CN108415447A - A kind of machine patrols visual remote fortune pipe platform - Google Patents
A kind of machine patrols visual remote fortune pipe platform Download PDFInfo
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- CN108415447A CN108415447A CN201810195571.3A CN201810195571A CN108415447A CN 108415447 A CN108415447 A CN 108415447A CN 201810195571 A CN201810195571 A CN 201810195571A CN 108415447 A CN108415447 A CN 108415447A
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- 230000000007 visual effect Effects 0.000 title claims abstract description 20
- 238000007689 inspection Methods 0.000 claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 17
- 230000009466 transformation Effects 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 13
- 239000000284 extract Substances 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 4
- 230000006870 function Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 230000005855 radiation Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
- 238000004458 analytical method Methods 0.000 abstract description 3
- 230000032258 transport Effects 0.000 abstract description 3
- 238000013079 data visualisation Methods 0.000 abstract 1
- 230000007613 environmental effect Effects 0.000 abstract 1
- 230000002452 interceptive effect Effects 0.000 abstract 1
- 238000007726 management method Methods 0.000 description 8
- 230000005611 electricity Effects 0.000 description 3
- 239000003016 pheromone Substances 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013523 data management Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The present invention relates to electric inspection process technical fields, patrol visual remote more particularly, to a kind of machine and transport pipe platform.The present invention realizes that patrolling visual remote based on the machine that universe couples entirely transports pipe platform by navigation module, communication control module, display module, data memory module；Navigation module realizes coordinate system and projective transformation；Communication control module, for unmanned plane and fortune pipe platform real-time, interactive；Display module, the information such as image/video for showing unmanned plane shooting, realizes data visualization；Data memory module patrols task data, unmanned plane during flying data, environmental information data, video data, picture etc. for storing machine.The present invention realizes unmanned plane inspection and shows that machine patrols quasi- data receiver and the hologram display of analysis result with track；Routing inspection efficiency can be effectively improved, artificial fault identification difficulty is reduced.
Description
Technical field
The present invention relates to electric inspection process technical fields, patrol visual remote more particularly, to a kind of machine and transport pipe platform.
Background technology
With the expansion of power grid scale, the structure of transmission line of electricity is increasingly complicated, and circuit distribution is also increasingly wider, part
Land bad environments bring hidden trouble to the safe and stable operation of power grid.If the external force such as overhead line structures destroy hidden danger not
It can be found in time, electric energy transmission, electric power netting safe running can be seriously threatened.Therefore, transmission line of electricity and periphery situation are determined
Phase inspection is to ensure the effective measures of circuit safe and stable operation.
Since the operation of transmission line of electricity manual inspection does not have the record of standard criterion, Wu Faman in tour process and tour result
The requirement of sufficient regulation and standardization exists in inspection work and omits, and the safety of patrolman cannot ensure.Using unmanned plane
The mode of inspection operation not only reduces inspection risk and routing inspection cost, while also effectively increasing inspection operating efficiency.But mesh
Preceding unmanned plane inspection neither one management platform, inspection information needs artificial progress fault identification, in addition for inspection
Data can not be unified to preserve, and data management is inconvenient, and is easy to cause inspection loss of data.
Invention content
The present invention is at least one defect overcome described in the above-mentioned prior art, provides a kind of machine and patrols visual remote fortune pipe
Platform realizes that unmanned plane inspection and track are shown based on GPS, wireless communication module, and realization machine patrols quasi- data receiver and analysis knot
The hologram display of fruit；Routing inspection efficiency is improved, artificial fault identification difficulty is reduced.
In order to solve the above technical problems, present invention employs following technical solutions：
A kind of machine patrols visual remote fortune pipe platform, includes navigation module, communication control module, display module and data storage mould
Block；
Navigation module is installed on unmanned plane, is used for unmanned plane location navigation based on GPS coordinate system and is realized coordinate information
Projective transformation extracts unmanned plane position information and carries out flight early warning to unmanned plane；
Communication control module has installation, for realizing between unmanned plane and fortune pipe platform on unmanned plane and fortune pipe platform
Real-time information interaction；
Data memory module, memory module is for storing the data that machine patrols task data and machine patrols acquisition；
Display module carries out data processing according to the data in data elder sister's communication control module in data memory module and shows
The image/video information and the relevant information in unmanned machine operation of unmanned plane acquisition.
Machine patrols visual remote fortune pipe platform, by realizing real-time communication between unmanned plane, by aobvious in unmanned plane
Show that module is handled and shown to data, overall process and data processing knot in unmanned plane inspection can be realized on display module
Fruit realizes the unified management of data on fortune pipe platform.
Further, the coordinate information projective transformation of navigation module include using Lv's lattice projection, Lambert projection,
The geographical coordinate of unmanned plane is projected into plane right-angle coordinate by Mercator projections, utm projection technology, accurate to realize spatially
Manage the mutual conversion of coordinate and plane right-angle coordinate.
Further, unmanned plane position information carries out GPS parsing extractions by the GPS message informations to unmanned plane,
Extract navigation positioning data information, including unmanned plane latitude and longitude value, course and speed.
Further, the unmanned plane during flying early warning of navigation module to unmanned plane during flying parameter and is pacified by principles of fuzzy mathematics
Totally according to fuzzy reasoning is carried out, the prediction unmanned plane direction of motion changes, and generates warning information.
Further, communication control module is carried out data transmission by wireless signal, including LAN, Internet and 3G/4G
Network transmission.
Further, the relevant information in the unmanned machine operation that display module is shown include unmanned plane area distribution information,
Unmanned plane service line information, location information, elevation information, posture information, state of flight information, main grid structure thermal infrared radiation letter
Breath, geography information；Wherein unmanned plane area distribution information, unmanned plane service line information, location information, elevation information, posture
Information, state of flight information can be integrated according to area information, the type, the line information, operating personnel's relationship etc.
Management, flexibly displaying.
Further, the image/video information of unmanned plane acquisition carries out compressed encoding first, and redundancy reduction in place to go regards
Frequency image data amount, is then sent to fortune pipe platform by communication control module, and fortune pipe platform is pressed after receiving vedio data
Coding mode carries out video decoding, and is showed on display module.
Preferably, display module can define no-fly region on fortune pipe platform three-dimension GIS map, to realize that aircraft enters
Auto-alarm function behind no-fly region；And it supports the simulated flight before aircraft operation, fly according to history flight path
Playback, to realize the reproduction of inspection work on the spot.The equipment management and flight path of realization the whole network aircraft, use feelings at the time
The association statistical of condition, weather etc..
Further, data memory module storage data include base image terrain data, line data-logging corridor data,
Line data-logging device data, creation data and meteorological data.Wherein base image terrain data includes multidate, multi-Scale Data
Image and terrain data, line data-logging corridor data include laser point cloud data, high resolution image and terrain data, and circuit patrols
Inspection device data includes airborne laser point cloud data, high-resolution equipment influence data, thermal infrared video data and ultraviolet video
Data.
Compared with prior art, advantageous effect is：It realizes the machine coupled entirely based on entire area and patrols visual remote fortune pipe
For platform, it can be achieved that unmanned plane inspection is shown with track, realization machine patrols quasi- data receiver and the hologram display of analysis result, can be effective
Routing inspection efficiency is improved, the difficulty of artificial fault identification is reduced.
Description of the drawings
Fig. 1 is the structural schematic diagram of one embodiment of the invention.
Specific implementation mode
Invention is further explained below in conjunction with the accompanying drawings, and wherein attached drawing only for illustration, cannot understand
For the limitation to this patent.
As shown in Figure 1, a kind of machine patrols visual remote fortune pipe platform, navigation module, communication control module, display module are included
And data memory module；
Navigation module is installed on unmanned plane, is used for unmanned plane location navigation based on GPS coordinate system and is realized coordinate information
Projective transformation extracts unmanned plane position information and carries out flight early warning to unmanned plane；
Coordinate information projective transformation includes using the projection of Lv's lattice, Lambert projections, Mercator projections, utm projection technology by nothing
Man-machine geographical coordinate projects into plane right-angle coordinate, accurate to realize the mutual of space and geographical coordinate and plane right-angle coordinate
Conversion.
Unmanned plane position information carries out GPS parsing extractions by the GPS message informations to unmanned plane, and extraction navigation is fixed
Position data information, including unmanned plane latitude and longitude value, course and speed.
Unmanned plane during flying early warning carries out fuzzy reasoning by principles of fuzzy mathematics to unmanned plane during flying parameter and secure data,
It predicts the variation of the unmanned plane direction of motion, when it enters no-fly region or flight is broken down, in fortune pipe platform and generates early warning
Information is to prompt transporting personnel.
Communication control module has installation on unmanned plane and fortune pipe platform, for realizing unmanned plane and fortune pipe platform it
Between real-time information interaction；Carried out data transmission by wireless signal, including LAN, Internet and 3G/4G network transmission, is connect
Receive and be transferred from the real-time unmanned plane during flying data of GPS；The instruction for receiving fortune pipe platform realizes machine by the transmission of upstream data
Patrol task；To realize under the premise of data transmission is reliable, expense is minimum.
Data memory module, memory module is for storing the data that machine patrols task data and machine patrols acquisition；The data of storage
Specifically include base image terrain data, line data-logging corridor data, line data-logging device data, creation data and meteorological number
According to.Wherein base image terrain data includes multidate, multi-Scale Data image and terrain data, line data-logging corridor data packet
Laser point cloud data, high resolution image and terrain data are included, line data-logging device data includes airborne laser point cloud data, height
Resolution device influences data, thermal infrared video data and ultraviolet video data.
Display module carries out data processing simultaneously according to the data in data elder sister's communication control module in data memory module
The image/video information and the relevant information in unmanned machine operation for showing unmanned plane acquisition.
Relevant information in the unmanned machine operation that display module is shown includes unmanned plane area distribution information, unmanned machine operation
Line information, location information, elevation information, posture information, state of flight information, main grid structure thermal infrared radiation information, geographical letter
Breath.Wherein unmanned plane area distribution information, unmanned plane service line information, location information, elevation information, posture information, flight
Status information carries out integrated management, flexibly displaying according to area information, type, line information, operating personnel's relationship etc..
The image/video information of unmanned plane acquisition carries out compressed encoding first, and place to go redundancy reduces vedio data
Amount, then by communication control module be sent to fortune pipe platform, fortune pipe platform receive vedio data after by coding mode into
Row video decodes, and is showed on display module.
Display module can define no-fly region on fortune pipe platform three-dimension GIS map, to realize that aircraft enters no-fly zone
Auto-alarm function behind domain；And support the simulated flight before aircraft operation, carry out flight playback according to history flight path, with
Realize the reproduction of inspection work on the spot.Realize the equipment management and flight path, time, service condition, weather of the whole network aircraft
Deng association statistical.
Unmanned plane patrolled and examined track is optimized using ant group algorithm,
Machine patrols visual remote fortune pipe platform and passes through the display mould in unmanned plane by realizing real-time communication between unmanned plane
Block is handled and is shown to data, and overall process and data processed result in unmanned plane inspection can be realized on display module,
The unified management of data is realized on fortune pipe platform.
In this fortune pipe platform, using ant group algorithm to inspection line optimization.Specifically, will first need combinatorial optimization problem
It states the problem of needing to solve as according to specification ant group algorithm optimizing format, then determines decision point using ant group algorithm characteristic,
Entire decision process is transmission carrier using this feedback quantity of pheromones as information, while to every during Pheromone update
The path institute legacy information element that ant individual is passed by carries out incremental build.According to Pheromone update management, planned from whole angle
Ant motion path below, subsequent ant repeat front action, after whole process, can acquire optimal path.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement etc., should be included in the claims in the present invention made by within the spirit and principle of invention
Protection domain within.
Claims (9)
1. a kind of machine patrols visual remote fortune pipe platform, which is characterized in that including navigation module, communication control module, display mould
Block and data memory module；
Navigation module is installed on unmanned plane, is used for unmanned plane location navigation based on GPS coordinate system and is realized coordinate information
Projective transformation extracts unmanned plane position information and carries out flight early warning to unmanned plane；
Communication control module has installation, for realizing between unmanned plane and fortune pipe platform on unmanned plane and fortune pipe platform
Real-time information interaction；
Display module, the relevant information in image/video information and unmanned machine operation for showing unmanned plane acquisition；
Data memory module, memory module is for storing the data that machine patrols task data and machine patrols acquisition.
2. a kind of machine according to claim 1 patrols visual remote fortune pipe platform, which is characterized in that the navigation module
Coordinate information projective transformation includes using the projection of Lv's lattice, Lambert projections, Mercator projections, utm projection technology by unmanned plane
Geographical coordinate project into plane right-angle coordinate, it is accurate to realize mutually turning for space and geographical coordinate and plane right-angle coordinate
It changes.
3. a kind of machine according to claim 1 patrols visual remote fortune pipe platform, which is characterized in where the unmanned plane
Location information carries out GPS parsing extractions by the GPS message informations to unmanned plane, extracts navigation positioning data information, including nothing
Man-machine latitude and longitude value, course and speed.
4. a kind of machine according to claim 1 patrols visual remote fortune pipe platform, which is characterized in that the navigation module
Unmanned plane during flying early warning carries out fuzzy reasoning by principles of fuzzy mathematics to unmanned plane during flying parameter and secure data, predicts nobody
The machine direction of motion changes, and generates warning information.
5. a kind of machine according to claim 1 patrols visual remote fortune pipe platform, which is characterized in that the Communication Control
Module is carried out data transmission by wireless signal, including LAN, Internet and 3G/4G network transmission.
6. a kind of machine according to claim 1 patrols visual remote fortune pipe platform, which is characterized in that the display module is aobvious
Relevant information in the unmanned machine operation shown include unmanned plane area distribution information, unmanned plane service line information, location information,
Elevation information, posture information, state of flight information, main grid structure thermal infrared radiation information, geography information.
7. a kind of machine according to claim 1 patrols visual remote fortune pipe platform, which is characterized in that the unmanned plane acquisition
Image/video information carry out compressed encoding first, place to go redundancy reduces vedio data amount, then passes through and communicates control
Molding block is sent to fortune pipe platform, and fortune pipe platform presses coding mode progress video decoding after receiving vedio data, and shows
In on display module.
8. a kind of machine according to claim 1 patrols visual remote fortune pipe platform, which is characterized in that the display module can
No-fly region is defined on fortune pipe platform three-dimension GIS map, to realize aircraft into auto-alarm function behind no-fly region；And
It supports the simulated flight before aircraft operation, carry out flight playback according to history flight path, to realize inspection work on the spot
It reappears.
9. a kind of machine according to claim 1 patrols visual remote fortune pipe platform, which is characterized in that the data store mould
Block storage data include base image terrain data, line data-logging corridor data, line data-logging device data, creation data and
Meteorological data.
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| CN201810195571.3A CN108415447A (en) | 2018-03-09 | 2018-03-09 | A kind of machine patrols visual remote fortune pipe platform |
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| CN201810195571.3A CN108415447A (en) | 2018-03-09 | 2018-03-09 | A kind of machine patrols visual remote fortune pipe platform |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109739258A (en) * | 2018-12-21 | 2019-05-10 | 沈阳云奕科技有限公司 | Method for processing business and device, the electronic equipment and storage medium of unmanned plane |
| CN111310581A (en) * | 2020-01-17 | 2020-06-19 | 杭州电子科技大学 | Crowd safety assessment method based on fuzzy reasoning |
| CN111781951A (en) * | 2020-07-13 | 2020-10-16 | 江苏中科智能制造研究院有限公司 | Industrial park monitoring and data visualization system based on cluster unmanned aerial vehicle |
| CN112286221A (en) * | 2020-09-16 | 2021-01-29 | 广东顺德电力设计院有限公司 | Remote electric power unmanned aerial vehicle control system that cruises |
| CN112306094A (en) * | 2020-10-30 | 2021-02-02 | 山东理工大学 | Visual detection device and method for obstacle avoidance flight of plant protection unmanned aerial vehicle |
| CN113077168A (en) * | 2021-04-16 | 2021-07-06 | 广东电网有限责任公司 | Machine patrol operation risk management and control system and method |
| CN113407281A (en) * | 2021-06-23 | 2021-09-17 | 重庆卡歌科技有限公司 | Dynamic visual three-dimensional display method for new land and sea channel service based on data application |
| CN113470210A (en) * | 2021-06-30 | 2021-10-01 | 广东电网有限责任公司 | Fixed value rapid inspection method and system of safety automatic device and storage medium |
| CN113920444A (en) * | 2021-09-30 | 2022-01-11 | 泰州蝶金软件有限公司 | Block chain management system for action triggering |
| CN114020029A (en) * | 2021-11-09 | 2022-02-08 | 深圳大漠大智控技术有限公司 | Automatic generation method and device of aerial route for cluster and related components |
| CN114360090A (en) * | 2021-12-28 | 2022-04-15 | 易思维（杭州）科技有限公司 | Patrol and examine appearance with show function in real time |
| CN114527782A (en) * | 2021-11-19 | 2022-05-24 | 嘉兴恒创电力设计研究院有限公司 | Unmanned aerial vehicle flight path planning method and system based on power grid map |
| CN114625158A (en) * | 2021-12-08 | 2022-06-14 | 中国石油天然气集团有限公司 | Unmanned aerial vehicle-based well control risk emergency management system and emergency rescue method |
| CN115083212A (en) * | 2022-06-08 | 2022-09-20 | 同济大学 | Unmanned aerial vehicle location intelligent management system based on three-dimensional modeling |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109739258A (en) * | 2018-12-21 | 2019-05-10 | 沈阳云奕科技有限公司 | Method for processing business and device, the electronic equipment and storage medium of unmanned plane |
| CN111310581A (en) * | 2020-01-17 | 2020-06-19 | 杭州电子科技大学 | Crowd safety assessment method based on fuzzy reasoning |
| CN111310581B (en) * | 2020-01-17 | 2023-04-25 | 杭州电子科技大学 | Crowd safety assessment method based on fuzzy reasoning |
| CN111781951A (en) * | 2020-07-13 | 2020-10-16 | 江苏中科智能制造研究院有限公司 | Industrial park monitoring and data visualization system based on cluster unmanned aerial vehicle |
| CN112286221B (en) * | 2020-09-16 | 2022-10-18 | 广东顺德电力设计院有限公司 | Remote electric power unmanned aerial vehicle control system that cruises |
| CN112286221A (en) * | 2020-09-16 | 2021-01-29 | 广东顺德电力设计院有限公司 | Remote electric power unmanned aerial vehicle control system that cruises |
| CN112306094A (en) * | 2020-10-30 | 2021-02-02 | 山东理工大学 | Visual detection device and method for obstacle avoidance flight of plant protection unmanned aerial vehicle |
| CN113077168A (en) * | 2021-04-16 | 2021-07-06 | 广东电网有限责任公司 | Machine patrol operation risk management and control system and method |
| CN113077168B (en) * | 2021-04-16 | 2023-02-10 | 广东电网有限责任公司 | Machine patrol operation risk management and control system and method |
| CN113407281A (en) * | 2021-06-23 | 2021-09-17 | 重庆卡歌科技有限公司 | Dynamic visual three-dimensional display method for new land and sea channel service based on data application |
| CN113407281B (en) * | 2021-06-23 | 2022-11-11 | 重庆卡歌科技有限公司 | Dynamic visual three-dimensional display method for new land and sea channel service based on data application |
| CN113470210A (en) * | 2021-06-30 | 2021-10-01 | 广东电网有限责任公司 | Fixed value rapid inspection method and system of safety automatic device and storage medium |
| CN113920444A (en) * | 2021-09-30 | 2022-01-11 | 泰州蝶金软件有限公司 | Block chain management system for action triggering |
| CN114020029A (en) * | 2021-11-09 | 2022-02-08 | 深圳大漠大智控技术有限公司 | Automatic generation method and device of aerial route for cluster and related components |
| CN114527782A (en) * | 2021-11-19 | 2022-05-24 | 嘉兴恒创电力设计研究院有限公司 | Unmanned aerial vehicle flight path planning method and system based on power grid map |
| CN114625158A (en) * | 2021-12-08 | 2022-06-14 | 中国石油天然气集团有限公司 | Unmanned aerial vehicle-based well control risk emergency management system and emergency rescue method |
| CN114360090A (en) * | 2021-12-28 | 2022-04-15 | 易思维（杭州）科技有限公司 | Patrol and examine appearance with show function in real time |
| CN115083212A (en) * | 2022-06-08 | 2022-09-20 | 同济大学 | Unmanned aerial vehicle location intelligent management system based on three-dimensional modeling |
| CN115083212B (en) * | 2022-06-08 | 2024-05-03 | 同济大学 | Unmanned aerial vehicle location intelligent management system based on three-dimensional modeling |
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Application publication date: 20180817 |