CN101834989B - Real-time data acquisition and storage system of helicopter in electric inspection process - Google Patents
Real-time data acquisition and storage system of helicopter in electric inspection process Download PDFInfo
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Abstract
The invention discloses a real-time data acquisition and storage system of a helicopter in the electric inspection process, comprising a video acquisition unit, a communication data acquisition unit, a video distribution device, a hardware management device, a server A, a server B and an embedded-type computer which are connected through a network; the server A and the server B are both provided with a storage module, wherein the server A only stores defective detected images and communication data related to the defective images, and the sever B stores all video data and communication data. The invention can regulate the data acquisition frequency in time according to different flying areas of the helicopter and ensure that the data is more scientific, reasonable and complete.
Description
Technical field
The present invention relates to a kind of helicopter power patrol on board system to, especially relate to a kind of acquisition and memory system of high-definition real-time data.
Technical background
In this year, the sustained and rapid development of Chinese national economy has proposed the requirement of more and more crossing to China's power industry.China territory is vast, and is with a varied topography, and hills and mountain area are more, and weather conditions are complicated, and factors such as porcelain insulator quality instability have had a strong impact on the security and stability of supply line.For safety and power supply reliably, the modernization of patrolling and examining maintenance demonstrates its urgency day by day.At present the routine inspection mode that adopts of China comprises that manual inspection and helicopter patrol and examine dual mode; Patrolling and examining content mainly is stringing tower bar and overhead transmission line; Because China's circuit total length is big and broad covered area; Also can cross over uninhabited complex regions such as lake or mountain area, manual inspection can not be suitable for fully this cycle long, circumstance complication is changeable and dangerous high work.
The helicopter in electric inspection process technology; Owing to not influenced by the locus; Polling period is short, adopts the means such as digital assay processing of high confidence level in addition, than manual inspection numerous advantages is arranged; Traditional open-air manual inspection mode will be replaced gradually, and one of key factor that influences electric power development from now on will be become.Patrol and examine more science convenience though use helicopter to patrol and examine compared with conventional artificial; But it is also need spend a large amount of costs, be applied to the image data complete and accurate, and scientific and reasonable so patrol and examine at every turn; Then to mobile system, especially data acquisition and storage system just have quite high requirement.
The mobile system of present most inspecting helicopters all can only once be gathered storage or airborne checkout equipment detects in real time; The data that the former gathers need artificial subsequent treatment; Often need the staff to watch the video recording of several hrs again; Take time very much and energy, and the latter often can occur owing to can't in time accomplish the detection to certain section circuit it is pressed for time, the phenomenon of omission, false retrieval occurs.
Summary of the invention
The objective of the invention is in order to overcome the prior art defective; A kind of more scientific and reasonable real-time data acquisition and storage system of helicopter in electric inspection process is provided; Native system can be to the complete preservation comprehensively of the data that collect, and makes things convenient for the staff that the data of gathering are carried out subsequent treatment.
Technological means:
The invention discloses a kind of real-time data acquisition and storage system of helicopter in electric inspection process; Comprise video acquisition unit, communication data collecting unit, video distribution equipment, hardware management appliance, server A, server B and embedded computer; Video distribution equipment Connection Service device A, server B and video acquisition unit; Video acquisition unit is connected with video distribution equipment; Hardware management appliance is connected with video distribution equipment; Server A and server B synchronous acquisition send to the video data on the video distribution equipment by video acquisition unit, and hardware management appliance connects communication data collecting unit, server A, server B and embedded computer, and server A, server B and embedded computer synchronous acquisition send to the synchronous communication data on the hardware management appliance by the communication data collecting unit;
Wherein video acquisition unit comprises the identical thermal infrared imager of output frequency, ultraviolet video camera and visible light camera, and wherein thermal camera sends to video distribution equipment with the frame number of each frame when sending video data;
Wherein the communication data collecting unit comprises GPS and/or flight attitude detector, and the output frequency of GPS and/or flight attitude detector is identical with the output frequency of video acquisition unit;
Wherein video acquisition unit is gathered the video data of power line and shaft tower in real time; The synchronous communication data that embedded computer sends according to preset frequency acquisition hardware management equipment are accomplished the navigation to helicopter; Generate the trail file of helicopter flight simultaneously; And send to server B through hardware management appliance and preserve, A server sets predetermined period of time and at each preset time processing video data and communication data in the cycle is preserved the treatment of picture result who has defective; Server B also receives all video datas and communication data, and preserves.
In server A, be provided with disk array and Intelligent Measurement module, server A is carried out following sequential procedure in the time cycle of each setting:
A, according to predetermined frequency acquisition gather infrared video data on the video distribution equipment, with corresponding frame number of infrared video data that collects and other video datas and the synchronous communication data synchronous with this infrared data, and in all video datas and communication data, add frame number;
B, choose wherein frame all videos data and corresponding synchronous communication data in time cycle of this setting;
C, judge that current Intelligent Measurement module is whether idle; If the total data of selecting among the idle sequential procedure b that then will go up in cycle time is sent into the Intelligent Measurement module and is detected, if the total data of selecting among the not idle sequential procedure b that then directly will go up in cycle time deposits disk array in;
Whether the image that d, the diagnosis of Intelligent Measurement module are received exists defective; To there being the image tagged defective of defective; And be sent in the disk array with the image behind the mark and with the communication data of this image synchronization and store; Or will not exist defective image and with the deletion of the communication data of this image synchronization, and return result.
The disk array that is arranged in the server A is the hot swap type disk array, and the time cycle of a setting of server A is one second; When server A is carried out sequential procedure d, synchronous communication data is joined in the identical video data of frame number, and processed compressed.
In server B, be provided with the hot swap type disk array, server B is carried out following sequential procedure:
A, gather video data and synchronous communication data, and in video data and synchronous communication data, store behind the corresponding frame number of adding according to predeterminated frequency;
The flight path file that b, reception embedded computer send also stores;
C, utilize the offset address of each frame in synchronous communication data and each video data to generate index file and store, when server B is carried out sequential procedure a, synchronous communication data is joined in the identical video data of frame number, and processed compressed.
Server A is sent instruction and through hardware management appliance the output frequency of video acquisition unit and communication data collecting unit is set when system start-up, and this output frequency is not less than per second 25 frames.
Video acquisition unit also comprises panorama observation visible light camera; Its output frequency is consistent with the output frequency of thermal infrared imager; Said communication data collecting unit also comprises Big Dipper communication system and rfid device, and its output frequency is identical with the output frequency of video acquisition unit.
Embedded computer is also calculated the aircraft region through the communication data that receives, and sends to server A and server B through hardware management appliance.
The flight range information that server A is sent according to embedded computer judges whether needs change frequency acquisition; If need change; Parameter after then will changing sends to server B and embedded computer through hardware management appliance, and server B makes it consistent with server A with embedded computer according to the parameter modification frequency acquisition that receives.
Beneficial effect:
The present invention reasonably carries out flight navigation through the flight communication data of gathering when data acquisition, and can discern the tower bar through radio-frequency apparatus, can make data acquisition more scientific and reasonable like this, and be convenient to the mark to faulty line.Use thermal infrared imager, ultraviolet video camera and visible light camera data to be taked the mode of twice storage simultaneously; Once be all images data and communication data, and produce index file, make and once patrol and examine the data integrity of gathering in the process through the server B storage of collected; And provide convenience for follow-up floor treatment; Carry out Intelligent Measurement earlier before another time storage, and will exist the image of rejected region to store separately, so both can save hard drive space; Follow-up floor treatment is simplified, and the corresponding site that only need access the video of server B storage for the position of uncertain or omission detects again and gets final product; Twice storage also can be avoided because one of them hard disk corruptions causes this to patrol and examine the work failure.Use the hot swap type disk array as storage tool; Make things convenient for data to shift and long preservation; Patrol and examine the hot swap type disk array taking-up that only needs after accomplishing airborne; Insert then and just can accomplish data in the Ground Processing System and shift,, need not the data in the original memory device are all exported in other memory devices and store for the long-term data that keep of needs; When patrolling and examining next time,, can avoid data when shifting, to occur damaging like this as long as inserting the identical new hot swap type disk array of specification just can normally use.
Description of drawings
Fig. 1 is the each several part syndeton sketch map of native system;
Fig. 2 is the workflow diagram of native system.
Embodiment
As depicted in figs. 1 and 2, video distribution equipment Connection Service device A, server B and video acquisition unit, server A and server B synchronous acquisition video acquisition unit send to the video data on the video distribution equipment; Hardware management appliance connects communication data collecting unit, server A, server B and embedded computer, and server A, server B and embedded computer synchronous acquisition send to the synchronous communication data on the hardware management appliance by the communication data collecting unit; Hardware management appliance also is connected with video distribution equipment.Wherein video acquisition unit comprises thermal infrared imager, ultraviolet video camera, high definition visible light camera and panorama observation visible light camera, and the communication data collecting unit comprises GPS, flight attitude detector, Big Dipper communication system and rfid device.The angular field of view of thermal infrared imager, ultraviolet video camera and high definition visible light camera is consistent, its objective is that the Synchronization Analysis of three kinds of video datas compares for ease; The angular field of view of panorama observation visible light camera is greater than other video data acquiring equipment, its objective is to be convenient to flight environment of vehicle and to patrol and examine zone observation comprehensively; GPS and flight attitude detector are used for navigation, and to the observed object location, and the angle of sign video acquisition; Big Dipper communication system is used for the communication on helicopter and ground, because do not receive the telephonic communication signal in certain areas; Rfid device is used to discern the relevant information of tower bar, is convenient to the mark faulty line.
Behind the Register loading system; Server A can send instructions to hardware management appliance; Through hardware management appliance the output frequency of video acquisition unit and communication data collecting unit is set, the output frequency of all collecting devices that both comprised is made as unanimity, be provided with finish after; Data source is present on the data wire separately all the time, and constantly refreshes with the frequency that sets.Server A, server B and embedded computer call collection function separately respectively, according to the frequency acquisition that system is provided with, data source are gathered.The frequency acquisition of server A, server B and embedded computer is identical, and is general identical with the output frequency of collecting device, should be less than per second 25 frames, and zero-time is identical.
After system was provided with thermal infrared imager, thermal infrared imager when seeing frame infrared temperature data off, was seen the frame number of present frame according to the frequency acquisition that is provided with off.For server A, when gathering each frame video data and synchronous communication data, also gather the frame number of current infrared data, and be that standard is numbered Various types of data with the frame number of infrared data; Server B is identical with server A with numbering to the collection of data, so just can guarantee that the video data of server A and server B collection and communication data all are synchronous.
Server A comprises hot swap type disk array and Intelligent Measurement module; In the work period of a setting, accomplish following sequential procedure: a in main, gather infrared video data, and the corresponding frame number of infrared video data that collects and other video datas and the synchronous communication data synchronous, and in all video datas that collect and communication data, add frame number with this infrared data according to predetermined frequency acquisition; B, choose wherein frame all videos data and corresponding flight communication data in work period of this setting; C, judge that current Intelligent Measurement module is whether idle; If the total data of selecting among the idle sequential procedure b that then will go up in work period of setting is sent into the Intelligent Measurement module and is detected, if the total data of selecting among the not idle sequential procedure b that then directly will go up in work period of setting deposits the hot swap type disk array in; Whether the image that d, the diagnosis of Intelligent Measurement module are received exists defective; To there being the image tagged defective of defective; And be sent in the hot swap type disk array with the image behind the mark and with the communication data of this image synchronization and store; Or will not exist defective image and with the deletion of the communication data of this image synchronization, and return results.When the work period of server A is set; Consider the speed of helicopter flight and the size at video capture device visual angle; The image that is selection in the last cycle is overlapping with the image section that the back was selected in one-period, but overlapping part is minimized, and is arranged to one second usually.Judge in sequential procedure c whether the free time is whether to have return value to confirm through the sequential procedure d in the work period on judging to detection module.Because the time of Intelligent Measurement is unfixing; Frame data that occur the last cycle have not probably detected; Back one-period, the data of being selected and recommended just required to detect, so when do not have return value, the back data that quilt is selected and recommended in one-period defectiveness whether no matter; The capital is admitted to memory module, guarantees that data integrity is reliable.
Server B is a storage server, only is used for all data that storage of collected arrives.Server B comprises the hot swap type disk array, mainly carries out following sequential procedure: a, gathers video data and synchronous communication data according to predeterminated frequency, and store after in video data and synchronous communication data, adding corresponding frame number; The flight path file that b, reception embedded computer send, and store; C, utilize the offset address of each frame in synchronous communication data and each video data to generate index file, and store.
It is in order to make things convenient for the transfer of data on ground during reprocessing that server A and server B adopt the purpose of hot swap type disk array (such as the removable hard disk of USB interface etc.), and is convenient for changing hard disk.The data volume of server A is smaller or equal to 1/25th of server B in theory; And the data of server B are more complete; Also even more important for the post analysis processing, be one of necessary condition of present embodiment so server B adopts the hot swap type disk array here.
Because data volume is big and classification is many, server A and server B can add the communication data of each frame in the vedio data of this frame when storage, store after the processed compressed.Require to carry out lossless compress for infrared image, the compression ratio maximum of remaining image can be made as lossless compress.
Embedded computer is a navigator, plays anticipation and adjustment to video data acquiring is whether the most scientific and reasonable.Embedded computer is only gathered the synchronous communication data, through synchronous communication data correction helicopter flight track, accomplishes the navigation to helicopter, and the flight path file of helicopter is sent to server B through hardware management appliance stores.Embedded computer is also made description through the communication data of gathering to flight range, and positional information is sent to server A and server B.Server A utilizes this positional information that next selected frame of setting in the work period is made anticipation, makes it when carrying out sequential procedure b, reach optimal effectiveness.Flight range changes the quality that can influence data acquisition; So server A need also can judge whether the change frequency acquisition through the positional information that receives; If need to change, then in change self frequency acquisition, the parameter after changing is sent to server B and embedded computer; The frequency acquisition of server B and embedded computer also can be made corresponding modification, guarantees identical with the frequency acquisition of server A.
Claims (10)
1. real-time data acquisition and storage system of helicopter in electric inspection process; It is characterized in that: said real-time data acquisition and storage system of helicopter in electric inspection process comprises video acquisition unit, communication data collecting unit, video distribution equipment, hardware management appliance, server A, server B and embedded computer; Video distribution equipment Connection Service device A, server B and video acquisition unit; Video acquisition unit is connected with video distribution equipment; Hardware management appliance is connected with video distribution equipment; Server A and server B synchronous acquisition send to the video data on the video distribution equipment by video acquisition unit; Hardware management appliance connects communication data collecting unit, server A, server B and embedded computer, and server A, server B and embedded computer synchronous acquisition send to the synchronous communication data on the hardware management appliance by the communication data collecting unit;
Said video acquisition unit comprises the identical thermal infrared imager of output frequency, ultraviolet video camera and visible light camera, and wherein thermal camera sends to video distribution equipment with the frame number of each frame when sending video data;
Said communication data collecting unit comprises GPS and/or flight attitude detector, and the output frequency of GPS and/or flight attitude detector is identical with the output frequency of video acquisition unit;
Said video acquisition unit is gathered the video data of power line and shaft tower in real time; The synchronous communication data that embedded computer sends according to preset frequency acquisition hardware management equipment are accomplished the navigation to helicopter; Generate the trail file of helicopter flight simultaneously; And send to server B through hardware management appliance and preserve, A server sets predetermined period of time and at each preset time processing video data and communication data in the cycle is preserved the treatment of picture result who has defective; Server B also receives all video datas and communication data, and preserves.
2. real-time data acquisition and storage system of helicopter in electric inspection process according to claim 1 is characterized in that: in said server A, be provided with disk array and Intelligent Measurement module, server A is carried out following sequential procedure in the time cycle of each setting:
A, according to predetermined frequency acquisition gather infrared video data on the video distribution equipment, with corresponding frame number of infrared video data that collects and other video datas and the synchronous communication data synchronous with this infrared data, and in all video datas and communication data, add frame number;
B, choose wherein frame all videos data and corresponding synchronous communication data in time cycle of this setting;
C, judge that current Intelligent Measurement module is whether idle; If the total data of selecting among the idle sequential procedure b that then will go up in cycle time is sent into the Intelligent Measurement module and is detected, if the total data of selecting among the not idle sequential procedure b that then directly will go up in cycle time deposits disk array in;
Whether the image that d, the diagnosis of Intelligent Measurement module are received exists defective; To there being the image tagged defective of defective; And be sent in the disk array with the image behind the mark and with the communication data of this image synchronization and store; Or will not exist defective image and with the deletion of the communication data of this image synchronization, and return result.
3. real-time data acquisition and storage system of helicopter in electric inspection process according to claim 2 is characterized in that: the disk array that is arranged in the said server A is the hot swap type disk array.
4. real-time data acquisition and storage system of helicopter in electric inspection process according to claim 2 is characterized in that: the time cycle of a setting of said server A is one second; When said server A is carried out sequential procedure d, synchronous communication data is joined in the identical video data of frame number, and processed compressed.
5. real-time data acquisition and storage system of helicopter in electric inspection process according to claim 1 is characterized in that: in said server B, be provided with the hot swap type disk array, server B is carried out following sequential procedure:
A, gather video data and synchronous communication data, and in video data and synchronous communication data, store behind the corresponding frame number of adding according to predeterminated frequency;
The flight path file that b, reception embedded computer send also stores;
C, utilize the offset address of each frame in synchronous communication data and each video data to generate index file and store.
6. real-time data acquisition and storage system of helicopter in electric inspection process according to claim 5 is characterized in that: when said server B is carried out sequential procedure a, synchronous communication data joined in the identical video data of frame number, and processed compressed.
7. real-time data acquisition and storage system of helicopter in electric inspection process according to claim 1; It is characterized in that: said server A is sent instruction and through hardware management appliance the output frequency of video acquisition unit and communication data collecting unit is set when system start-up, and this output frequency is not less than per second 25 frames.
8. real-time data acquisition and storage system of helicopter in electric inspection process according to claim 1; It is characterized in that: said video acquisition unit also comprises panorama observation visible light camera; Its output frequency is consistent with the output frequency of thermal infrared imager; Said communication data collecting unit also comprises Big Dipper communication system and rfid device, and its output frequency is consistent with the output frequency of video acquisition unit.
9. according to the described real-time data acquisition and storage system of helicopter in electric inspection process of each claim among the claim 1-8; It is characterized in that: said embedded computer is also calculated the aircraft region through the communication data that receives, and sends to server A and server B through hardware management appliance.
10. real-time data acquisition and storage system of helicopter in electric inspection process according to claim 9; It is characterized in that: the flight range information that said server A is sent according to embedded computer judges whether needs change frequency acquisition; If need change; Parameter after then will changing sends to server B and embedded computer through hardware management appliance, and server B makes it consistent with server A with embedded computer according to the parameter modification frequency acquisition that receives.
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