CN103941745B - For without the mobile substation of man-machine polling transmission line and method of work - Google Patents
For without the mobile substation of man-machine polling transmission line and method of work Download PDFInfo
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Abstract
The present invention discloses a kind of for the mobile substation without man-machine polling transmission line, for the planning of aerial mission with issue, to patrolling and examining status information and patrol and examine data and carry out local monitor, carry out pre-treatment to patrolling and examining view data, and carry out defect diagnose in advance patrolling and examining result data; Comprise human-computer interaction module, patrol and examine tasks synchronization module, gondola control module, GIS module, fly control module, aerial mission planning module, defect diagnose module, image pre-processing module, weather monitoring module, aerial mission monitoring module, data memory module, GPS module and the module that communicates in advance, invention enhances and patrol and examine process without man-machine and patrol and examine informationization and the level of automation of result treatment, improve without the man-machine efficiency patrolled and examined, for realizing safety and the reliability service that unmanned machine circuit is patrolled and examined, it is provided that technical support.
Description
Technical field
The invention belongs to the Maintenance and Repair field of power system device, it relates to without man-machine polling transmission line field, especially a kind of for without the mobile substation of man-machine polling transmission line and method of work.
Background technology
Utilize unmanned machine circuit to patrol and examine in polling transmission line, play more and more important effect. Can partly replace patrolman people without man-machine inspection system and have man-machine inspection system, in the suitable time, electric transmission and distribution circuit can be patrolled and examined, the fault of Timeliness coverage circuit and hidden danger, and pass the situation at scene back ground control center in time, get rid of line fault in time to make accurate judgment. Can greatly alleviate the working load of electrical power services personnel, reduce the probability of contingent personnel hazard, reduce the maintenance cost of power equipment, it is to increase the safety and reliability of electrical network.
Adopting and have certain risk without the man-machine polling transmission line that carries out, area especially severe at the physical environment such as mountain area, plateau, climate variability carries out polling transmission line. Domestic and international is all in pilot and examination stage without man-machine polling transmission line, need to gather and store without the man-machine operating parameter patrolled and examined in this stage, especially without man-machine flight status information, gondola status information and without the man-machine result data etc. patrolled and examined, it is achieved to without the man-machine effective monitoring patrolled and examined. For examining and analyze the Technological Economy and reliability that existing unmanned machine circuit patrols and examines comprehensively, improve the operation management that unmanned machine circuit patrols and examines to provide support, realize safety and reliability service that unmanned machine circuit is patrolled and examined, it is necessary to carry out centralized supervisory control by the technique means of modernization and management process to without man-machine patrolling and examining.
At present, domestic patrolling and examining that to carry out the system monitored little for without man-machine, the various methods proposed, are in experimental stage mostly, and are all monitor without man-machine for single, and not for multiple patrol and examine carry out centralized supervisory control without man-machine. The object of monitoring mostly is without the man-machine view data patrolled and examined, and the monitoring without man-machine status information, gondola information and the weather information patrolled and examined is less, lower for the informationization and level of automation patrolling and examining result data processing.
Application number is " power-line patrolling monitoring unmanned system " patent of 201120477071.2, it is proposed to carry out real-time video monitoring by ground monitoring system to without man-machine. Application number is the patent of " a kind of unmanned plane wireless video monitoring system " of 201120186312.8, carried WCDMA signalling methods and realizes carrying out real-time monitoring remote video to without man-machine. Both monitoring means and object are single, cannot reflect without the man-machine status information patrolled and examined only by video monitoring comprehensively, particularly move substation information etc. without man-machine flight status information, gondola status information and ground.
Application number is " real-time positioning monitoring management system of unmanned aerial vehicle " patent of 201020519831.7, uploads to supervisory system by without man-machine GPS locating information in real time by radio communication, positions monitoring to multiple without man-machine. The monitoring of this system, only for without man-machine GPS position information, carrying out effective monitoring to without man-machine real-time flight status information, is not applied in power system yet.
Application number is " a kind of line-walking real-time system of unmanned aerial vehicle " patent of 201010595330.1, realized without the man-machine monitor in real time patrolling line data by ground control station, and the graphic information patrolled and examined is uploaded in internet by 3G passage, only can realize the remote monitoring to image, cannot to the efficient remote monitoring moving substation information without man-machine status information, gondola status information and ground. The result data patrolled and examined are not carried out follow-up automatic business processing, particularly supervisory system and can only monitor one to one between man-machine by system involved by this patent, cannot realize simultaneously to multiple without the man-machine effective monitoring patrolling and examining information. In sum, existing to without the man-machine monitoring method patrolled and examined, its effect is not very desirable, still there is a lot of problem to need to solve.
Summary of the invention
The present invention seeks to overcome the deficiencies in the prior art, there is provided a kind of for without the mobile substation of man-machine polling transmission line and method of work, the mode combined by remote centralized monitoring and local monitor, the more than one line that patrols of access without man-machine flight state, gondola state, transmitting line and is patrolled and examined the information such as result is carried out centralized supervisory control, strengthen and patrol and examine process without man-machine and patrol and examine informationization and the level of automation of result treatment, improve without the man-machine efficiency patrolled and examined, for realizing safety and the reliability service that unmanned machine circuit is patrolled and examined, it is provided that technical support.
In order to realize above-mentioned purpose, the present invention adopts following technical scheme.
For the centralized monitoring system without man-machine polling transmission line, comprise centralized supervisory control subsystem, mobile substation and unmanned plane during flying platform. Being connected in the way of many by one between centralized supervisory control subsystem with mobile substation, mobile substation is connected in the way of one to one with unmanned plane during flying platform.
Wherein, centralized supervisory control subsystem, for accessing the status information of mobile substation and unmanned plane during flying platform and patrol and examine data, to carry out without the man-machine task of patrolling and examining planning and synchronous, carry out real-time remote monitoring to without the man-machine mobile substation patrolled and examined and unmanned plane during flying platform, carry out defect diagnosis, statistics, analysis and displaying to patrolling and examining data, describe current without the man-machine real-time status scene patrolled and examined and electric power environmental;
Wherein, mobile substation, for the planning of aerial mission with issue, carries out local monitor to patrolling and examining status information and patrol and examine data, carries out pre-treatment to patrolling and examining view data, and carries out defect 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 out the flight controlling module of flight controlling, carries out the GPS module of GPS location, for the communication module that carries out communicating with mobile substation and without man-machine body. Flight controlling module, gondola module are communicated with mobile substation by digital transmission communication link respectively with GPS module; Gondola module passes communication link by figure and detected image information is sent in mobile substation. Described gondola module comprises visible light camera and/or infrared thermal imaging pick up camera and/or ultraviolet imagery pick up camera etc.
Centralized supervisory control subsystem comprises human-computer interaction module, patrols and examines task planning module, inspection device management module, patrol officer manage module, GIS module, transmission line management module, diagnosis module of patrolling and examining defect, patrol and examine Reports Administration module, data memory module, patrol and examine result management module, defect defect elimination module, patrol and examine Mission Monitor module and communication module.
Human-computer interaction module, for obtaining and resolve outside order, the external command after resolving is sent to the process of corresponding data processing module, and corresponding result is displayed; Described human-computer interaction module adopt comprise current without man-machine controlling equipment or be selected from telepilot, keyboard, mouse, audio-frequency apparatus, indicating meter, hyperchannel ring curtain stereo projection system, for obtaining and resolve outside order, external command after resolving is sent to corresponding data processing module, is displayed by modes such as audio frequency, video and images.
Patrol and examine task planning module, for carrying out task division to without the man-machine transmitting line patrolled and examined, the influence factors such as reliability according to inspection device, the patrolling and examining record, patrol and examine geographical environment of personnel, meteorological environment, the transmission line section determining respectively to patrol and examine set cycle checking, the crew patrolling and examining required equipment and patrolling and examining, the plan time etc. clearly patrolled and examined, and cooking up of the task of patrolling and examining is inquired about, newly-built, edit, audit and patrol and examine task notifications and the operation such as issue, complete the planning of the task of patrolling and examining; Described task planning module of patrolling and examining comprises and patrols and examines task planning unit, patrols and examines role management unit and patrol and examine the synchronous unit of mission bit stream. Patrol and examine that task planning unit and inspection device manage module, patrol officer manages module, GIS module is connected with transmission line management module, for to the transmitting line patrolled and examined, equipment, personnel with draw in the enterprising professional etiquette of GIS map without man-machine, according to equipment dependability, personnel's skill master degree, patrol and examine geographical environment complexity, circuit importance, the seasonal influence factor such as factor and economy, it is determined that the key elements such as transmitting line, equipment, personnel and the time patrolled and examined; Patrol and examine role management unit to be connected with the task planning unit of patrolling and examining, for having planned of the task of patrolling and examining is inquired about, newly-built, editor, the management such as examination & verification; Role management unit is connected with patrolling and examining to patrol and examine the synchronous unit of mission bit stream, moves substation without man-machine mission bit stream of patrolling and examining to corresponding for what synchronously select.
Patrol and examine Mission Monitor module, patrol and examine real time status information and the electric power environmental information such as on-the-spot meteorological environmental information, unmanned plane during flying status information, mobile substation status information, GPS position information, gondola control information for monitoring without man-machine, and described by audio-visual and image mode current without the man-machine real-time status scene patrolled and examined and electric power environmental; Described patrol and examine Mission Monitor module, comprise mobile substation monitoring unit, flight state monitoring unit, gondola monitoring unit and meteorological environmental monitoring unit, on-the-spot real time status information and electric power environmental information is patrolled and examined without man-machine for monitoring, it is connected with communication module, human-computer interaction module, is described current without the man-machine real-time status scene patrolled and examined and electric power environmental by audio-visual and image mode. Wherein move substation monitoring unit, for the GPS position information of mobile substation is monitored, and the motion track in GIS map record move substation, and history run track is carried out record; Described flight state monitoring unit, for without man-machine flight gps coordinate, speed, highly, rotating speed, the status information such as total distance, cylinder temperature, cell voltage, battery circuit, battery electricity monitor; Described gondola monitoring unit, monitors for the angle to unmanned plane during flying gondola, shooting time, shooting GPS position information etc.; Described meteorological environmental monitoring unit, for showing the meteorological environmental information such as temperature, humidity, wind speed, density of air (air pressure) and altitude information.
Patrol and examine result management module, for without the man-machine management patrolling and examining result data, it is connected with data memory module with communication module, it is achieved patrol and examine result data synchronous, browse, play, contrast, analyze and Report Server Management, complete the management patrolling and examining result data;
Patrol and examine defect diagnosis module, for to the result data comprise image patrolled and examined and video information is screened, pre-treatment and defect diagnosis, the image identification defective locations patrolled and examined, with word, defect is described, storage patrols and examines defect in database, to patrolling and examining the operations such as defect image identifies, revises, deletes, inquires about and browses accordingly, complete the defect diagnosis patrolling and examining result; Described defect diagnosis module of patrolling and examining comprises defect experts database, defect diagnosis unit, image pre-processing unit and defect management unit, wherein image pre-processing unit, for the pre-treatment of graphic information, original image of patrolling and examining can be carried out sharpness and selects scape accuracy to differentiate, delete the image that sharpness is inadequate and selects scape not accurate enough, and diagnostic image can be spliced and edit; Defect experts database, for the feature database of integrated transmitting line defect, diagnose unit to be connected with defect, pretreated image and defect experts database are compared, analyzing transmitting line defect, on image, the mode of station location marker and explanatory note identifies associated disadvantages; Defect diagnosis unit, is stored into data memory module by the defect diagnosed out; Defect management unit, it is achieved to patrolling and examining mark, amendment, the deletion of defect picture, inquire about, browse.
Patrol and examine Reports Administration module, for generating without man-machine task of the patrolling and examining report patrolling and examining task, the defect information of corresponding transmitting line, equipment, personnel, time, aerial mission report and flight daily record information and the discovery of patrolling and examining task is described, and browse patrolling and examining report, edit, delete and the operation such as examination & verification, complete the management patrolling and examining report;
Defect defect elimination module, for processing patrolling and examining the defect information of patrolling and examining provided in report, defect defect elimination flow process is triggered by the transmitting line defect patrolled and examined out, carry out the operations such as the issue of defect defect elimination task, distribution, notice, defect elimination and defect elimination confirmation, complete to patrol and examine, without man-machine, the defect elimination operation patrolling and examining defect found; Described defect defect elimination module comprises defect task release unit, defect task pushes unit, defect elimination confirmation unit. Wherein, defect task release unit, for patrolling and examining the issue of defect task, and can carry out patrolling and examining the distribution of defect task; Defect task pushes the fortune inspection defect elimination personnel that unit is used for being sent to defect mission bit stream by the form of note, mail and short message transmitting line section belonging to defect, and by fortune, inspection defect elimination personnel perform defect elimination task; Defect elimination confirmation unit, completes defect elimination task for transporting inspection defect elimination personnel, and after submitting to corresponding defect elimination to prove picture, confirms that defect elimination task completes.
GIS module, for importing and derive transmission line information, GIS module shows transmission line information, and the operations such as the interval division of transmitting line, selection and frame choosing are provided, and be used in GIS map and browse, edit and delete corresponding line information, also can show without man-machine flight route information in GIS map; Described GIS module, comprises that GIS line information imports and exports unit, line information display unit, line information safeguard unit. Wherein, GIS line information imports and exports unit, in GIS map without man-machine importing and the derivation of patrolling and examining transmission line information, its import and derive form include but not limited to the form such as text, XML, CSV, EXCEL, WORD, PDF; Line information display unit, for showing transmission line information in GIS map; Line information safeguards unit, for browsing in GIS map, edit and delete corresponding line information.
Communication module, for reading mobile substation real time status information, the long-range instruction of response human-computer interaction module, realization is patrolled and examined mission bit stream and is issued to mobile substation, what obtain in real time mobile substation and unmanned plane during flying platform patrols and examines information, complete information between centralized supervisory control subsystem with mobile substation alternately with communicate; Described communication module can adopt the mobile substation of GPRS radio communication module access, reads mobile substation real time status information, and for responding the long-range instruction of human-computer interaction module, and what obtain above-mentioned mobile substation and unmanned plane during flying platform in real time patrols and examines information. Above-mentioned communication module includes but not limited to current GSM, GPRS, CDMA, WCDMA, TD-SCDMA and LTE communications regime wireless mobile communications, wifi radio communication, local area network and internet communication.
Transmission line management module, for the information such as the shaft tower GPS location of transmitting line, shaft tower model, shaft tower height, initial shaft tower numbering, shaft tower numbering importing, derivation, inquire about, browse, delete and the operation such as editor, complete the management to transmission line information; Described transmission line management module, comprises line information and imports and exports unit, line information query unit and line information and safeguard unit. Wherein line information imports and exports unit, for importing, the derivation of the information such as the shaft tower GPS location of transmitting line, shaft tower model, shaft tower height, initial shaft tower numbering, shaft tower numbering, its form importing and deriving includes but not limited to the form such as text, XML, CSV, EXCEL, word, pdf. Line information query unit, by inquiry transmission line informations such as circuit numbering, shaft tower position, shaft tower numbering, GPS location, it is possible to be connected with GIS module, inquire about respective lines information in GIS map; Line information safeguards that unit is used for browsing, delete and editing of line information.
Patrol officer manages module, for carrying out the inquiry of personnel's essential information, maintenance, registration and deletion management to patrolling and examining crew and patrol and examine task managerial personnel by ID card information, Automatic inquirying and the displaying of personal information is realized by card reader of ID card, and the recorded information of patrolling and examining patrolling and examining crew is inquired about, browses, edited and deletion operation, complete the management of patrol officer's information; Described patrol officer manages module and comprises card reader of ID card, personnel information management unit and patrol and examine record Administrative Unit. Wherein, card reader of ID card, for reading the identification card number information of patrol officer, is connected by serial ports between its with personnel information management unit; Personnel information management unit, for realizing the inquiry to patrol officer's essential information, maintenance, registration and deletion, personnel information management unit is connected with card reader of ID card, it is achieved the Automatic inquirying of personal information and displaying; Patrol and examine record Administrative Unit, for realizing patrolling and examining record queries, browse, edit and delete patrol officer.
Inspection device management module, for the equipment information patrolled and examined is managed, realize importing, the derivation of equipment information, inquire about, browse, register, safeguard and deletion operation, and the maintenance to inspection device status information, comprise the free time, patrol and examine use, safeguard or the state such as maintenance, it is achieved to effective management and of inspection device; Described inspection device management module, comprises equipment information and imports and exports unit, equipment information query unit, equipment information management unit. Wherein equipment information imports and exports unit, and for importing and the derivation of equipment information, its form importing and deriving includes but not limited to the form such as text, XML, EXCEL, word, pdf; Equipment information query unit, for the inquiry of equipment information, realizes the inquiry of equipment information by modes such as the title of equipment, numbering, classification tree and fuzzy inquiries; Equipment information management unit, for the registration of equipment information, maintenance and deletion.
Data memory module, for being completed the storage of system data by the mode such as database and file, complete centralized supervisory control subsystem master data by data, patrol and examine process data, patrol and examine number of results according to this and the monitor data patrolled and examined stores, the screen data wherein patrolled and examined are stored by file, and database is stored in the file path of storage.
Above-mentioned mobile substation comprises human-computer interaction module, patrols and examines tasks synchronization module, gondola control module, GIS module, fly control module, aerial mission planning module, defect diagnose module, image pre-processing module, weather monitoring module, aerial mission monitoring module, data memory module, GPS module and the module that communicates in advance.
Human-computer interaction module, for obtaining and resolve outside order, the external command after resolving is sent to the process of corresponding data processing module, and corresponding result is displayed, it is achieved the input and output of system data, complete the mutual of people and system; Described human-computer interaction module adopt comprise current without man-machine controlling equipment or be selected from telepilot, displacement tracking equipment, 6-dof motion platform, keyboard, mouse, audio-frequency apparatus, indicating meter, hyperchannel ring curtain stereo projection system.
Described patrol and examine tasks synchronization module, for synchronous centralized supervisory control subsystem patrols and examines mission bit stream to local, to being synchronized to that the local task of patrolling and examining is inquired about, state-maintenance and currently patrol and examine the operations such as task setting, complete to patrol and examine the synchronous of mission bit stream and management; Described patrol and examine tasks synchronization module, comprise and patrol and examine the synchronous unit of mission bit stream, patrol and examine job enquiry unit and currently patrol and examine task setting unit, for synchronous centralized supervisory control subsystem patrols and examines mission bit stream to local. Patrol and examine the synchronous unit of mission bit stream for patrolling and examining the synchronous of mission bit stream; Patrol and examine job enquiry unit, the mobile substation of inquiry patrols and examines mission bit stream; Currently patrol and examine task setting unit, patrol and examine task for what set current acquiescence.
Gondola control module, for realizing the monitor and forecast to gondola on unmanned plane during flying platform, read in real time and include but not limited to the gondola information such as gondola angle, battery electricity, cell voltage, battery circuit, shooting time, shooting GPS value, also can according to external command, issue steering order, the angle of control gondola, performs shooting and stops shooting action, completes to be monitored by the gondola on unmanned plane during flying platform.
GIS module, for the transmission line information of the task of patrolling and examining being imported, derives and display function, and the operations such as the frame providing GIS map selects, GPS location location, it is provided that the functions such as the proving operation of the GPS location point in GIS map. Described GIS module, comprises GIS line information and imports unit, line information display unit. GIS line information imports unit, and for importing GIS line information, its file layout imported includes but not limited to text, XML, CSV, EXCEL, WORD, PDF etc.; Line information display unit, for showing transmission line information in GIS map.
Fly control module, for the status information of unmanned plane during flying platform is carried out monitor and forecast, read in real time the GPS position information of unmanned plane during flying platform, speed, highly, rotating speed, total distance, the information such as cylinder temperature, cell voltage, battery circuit and battery electricity, and according to external command, unmanned plane during flying platform, to unmanned plane during flying platform, is controlled by transmitting order to lower levels. Described flying controls module, comprises flight monitoring means and flight controlling unit. Wherein, flight monitoring means is connected with communication module, in real time to unmanned plane during flying platform include but not limited to GPS position information, speed, highly, rotating speed, always distance, the information such as cylinder temperature, cell voltage, battery circuit and battery electricity monitors; Flight controlling unit is connected with communication module, and according to external command, unmanned plane during flying platform, to unmanned plane during flying platform, is controlled by transmitting order to lower levels.
Aerial mission planning module, for according to the transmission line information patrolled and examined without man-machine, geographical environment information, meteorological environmental information etc., GIS map is cooked up patrol and examine without man-machine landing point, hovering point, track points, and the height of corresponding flight, flight velocity, line-spacing etc., generate corresponding flight route, and unmanned plane during flying mission bit stream inquired about, browse and deletes, import and the operation such as derivation, complete management and the planning of aerial mission. Described aerial mission planning module, comprises flight program unit, aerial mission information imports and exports unit and aerial mission information management unit. Wherein flight program unit, to patrol and examine the transmission line information of circuit section, GIS geography information and weather information etc. as constraint, cook up landing point, hovering point, the track points of patrol unmanned machine, and the height of corresponding flight, flight velocity, line-spacing etc. Aerial mission information management unit, for inquiry, browses and deletes aerial mission information. Aerial mission imports and exports unit and can import, derive corresponding aerial mission file, and the file layout import, derived includes but not limited to aerial mission description document or text, XML, CSV, EXCEL, WORD, BMP, JPEG, GIF, TIFF, TGA, EXIF etc.
Described defect diagnoses module in advance, for image being edited and splicing, the picture with latent defect possibility is screened, graphic information identifies defect information and defective locations information, and corresponding defect information the operation such as identify, revise, delete, inquire about and browse, complete the defect diagnosis patrolling and examining result and management.
Image pre-processing module, for the graphic information patrolled and examined being carried out pre-treatment and management, corresponding defect information browsed, edits, screen and pretreatment operation, by the shooting clear degree in shooting image not, shooting angle not just and the optical sieving selecting scape inaccurate fall, figure is carried out denoising, the process such as the sharpness of adjustment image and contrast gradient, it is achieved the pre-treatment of graphic information. Described image pre-processing module, comprises picture browsing unit, image editing unit, optical sieving unit and image pre-processing unit. Wherein picture browsing unit is used for browsing of graphic information; Image is carried out edit and deletion operation by image editing unit; Optical sieving unit is used for screening away graphic information inadequate to the sharpness of graphic information and accuracy; Image is carried out denoising by image pre-processing unit, the process such as the sharpness of adjustment image and contrast gradient, it is achieved the pre-treatment of graphic information.
Described weather monitoring module, carries out Real-Time Monitoring to without the man-machine weather information patrolling and examining scene, monitors module by matched interfaces and aerial mission and is connected, monitoring weather information is sent to centralized supervisory control subsystem; Described weather monitoring module, employing includes but not limited to meteorological comprehensive monitor or temperature sensor, humidity sensor, air velocity transducer, density of air (air pressure) sensor, height above sea level tester etc., carrying out Real-Time Monitoring to without man-machine on-the-spot temperature, humidity, wind speed, density of air (air pressure) and the altitude information etc. of patrolling and examining, described equipment adopts matched interfaces and aerial mission monitoring module to be connected.
Aerial mission monitoring module, for flight status information, patrol and examine on-the-spot weather information, GPS position information etc. and monitor, display in human-computer interaction module; Corresponding aerial mission monitoring information can also be sent to centralized supervisory control subsystem by communication module.
Data memory module, for the storage of system data, complete centralized supervisory control subsystem master data by data, patrol and examine process data, patrol and examine number of results according to this and the monitor data etc. patrolled and examined stores, the screen data wherein patrolled and examined are stored by file, and database is stored in the file path of storage. ;
Described GPS module, for the GPS location of mobile substation, it is monitored module with aerial mission and is connected by serial ports, and the GPS position information of mobile substation is sent to centralized supervisory control subsystem;
Communication module, mutual for the data that realize between centralized supervisory control subsystem, synchronously patrols and examines mission bit stream from centralized supervisory control subsystem, and will patrol and examine data and deliver to centralized supervisory control subsystem on monitor data with patrolling and examining; Also by digital transmission module and figure transmission module, read unmanned plane during flying platform without man-machine status information and the video information patrolled and examined. Described communication module, comprises wireless communication unit, Landline communication unit, number leaflet unit and figure leaflet unit. Wireless communication unit adopts and includes but not limited to current GSM, GPRS, CDMA, WCDMA, TD-SCDMA and LTE communications regime wireless mobile communications, wifi wireless communication module; Landline communication unit passes through ethernet communication, it is achieved information interaction; Count leaflet unit and pass the data corresponding of radio station realization with unmanned plane during flying platform by number; The video information that figure leaflet unit is sent by figure biography antenna reception unmanned plane during flying platform.
Present invention also offers a kind of method of work for the mobile substation without man-machine polling transmission line, it be divided into following 6 steps:
The first step, aerial mission is newly-built, patrols and examines mission bit stream without man-machine according to being synchronized to, set up the aerial mission that unmanned plane during flying is patrolled and examined in mobile substation. In GIS map, display needs to patrol and examine transmission line information, selects the shaft tower circuit section flown and patrol and examine, the GPS position information patrolling and examining shaft tower and aircraft landing point is written in XML file, and automatically can select the GIS satellite map patrolled and examined by frame, for patrolling and examining map.
2nd step, air Route Planning Method, if there has been corresponding flight route in the shaft tower transmission line section that correspondence is patrolled and examined, then selects corresponding flight route; Otherwise, according to the shaft tower transmission line section patrolled and examined determined in aerial mission, carry out unmanned plane during flying routing, cook up without man-machine flight route point, the hovering point patrolled and examined, homeward air route and landing point etc.
3rd step, aerial mission is audited, and unmanned plane during flying task being determined, the flight route patrolling and examining transmitting line and correspondence is audited, and examination & verification is by entering the 4th step; Flight route, not by entering the 2nd step, is planned by examination & verification again.
4th step, aerial mission performs, flight route information, hovering point GPS position information and the flight map aerial mission determined are issued to and fly in control module, start and carry out polling transmission line flight without man-machine, by flying control module and carry out alternately without man-machine in flight course, control unmanned plane during flying; Carry out taking pictures and making a video recording without man-machine detection gondola by the control of gondola control module.
5th step, flight completes, and in unmanned plane during flying process, the status information flown accordingly is sent to mobile substation, and the result data (picture, video) that flight is patrolled and examined are sent to mobile substation.
6th step, task completes, and flight daily record is imported in mobile substation, and according to flight course data and flight result data, carries out preliminary defect diagnositc analysis, generate report of flying accordingly, and the flight of generation report is sent to centralized supervisory control subsystem.
The useful effect of the present invention: according to the present invention, it is possible to achieve a butt joint into without the man-machine effective centralized supervisory control patrolled and examined, and access can be carried out statistical study without the man-machine state data patrolled and examined, it is to increase the safety and reliability that unmanned machine circuit is patrolled and examined.
Adopting the mode of centralized supervisory control can realize without the man-machine unified monitoring patrolled and examined, be conducive to analyzing without the man-machine Technological Economy patrolled and examined and reliability, the operation management patrolled and examined for improving unmanned machine circuit provides support.
Adopt GPRS signalling methods that the graphic information without the man-machine real time status information and shooting that patrol line is real-time transmitted to centralized supervisory control subsystem, the result data patrolled and examined are carried out automatic business processing, promote automatization and the level of informatization of patrolling line, it is to increase patrol the efficiency of line, reduce the cost patrolling line.
By to the centralized supervisory control without the man-machine status information patrolled and examined, enable without the man-machine dispatcher of patrolling and examining effectively grasping without man-machine patrolling and examining the overall situation, can flexible dispatching without man-machine line data-logging, improve and patrol line without man-machine service efficiency, what balance used patrols line without man-machine, extend without man-machine work-ing life, reduce use cost.
Accompanying drawing explanation
Fig. 1 patrols and examines centralized monitoring system framework figure without man-machine.
Fig. 2 is centralized supervisory control subsystem structure iron.
Fig. 3 is the mobile substation system architecture figure of the present invention.
Fig. 4 is the monitoring method schema of centralized monitoring system.
Fig. 5 patrols and examines result treatment schema.
Fig. 6 be the present invention patrol and examine flow of task figure without man-machine.
Fig. 7 is the workflow diagram that the present invention moves substation.
Wherein, 1, centralized supervisory control subsystem; 2, substation is moved; 3, unmanned plane during flying platform; 4, gondola module; 5, flight controlling module; 6, the first GPS module; 7, the first communication module; 8, the first human-computer interaction module; 9, task planning module is patrolled and examined; 10, inspection device management module; 11, patrol officer manages module; 12, a GIS module; 13, transmission line management module; 14, result management module is patrolled and examined; 15, defect diagnosis module is patrolled and examined; 16, Reports Administration module is patrolled and examined; 17, the first data memory module; 18, result management module is patrolled and examined; 18, defect defect elimination module; 19, Mission Monitor module is patrolled and examined; 20, the 2nd communication module; 21, the 2nd human-computer interaction module; 22, tasks synchronization module is patrolled and examined; 23, gondola control module, 24, the 2nd GIS module; 25, control module is flown; 26, aerial mission planning module; 27, defect diagnoses module in advance; 28, image pre-processing module; 29, weather monitoring module; 30, aerial mission monitoring module; 31, the 2nd data memory module; 32, the 2nd GPS module; 33, third communication module.
Embodiment
Technical problem, technical scheme and useful effect in order to make invention solve clearly are understood, below in conjunction with drawings and Examples, the present invention are further elaborated. It is to be understood that specific embodiment described herein is only in order to explain the present invention, it is not intended to limit the present invention.
Being that one patrols and examines centralized monitoring system without man-machine as shown in Figure 1, this system comprises:
Centralized supervisory control subsystem 1, mobile substation 2 and unmanned plane during flying platform 3.
Wherein, access and activation line while described centralized supervisory control subsystem 1 and multiple mobile substation 2.
In centralized supervisory control subsystem in 1, first human-computer interaction module 8, unmanned machine controlling equipment can be selected as basic human-computer interaction device, also can select or combine simultaneously telepilot, keyboard, mouse, audio-frequency apparatus, indicating meter, hyperchannel ring curtain stereo projection system, configure as required;
Patrol and examine task planning module 9 to manage module 11, a GIS module 12 and transmission line management module 13 be connected with inspection device management module 10, patrol officer, for to the transmitting line patrolled and examined, equipment, personnel with draw in the enterprising professional etiquette of GIS map without man-machine, according to equipment dependability, personnel's skill master degree, patrol and examine geographical environment complexity, circuit importance, the seasonal influence factor such as factor and economy, it is determined that transmitting line, equipment, personnel and the time patrolled and examined; Patrolling and examining task planning module 9 to be also connected and be sent to mobile substation 2 with the 2nd communication module 20 for patrolling and examining mission bit stream, movement substation 2 performs corresponding to patrol and examine task;
Patrol and examine Mission Monitor module 19 to be connected with the 2nd communication module 20, first human-computer interaction module 8, patrol and examine on-the-spot real time status information and electric power environmental information for reading without man-machine, and described by audio-visual and image mode current without the man-machine real-time status scene patrolled and examined and electric power environmental;
Patrol and examine result management module 14 to be connected with the first data memory module 17 with the 2nd communication module 20, for reading and store without the man-machine state data and patrol and examine result data of patrolling and examining, it is achieved patrol and examine the browsing of data, contrast, analyze and Report Server Management; Result management module 14 is connected with patrolling and examining with the first data memory module 17 to patrol and examine defect diagnosis module 15, realize patrolling and examining the defect information diagnosis such as picture that result data comprise patrols and examines and video, associated disadvantages diagnostic result is shown by the mode of station location marker and explanatory note on picture and video, and can defect processing result carry out browsing, edit and deleting;
Defect diagnosis module 15 is connected with the first data memory module 17 with patrolling and examining to patrol and examine Reports Administration module 16, for generating without man-machine task of the patrolling and examining report patrolling and examining task, describe and corresponding patrol and examine the process of patrolling and examining of task and the defect information of result information and discovery, and can browse patrolling and examining report, edit, delete and review operations;
Patrol and examine Reports Administration module 16 and defect defect elimination module 18 module 20 that communicates with first interconnected, for the defect of patrolling and examining listed patrolled and examined in report is announced, and it is pushed to defect expressivity personnel by the mode of mail, note and short message, by defect, defect elimination personnel carry out defect expressivity;
One GIS module 12 is associated with transmission line management module 13, it is achieved to without the man-machine importing in GIS map, displaying, editor, deletion and the preservation of patrolling and examining transmission line information;
The 2nd communication module 20 in centralized supervisory control subsystem 1 is by the mobile substation of GPRS radio communication access, read mobile substation real time status information, and for responding the long-range instruction of human-computer interaction module, what obtain in real time above-mentioned mobile substation and unmanned plane during flying platform patrols and examines information. Described 2nd communication module 20 also can select GSM, CDMA, WCDMA, TD-SCDMA and LTE communications regime wireless mobile communications, wifi radio communication, local area network to realize communicating with internet communication mode;
Centralized supervisory control subsystem 1 is patrolled and examined defect diagnosis module 15 and comprises defect experts database, defect diagnosis unit, image pre-processing unit and defect management unit, wherein image pre-processing unit is connected with the first data memory module 17, original image is carried out pre-treatment, and the image that sharpness is inadequate and selects scape not accurate enough is fallen in screening; Defect experts database diagnoses unit to be connected with defect, carries out defect diagnosis to according to graphic information, and on image, the mode of station location marker and explanatory note identifies associated disadvantages;
The module of defect defect elimination described in centralized supervisory control subsystem 1 18 comprises defect task release module, defect task pushing module, defect elimination confirmation module. Wherein, defect task release module is connected with defect task pushing module, reading and the fortune that defect mission bit stream is sent to transmitting line section belonging to defect by the form of note, mail and short message is examined defect elimination personnel, by fortune, inspection defect elimination personnel perform defect elimination task; Defect elimination confirms module, completes defect elimination task for transporting inspection defect elimination personnel, and after submitting to corresponding defect elimination to prove picture, confirms that defect elimination task completes.
In centralized supervisory control subsystem 1, described transmission line management module 13, comprises line information and imports and exports unit, line information query unit and line information and safeguard unit. Wherein line information imports and exports unit, and for importing, the derivation of transmission line information, its form importing and deriving can select XML file format, also can select the form such as text, CSV, EXCEL, word, pdf.
In centralized supervisory control subsystem 1, described inspection device management module 10, comprises equipment information and imports and exports unit, equipment information query unit, equipment information management unit. Wherein equipment information imports and exports unit, and for importing and the derivation of equipment information, its form importing and deriving selects XML file format, also can select the form such as text, EXCEL, word, pdf.
In centralized supervisory control subsystem 1, a described GIS module 12, comprise that GIS line information imports and exports unit, line information display unit, line information safeguard unit, GIS line information imports and exports file layout can adopt XML file, also can adopt the form such as text, CSV, EXCEL, WORD, PDF.
As shown in Figure 3, move that substation 2 comprises the 2nd human-computer interaction module 21, patrols and examines tasks synchronization module 22, gondola control module 23, the 2nd GIS module 24, fly control module 25, aerial mission planning module 26, defect diagnose module 27, image pre-processing module 28, weather monitoring module 29, aerial mission monitoring module 30, the 2nd data memory module 31, the 2nd GPS module 32 and third communication module 33 in advance.
Described 2nd human-computer interaction module 21 adopts and realizes man-machine interaction without man-machine controlling equipment, also can select or combine telepilot, displacement tracking equipment, 6-dof motion platform, keyboard, mouse, audio-frequency apparatus, indicating meter, hyperchannel ring curtain stereo projection system.
Aerial mission planning module 26 with patrol and examine tasks synchronization module 22, gondola control module 23, fly control module 25 be connected with the 2nd GIS module 24, complete the planning of unmanned plane during flying task.
Aerial mission planning module 26, comprises flight program unit, aerial mission information imports and exports unit and aerial mission information management unit. Aerial mission imports and exports unit and can import, derive corresponding aerial mission file, the file layout import, derived adopts XML file format, it is possible to select or combine text, XML, CSV, EXCEL, WORD, BMP, JPEG, GIF, TIFF, TGA, EXIF etc.
Defect diagnoses module 27 to be connected with the 2nd data memory module 31 with image pre-processing module 28 in advance, completes the pre-diagnosis patrolling and examining result data in mobile substation 2, tentatively filters out useless graphic information.
Aerial mission monitoring module 30 is associated with weather monitoring module 29, the 2nd GPS module 24 and third communication module 33, for patrolling and examining mission bit stream and patrolling and examining result data and monitor unmanned plane during flying platform 3.
Aerial mission monitoring mould 30 pieces is associated with third communication module 33, with patrolling and examining, the mission bit stream of patrolling and examining without man-machine and mobile substation 2 read can be delivered in result data centralized supervisory control subsystem 1.
Described weather monitoring module 29, can adopt meteorological comprehensive monitor, it is also possible to select or combination temp sensor, humidity sensor, air velocity transducer, density of air (air pressure) sensor, height above sea level tester etc.
Described 2nd GIS module 24, comprises GIS line information and imports unit, line information display unit. GIS line information imports unit, and for importing GIS line information, its file layout imported can adopt XML, also can select text, CSV, EXCEL, WORD, PDF etc.;
Described third communication module 33, comprises wireless communication unit, Landline communication unit, number leaflet unit and figure leaflet unit. Wireless communication unit adopts GPRS signalling methods, also can select or combine GSM, GPRS, CDMA, WCDMA, TD-SCDMA and LTE communications regime wireless mobile communications, wifi wireless communication module.
Unmanned plane during flying platform 3 mainly comprises gondola module 4, flight controlling module 5, first GPS module 6, first communication module 7 and without man-machine body. Gondola module 4, flight controlling module 5 and the first GPS module 6 are communicated with mobile substation 2 by first module 7 that communicates. Described first communication module 7 comprises several leaflet unit and figure leaflet unit, can adopt digital radio station, it is also possible to adopt analog radio. Gondola module 4 adopts by light pick up camera, also can select or combine the equipment such as photographic camera, infrared thermal imaging pick up camera and ultraviolet imagery pick up camera. Described can select rotor wing unmanned aerial vehicle without man-machine body, many rotors or the fixing wing also can be selected without man-machine.
As shown in Figure 4, the present invention without the man-machine centralized supervisory control flow process patrolled and examined divide in order to three big basic procedures respectively: patrol and examine tasks carrying flow process, patrol and examine result treatment flow process and patrol and examine Mission Monitor flow process. As follows without the man-machine interaction flow patrolling and examining centralized supervisory control:
The first step, patrol and examine task matching, information according to the transmitting line patrolled and examined and the status information of mobile substation 2 monitored, carry out patrolling and examining task matching, determine that each is patrolled and examined task corresponding transmission line section, monitoring time, patrols and examines type and patrol and examine the information such as object, and each task of patrolling and examining is carried out the configuration of patrol officer and equipment. The GPS position information of mobile substation 2 and the integrity degree of mobile substation 2 equipment, crew's degree etc. of crew are mainly monitored by this stage by the monitoring of the status information of mobile substation 2, are convenient to the task of patrolling and examining accordingly be distributed.
2nd step, patrols and examines tasks carrying, is audited by corresponding mission bit stream of patrolling and examining, audit by after issue corresponding mobile substation 2 by patrolling and examining mission bit stream, task is patrolled and examined in execution accordingly. Patrolling and examining tasks execution phases, by communication to patrolling and examining tasks carrying situation monitor, the meteorological environmental information at the equipment state of mobile substation 2, GPS position information and mobile scene, substation 2 is monitored.
3rd step, aerial mission is newly-built, and mission bit stream is patrolled and examined according to issuing in mobile substation 2, the aerial mission that the task of patrolling and examining is corresponding is planned, it is determined that this task of patrolling and examining completes required aerial mission, and the landing flight of a corresponding aircraft of aerial mission is patrolled and examined; Newly-built aerial mission, should determine aerial mission correspondence patrol and examine shaft tower and transmission line section, and the monitoring equipment that aerial mission is corresponding (infrared, ultraviolet or visible ray), cook up corresponding flight route, if existing flight route, then directly import.
4th step, aerial mission performs, and in the aerial mission that mobile substation 2 will perform, flight route information sends and flies to start without man-machine, carry out flight and patrol and examine in control module. Aerial mission is monitored by the process of patrolling and examining, mainly flight state, gondola state, flight flight path and weather information is monitored.
5th step, aerial mission completes, should import in mobile substation 2 by patrolling and examining accordingly result data, the graphic information patrolled and examined is carried out pre-treatment, in conjunction with flight course information, generating flight report, and flight report, flight result data, flight course data, flight monitor data are sent in centralized supervisory control subsystem 1 and are gone, flight monitor data needs to import centralized supervisory control subsystem 1 in real time into.
6th step, the task of patrolling and examining completes, and centralized supervisory control subsystem 1 is to the result data patrolled and examined, and the graphic information mainly patrolled and examined carries out patrolling and examining defect diagnosis, it is determined that go out to patrol and examine defect; And to the defect verification tentatively provided in flight report and diagnosis; The task of patrolling and examining being carried out completeness inspection, it is ensured that the task completeness of patrolling and examining is 100%, inspection method is 1) by the transmission line length patrolled and examined in aerial mission be patrol and examine in task regulation patrol and examine transmission line length. 2) patrol and examine circuit shaft tower involved in task, all carried out flight and patrol and examine.
As shown in Figure 5, the 7th step, patrol and examine result treatment flow process as follows:
1st step, Image semantic classification, carries out pre-treatment to the image copy information patrolling and examining in result shooting, by the shooting clear degree in pictures taken not, shooting angle not just and the optical sieving selecting scape inaccurate fall, picture is carried out denoising, the sharpness of adjustment picture and contrast gradient;
2nd step, defect is diagnosed, diagnose according to the defect sample that defect experts database provides, whether the information confirmed in image is defect, picture adds defect layer, in new image layer, identify defect by square or circular and explanatory note, and diagnostic result is preserved database;
3rd step, defect manual processing, to the defect information being saved in database, carries out manual confirmation, and whether what confirmation was diagnosed out is defect, defect can again be identified, delete defect, revise defect and browse associated disadvantages; Also by image management, browse original image information, and the artificial defect found is identified.
8th step, task of patrolling and examining is closed, and centralized supervisory control subsystem 1, according to patrolling and examining process information, result information and defect information, generates and patrols and examines report accordingly, provides and patrols and examines process prescription and patrol and examine result description; Report is patrolled and examined defect carry out defect defect elimination by patrolling and examining accordingly, and defect defect elimination result is reflected to and patrols and examines in report.
As shown in Figure 6, following 8 steps can be divided into perform without man-machine flow of task of patrolling and examining:
The first step, patrol and examine task newly-built, in GIS map transmitting line, according to existing transmission line information and and homologous pair section on the defect condition patrolled and examined, determine the transmission line section of the task of patrolling and examining, specify monitoring time, patrol and examine type, patrol and examine the information such as object; Task of patrolling and examining is newly-built also by having cloned the newly-built of the task of patrolling and examining, and clone needs amendment corresponding to patrol and examine the parameters such as task execution time. Determine to patrol and examine mission bit stream at present to comprise task names, line name, voltage range, start-stop bar number, shaft tower (base), line length, patrol and examine type, patrol and examine object, plan the time opening, plan the information such as end time, responsible official.
2nd step, patrols and examines task configuration, according to the type of the task of patrolling and examining and patrol and examine object, it is determined that sense terminals and without man-machine type; Plan time period according to the task of patrolling and examining and unit type, select idle in this time period to patrol and examine crew and inspection device.
3rd step, patrols and examines task examination & verification, and polling transmission line managerial personnel, audit the task of patrolling and examining, and examination & verification is by entering step 4; Otherwise, if task configuration examination & verification is not passed through, then enter step 2, again the task of patrolling and examining accordingly configured; If patrolling and examining circuit planning examination & verification not pass through, then enter step 1, adjust the transmission line section patrolled and examined.
4th step, patrols and examines task notifications, patrols and examines task by what examination & verification was passed through, by the form of note, short message and mail, issues and patrols and examines task notifications.
5th step, the task of patrolling and examining issues, and by corresponding task of patrolling and examining by the form of Ethernet or wireless network, the corresponding task of patrolling and examining is sent in corresponding mobile substation 2, completes issuing of the task of patrolling and examining.
6th step, patrols and examines tasks carrying, in mobile substation 2, according to patrolling and examining task accordingly, sets up corresponding aerial mission, performs unmanned plane during flying and patrols and examines, and the process information patrolled and examined and result information is sent in centralized supervisory control subsystem 1.
7th step, the task of patrolling and examining completes, and reaches 100% by patrolling and examining task completeness inspection, and the process information of all tasks of patrolling and examining, result information and flight report and flight daily record information are sent to centralized supervisory control subsystem 1.
8th step, task of patrolling and examining is closed, and according to the process information patrolled and examined, result information, flight daily record and flight report, to patrolling and examining after result carries out defect recognition process, provides and patrols and examines defect list; Corresponding defect of patrolling and examining is sent to and patrols and examines defect defect elimination module, carries out defect defect elimination; Generate according to the process information patrolled and examined, result information and defect information and patrol and examine report accordingly, close and patrol and examine task.
After the task of patrolling and examining completes, final result of patrolling and examining should be formed and patrols and examines report, patrols and examines report and contains process information, flight status information, weather information, flight daily record, the defect information patrolled and examined out patrolled and examined and patrol and examine the contents such as mission bit stream.
As shown in Figure 7, move substation workflow and can be divided into following 6 steps:
The first step, aerial mission is newly-built, patrols and examines mission bit stream without man-machine according to being synchronized to, set up the aerial mission that unmanned plane during flying is patrolled and examined in mobile substation 2. In GIS map, display needs to patrol and examine transmission line information, selects the shaft tower circuit section flown and patrol and examine, the GPS position information patrolling and examining shaft tower and aircraft landing point is written in XML file, and automatically can select the GIS satellite map patrolled and examined by frame, for patrolling and examining map.
2nd step, air Route Planning Method, if there has been corresponding flight route in the shaft tower transmission line section that correspondence is patrolled and examined, then selects corresponding flight route; Otherwise, according to the shaft tower transmission line section patrolled and examined determined in aerial mission, carry out unmanned plane during flying routing, cook up without man-machine flight route point, the hovering point patrolled and examined, homeward air route and landing point etc.
3rd step, aerial mission is audited, and unmanned plane during flying task being determined, the flight route patrolling and examining transmitting line and correspondence is audited, and examination & verification is by entering step 4; Flight route, not by entering step 2, is planned by examination & verification again.
4th step, aerial mission performs, flight route information, hovering point GPS position information and the flight map aerial mission determined are issued to and fly in control module, start and carry out polling transmission line flight without man-machine, by flying control module and carry out alternately without man-machine in flight course, control unmanned plane during flying; Control to carry out taking pictures and making a video recording without man-machine detection gondola by gondola control module 23.
5th step, flight completes, and the status information flown accordingly is sent in unmanned plane during flying process mobile substation 2, and the result data (picture, video) that flight is patrolled and examined are sent to mobile substation 2.
6th step, task completes, and flight daily record is imported in mobile substation 2, and according to flight course data and flight result data, carries out preliminary defect diagnositc analysis, generate report of flying accordingly, and the flight of generation report is sent to centralized supervisory control subsystem 1.
Detailed in preferred embodiment the present invention is described above by concrete; but those skilled in the art should be understood that; the present invention is not limited to the above embodiment; within the spirit and principles in the present invention all; the any amendment done, equivalent replacement etc., all should be included within protection scope of the present invention.
Claims (10)
1., for the mobile substation without man-machine polling transmission line, it is characterized in that, comprising:
Human-computer interaction module, for obtaining and resolve outside order, the external command after resolving is sent to the process of corresponding data processing module, and corresponding result is displayed, it is achieved the input and output of system data, complete the mutual of people and system;
Patrol and examine tasks synchronization module, for synchronous centralized supervisory control subsystem patrols and examines mission bit stream to local, to being synchronized to that the local task of patrolling and examining is inquired about, state-maintenance and currently patrol and examine task setting operation, complete to patrol and examine the synchronous of mission bit stream and management;
Gondola control module, for realizing the monitor and forecast to gondola on unmanned plane during flying platform, read gondola angle, battery electricity, cell voltage, battery circuit, shooting time, shooting GPS value gondola information in real time, can also according to external command, issue steering order, the angle of control gondola, performs shooting and stops shooting action, completes to be monitored by the gondola on unmanned plane during flying platform;
GIS module, for being imported by the transmission line information of the task of patrolling and examining, derive and show, and the frame providing GIS map selects, the operation of GPS location location, it is provided that the proving operation function of the GPS location point in GIS map;
Fly control module, for the status information of unmanned plane during flying platform is carried out monitor and forecast, read in real time the GPS position information of unmanned plane during flying platform, speed, highly, rotating speed, total distance, cylinder temperature, cell voltage, battery circuit and battery information about power, and according to external command, unmanned plane during flying platform, to unmanned plane during flying platform, is controlled by transmitting order to lower levels;
Aerial mission planning module, for according to the transmission line information patrolled and examined without man-machine, geographical environment information, meteorological environmental information, GIS map is cooked up patrol and examine without man-machine landing point, hovering point, track points, and the height of corresponding flight, flight velocity, line-spacing, generate corresponding flight route, and unmanned plane during flying mission bit stream inquired about, browse and deletes, import and derivation operation, complete management and the planning of aerial mission;
Defect diagnoses module in advance, for image being edited and splicing, the picture with latent defect possibility is screened, graphic information identifies defect information and defective locations information, and corresponding defect information is identified, revise, delete, inquire about and browse operation, complete the defect diagnosis patrolling and examining result and management;
Image pre-processing module, for the graphic information patrolled and examined being carried out pre-treatment and management, corresponding defect information browsed, edits, screen and pretreatment operation, by the shooting clear degree in shooting image not, shooting angle not just and the optical sieving selecting scape inaccurate fall, image is carried out denoising, the sharpness of adjustment image and contrast gradient process, it is achieved the pre-treatment of graphic information;
Weather monitoring module, carries out Real-Time Monitoring to without the man-machine weather information patrolling and examining scene, monitors module by matched interfaces and aerial mission and is connected, monitoring weather information is sent to centralized supervisory control subsystem;
Aerial mission monitoring module, for flight status information, patrol and examine on-the-spot weather information, GPS position information monitor, display in human-computer interaction module; Corresponding aerial mission monitoring information can also be sent to centralized supervisory control subsystem by communication module;
Data memory module, for the storage of system data, by data memory module to the system master data of centralized supervisory control subsystem, patrol and examine process data, patrol and examine number of results according to this and the monitor data patrolled and examined stores, the video data wherein patrolled and examined are stored by file, and database is stored in the file path of storage;
GPS module, for the GPS location of mobile substation, it is monitored module with aerial mission and is connected by serial ports, and the GPS position information of mobile substation is sent to centralized supervisory control subsystem;
Communication module, mutual for the data that realize between centralized supervisory control subsystem, synchronously patrols and examines mission bit stream from centralized supervisory control subsystem, and by patrolling and examining process data, patrol and examine result data and the monitor data patrolled and examined deliver to centralized supervisory control subsystem; Can also by digital transmission module and figure transmission module, read unmanned plane during flying platform without man-machine status information and the video information patrolled and examined.
2. as claimed in claim 1 for the mobile substation without man-machine polling transmission line, it is characterized in that, described human-computer interaction module adopts the controlling equipment being currently made up of telepilot, displacement tracking equipment, 6-dof motion platform, keyboard, mouse, audio-frequency apparatus, indicating meter and hyperchannel ring curtain stereo projection system without man-machine controlling equipment or employing.
3. as claimed in claim 1 for the mobile substation without man-machine polling transmission line, it is characterized in that, described patrol and examine tasks synchronization module, comprise and patrol and examine the synchronous unit of mission bit stream, patrol and examine job enquiry unit and currently patrol and examine task setting unit, patrol and examine the synchronous unit of mission bit stream for patrolling and examining the synchronous of mission bit stream; Patrol and examine job enquiry unit, the mobile substation of inquiry patrols and examines mission bit stream; Currently patrol and examine task setting unit, patrol and examine task for what set current acquiescence.
4. as claimed in claim 1 for the mobile substation without man-machine polling transmission line, it is characterized in that described gondola control module comprises gondola monitoring means and gondola control unit; Gondola monitoring means, reads gondola angle, battery electricity, cell voltage, battery circuit, shooting time, shooting GPS value gondola information in real time; Gondola control unit, according to external command, issues steering order, the angle of control gondola, performs shooting and stops shooting action.
5. as claimed in claim 1 for the mobile substation without man-machine polling transmission line, it is characterized in that, described GIS module, comprise GIS line information and import unit, line information display unit; GIS line information imports unit, for importing GIS line information; Line information display unit, for showing transmission line information in GIS map.
6. as claimed in claim 1 for the mobile substation without man-machine polling transmission line, it is characterized in that, described in fly control module, comprise fly monitoring means and flight controlling unit; Wherein, flight monitoring means is connected with communication module, the information of unmanned plane during flying platform is monitored in real time; Flight controlling unit is connected with communication module, and according to external command, unmanned plane during flying platform, to unmanned plane during flying platform, is controlled by transmitting order to lower levels.
7. as claimed in claim 1 for the mobile substation without man-machine polling transmission line, it is characterized in that, described aerial mission planning module, comprise flight program unit, aerial mission information imports and exports unit and aerial mission information management unit; Wherein flight program unit, cooks up landing point, hovering point, the track points of patrol unmanned machine, and the height of corresponding flight, flight velocity, line-spacing; Aerial mission information management unit, for inquiry, browses or deletes aerial mission information; Aerial mission imports and exports unit and imports, derives corresponding aerial mission file.
8. as claimed in claim 1 for the mobile substation without man-machine polling transmission line, it is characterized in that, described image pre-processing module, comprise picture browsing unit, image editing unit, optical sieving unit and image pre-processing unit; Wherein picture browsing unit is used for browsing of graphic information; Image is carried out edit and deletion operation by image editing unit; Optical sieving unit is used for screening away graphic information inadequate to the sharpness of graphic information and accuracy; Image is carried out pre-treatment by image pre-processing unit.
9. as claimed in claim 1 for the mobile substation without man-machine polling transmission line, it is characterized in that, described communication module, comprise wireless communication unit, Landline communication unit, number leaflet unit and figure leaflet unit; Landline communication unit passes through ethernet communication, it is achieved information interaction; Count leaflet unit and pass the data corresponding of radio station realization with unmanned plane during flying platform by number; The video information that figure leaflet unit is sent by figure biography antenna reception unmanned plane during flying platform.
10., as claimed in claim 1 for the method for work of the mobile substation without man-machine polling transmission line, it is characterized in that, it is divided into following 6 steps:
The first step, aerial mission is newly-built, patrols and examines mission bit stream without man-machine according to being synchronized to, set up the aerial mission that unmanned plane during flying is patrolled and examined in mobile substation; In GIS map, display needs to patrol and examine transmission line information, selects the shaft tower circuit section flown and patrol and examine, the GPS position information patrolling and examining shaft tower and aircraft landing point is written in XML file, and frame selects the GIS satellite map patrolled and examined automatically, for patrolling and examining map;
2nd step, air Route Planning Method, if there has been corresponding flight route in the shaft tower transmission line section that correspondence is patrolled and examined, then selects corresponding flight route; Otherwise, according to the shaft tower transmission line section patrolled and examined determined in aerial mission, carry out unmanned plane during flying routing, cook up without man-machine flight route point, the hovering point patrolled and examined, homeward air route and landing point;
3rd step, aerial mission is audited, and unmanned plane during flying task being determined, the flight route patrolling and examining transmitting line and correspondence is audited, and examination & verification is by entering the 4th step; Flight route, not by entering the 2nd step, is planned by examination & verification again;
4th step, aerial mission performs, flight route information, hovering point GPS position information and the flight map aerial mission determined are issued to and fly in control module, start and carry out polling transmission line flight without man-machine, by flying control module and carry out alternately without man-machine in flight course, control unmanned plane during flying; Carry out taking pictures and making a video recording without man-machine gondola by the control of gondola control module;
5th step, flight completes, and in unmanned plane during flying process, the status information flown accordingly is sent to mobile substation, and the result data that flight is patrolled and examined are sent to mobile substation;
6th step, task completes, and flight daily record is imported in mobile substation, and according to flight course data and flight result data, carries out preliminary defect diagnositc analysis, generate report of flying accordingly, and the flight of generation report is sent to centralized supervisory control subsystem.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410082798.9A CN103941745B (en) | 2014-03-07 | 2014-03-07 | For without the mobile substation of man-machine polling transmission line and method of work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410082798.9A CN103941745B (en) | 2014-03-07 | 2014-03-07 | For without the mobile substation of man-machine polling transmission line and method of work |
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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: 20201029 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. |