKey element; Patrol task administrative unit is connected with patrol task planning unit, for the patrol task of having planned is managed;Patrol task information synchronizing unit is connected with patrol task administrative unit, arrives for synchronous selected unmanned plane patrol task informationCorresponding mobile substation.
3. the Centralized Monitoring subsystem for unmanned plane polling transmission line as claimed in claim 1, is characterized in that, described in patrolInspection Mission Monitor module, comprises mobile substation monitoring unit, state of flight monitoring unit, gondola monitoring unit and weather environment prisonMeasurement unit, wherein mobile substation monitoring unit, monitors for the GPS information to mobile substation, and moves at GIS map recordThe movement locus at mover station, and history run track is carried out to record; Described state of flight monitoring unit, for to unmanned planeFlight gps coordinate, speed, highly, the status information of rotating speed, total distance, cylinder temperature, cell voltage, battery current, battery electric quantityMonitor; Described gondola monitoring unit, for the angle to unmanned plane during flying gondola, shooting time, shooting GPS positional informationMonitor; Described weather environment monitoring means, for showing the gas of temperature, humidity, wind speed, atmospheric density and altitude informationResemble environmental information.
4. the Centralized Monitoring subsystem for unmanned plane polling transmission line as claimed in claim 1, is characterized in that, described in patrolInspection defect diagonsis module comprises defect experts database, defect diagonsis unit, image pretreatment unit and defect management unit, Qi ZhongtuPicture pretreatment unit, for the pretreatment of image information, carries out definition and selects the scape degree of accuracy to differentiate the original image of patrolling and examining, and deletesExcept definition is inadequate and select the not accurate enough image of scape, and diagnostic image is spliced and edited; Defect experts database, for collectionThe feature database that becomes transmission line of electricity defect, is connected with defect diagonsis unit, and pretreated image and defect experts database are comparedTo analyzing, analyze transmission line of electricity defect, on image, the mode of station location marker and explanatory note identifies associated disadvantages; Defect is examinedDisconnected unit, stores the defect of diagnosing out into data memory module; Defect management unit, realize to patrol and examine defect picture mark,Revise, delete, inquire about, browse.
5. the Centralized Monitoring subsystem for unmanned plane polling transmission line as claimed in claim 1, is characterized in that, described lackingFall into defect elimination module and comprise defect task release unit, defect task push unit, defect elimination confirmation unit; Wherein, defect task is sent outCloth unit, for patrolling and examining the issue of defect task, and patrols and examines the distribution of defect task; Defect task push unit is used for willDefect mission bit stream sends to the fortune inspection defect elimination personnel of the affiliated transmission line of electricity section of defect, and by fortune inspection defect elimination, personnel carry out defect elimination task;Defect elimination confirmation unit, completes defect elimination task for transporting inspection defect elimination personnel.
6. the Centralized Monitoring subsystem for unmanned plane polling transmission line as claimed in claim 1, is characterized in that described GISModule, comprises that GIS line information imports and exports unit, line information display unit, line information maintenance unit; Wherein, GISLine information imports and exports unit, patrols and examines importing and the derivation of transmission line information for GIS map unmanned plane; Line information exhibitionShow unit, for show transmission line information on GIS map; Line information maintenance unit, for browsing on GIS map,Edit and delete corresponding line information.
7. the Centralized Monitoring subsystem for unmanned plane polling transmission line as claimed in claim 1, is characterized in that, described defeatedElectric line administration module, comprises that line information imports and exports unit, line information query unit and line information maintenance unit; ItsMiddle line information imports and exports unit, for importing, the derivation of the information of transmission line of electricity; Line information query unit, inquires about defeatedElectric line information, or be connected with GIS module, respective lines information on GIS map, inquired about; Line information maintenance unit is usedBrowsing, deleting and editing in line information.
8. the Centralized Monitoring subsystem for unmanned plane polling transmission line as claimed in claim 1, is characterized in that, described in patrolInspection personal management module comprises card reader of ID card, personnel information management unit and patrol record administrative unit; Wherein, identity cardCard reader is for reading patrol officer's identification card number information, between itself and personnel information management unit, is connected by serial ports; PersonnelInformation management unit, for realizing inquiry, maintenance, registration and the deletion to patrol officer's essential information, personnel information management listUnit is connected with card reader of ID card, realizes automatic inquiry and the displaying of personal information; Patrol record administrative unit, for realizingPatrol officer's patrol record is inquired about, browses, edits and deleted.
9. the Centralized Monitoring subsystem for unmanned plane polling transmission line as claimed in claim 1, is characterized in that, described in patrolInspection device management module, comprises that facility information imports and exports unit, facility information query unit, equipment information management unit; ItsMiddle facility information imports and exports unit, for importing and the derivation of facility information; Facility information query unit, for facility informationInquiry; Equipment information management unit, for registration, maintenance and the deletion of facility information.
10. the method for supervising of the Centralized Monitoring subsystem for unmanned plane polling transmission line as claimed in claim 1, its spyLevy is that concrete flow process is as follows:
The first step, patrol task is distributed, the status information according to the information of the transmission line of electricity of patrolling and examining with the mobile substation monitoring,Carry out patrol task distribution, determine each patrol task corresponding power transmission line section, monitoring time, patrol and examine type and patrol and examine objectInformation, and each patrol task is carried out to the configuration of patrol officer and equipment; The monitoring of the status information of this stage to mobile substationMainly that GPS positional information to mobile substation and the integrity degree of mover station equipment, crew's degree of crew are supervisedControl, is convenient to corresponding patrol task to distribute;
Second step, patrol task carry out, corresponding patrol task information is audited, examination & verification pass through after by under patrol task informationSend out corresponding mobile substation, carry out corresponding patrol task; In the patrol task execution phase, by communication to patrolling and examiningTasks carrying situation is monitored, the meteorology at equipment state, GPS positional information and scene, mobile substation to mobile substationEnvironmental information is monitored;
The 3rd step, aerial mission is newly-built, and, according to the patrol task information issuing, appoint the flight that patrol task is corresponding mobile substationBusiness is planned, determines that this patrol task completes required aerial mission, and the landing flight of a corresponding aircraft of aerial mission is patrolledInspection; Newly-built aerial mission, should determine corresponding shaft tower and the power transmission line section patrolled and examined of aerial mission, and aerial mission is correspondingMonitoring equipment, cooks up corresponding flight air route, if existing flight air route directly imports;
The 4th step, aerial mission is carried out, and the air route information of flying in the aerial mission that mobile substation will be carried out sends and flies to control in module,Start unmanned plane, fly and patrol and examine; In the process of patrolling and examining, aerial mission being monitored, is mainly to state of flight, gondolaState, flight track and weather information are monitored;
The 5th step, aerial mission completes, and will patrol and examine accordingly result data and import in mobile substation, to the image information of patrolling and examiningCarry out pretreatment, in conjunction with flight course information, generate flight report, and receive in real time the flight report, the flight knot that send overFruit data, flight course data, flight monitor data;
The 6th step, patrol task completes, and to the result data of patrolling and examining, the image information of mainly patrolling and examining is patrolled and examined defect diagonsis,Determine and patrol and examine defect; And to the defect verification tentatively providing in flight report and diagnosis; Patrol task is carried out to completeness inspection,Guarantee that patrol task completeness is 100%;
The 7th step, patrol task is closed, and according to patrolling and examining procedural information, object information and defect information, generates and patrols and examines accordingly reportAccuse, provide and patrol and examine process prescription and patrol and examine result and describe; To patrol and examine accordingly and in report, patrol and examine defect and carry out defect defect elimination, and willDefect defect elimination result is reflected to patrols and examines in report.
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Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee after: State Grid Corporation of China Co-patentee after: National Network Intelligent Technology Co., Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee before: State Grid Corporation of China Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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Effective date of registration: 20201102 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |