CN103823451B - Unmanned plane power circuit polling centralized dispatching system and method based on GIS - Google Patents

Abstract

The invention discloses a GIS-based centralized dispatching system for unmanned aerial vehicle power line inspection, including a dispatching platform, a dispatching terminal, a ground monitoring station and an unmanned aerial vehicle, equipped with the GIS-based UAV power line inspection of the present invention The centralized scheduling method considers factors such as inspection site status information, equipment information, and personnel information, and schedules inspection equipment, personnel, time, and lines through the scheduling terminal, and completes as many inspections as possible under limited resource conditions. Inspection tasks, improve the efficiency of UAV inspection, improve the reliability and safety of UAV inspection, and reduce the cost of UAV inspection.

Description

Centralized scheduling system and method for UAV power line inspection based on GIS

technical field

The invention belongs to the field of operation and maintenance of electric power systems, relates to the field of unmanned aerial vehicle transmission line inspection, in particular to a centralized dispatching system and method for unmanned aerial vehicle transmission line inspection.

Background technique

UAV line inspection is playing an increasingly important role in transmission line inspection, which can greatly reduce the workload of power service personnel, reduce the probability of possible personnel danger, reduce the maintenance cost of power equipment, and improve the safety of the power grid sex and reliability.

In addition to the inspection of the transmission line, the UAV transmission line inspection also involves a large number of inspection equipment and inspection personnel. Line inspection UAVs are distributed in different regions, with a wide range of inspection areas and high mobility of inspection tasks. The location and content of inspections are not fixed, and it is very easy for inspection equipment to go back and forth with no load. Different inspections The tasks correspond to the same inspection transmission line, or between transmission line sections, and the time constraints of inspection are strong. It is necessary to schedule inspection tasks according to the importance of the inspection line and the constraint relationship between inspection tasks to achieve inspection. The tasks are completed in an orderly manner; different inspection tasks correspond to different inspection transmission lines and inspection purposes, and the equipped inspection equipment and inspection models are also different. The inspection involves complicated and scattered equipment, which is easy to forget And missing, lack of accessories and other situations frequently occur during the inspection process, which seriously affects the efficiency of inspections. In the case of limited inspection resources, especially when there are many inspection tasks and strong constraints between inspection tasks, it is necessary to reasonably schedule inspection resources and equipment to avoid back-and-forth empty-load inspection equipment and maximize the use of existing resources. With resources, complete as many inspection tasks as possible, improve inspection efficiency, and reduce inspection costs.

In terms of task scheduling, there are relatively many patents, papers and other materials at home and abroad. For example, "Design and Implementation of Aircraft Scheduling System Based on Multi-task Scheduling" by Yin Hailong, Xia Hongshan, etc. of Nanjing University of Aeronautics and Astronautics, expounded the aircraft scheduling system in more detail, completed the scheduling of aircraft tasks, and gave a paragraph However, it is impossible to realize the real-time scheduling of aircraft, and there is no task scheduling based on the characteristics of fixed transmission lines and long inspection periods. Factors such as transmission lines and transmission line defects are not considered in task scheduling. The patent application number 200910078344.3 of "Task Optimization Scheduling Platform" realizes the automatic scheduling of task executors according to the principle of optimal scheduling, and does not involve the scheduling of equipment and transmission lines. The patent application No. 02111547.8 "Transmission Method of Vehicle Scheduling Information" provides a communication and dispatching method for releasing dispatching information through wireless communication. The "Emergency Communication Dispatching Platform" with application number 201120308746.0 provides a dispatching platform that can perform docking conversion, network switching, interconnection, central dispatching and communication transfer management without computer control, ensuring normal and reliable dispatching. "Mobile Phone Text Scheduling System and Its Text Scheduling Method" with application number 200910033399.2 provides a dispatching system using mobile phones as a dispatching response terminal to realize vehicle dispatching. The above patents or papers are all about technical devices or systems for task scheduling, but none of them have been applied in power systems. They are at the level of theoretical research and cannot be applied to the field of UAV transmission line inspection.

To sum up, the existing task scheduling methods are mostly aimed at personnel scheduling and regional scheduling. The geographical area of scheduling is small, the scheduling equipment is relatively single, and the problem of no-load inspection is prominent. At present, there is still a lack of a special dispatching system for UAV line inspection. The dispatching methods of other industries are directly applied to the UAV line inspection dispatching system. The effect is not ideal, and there are still many problems to be solved.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, to provide a centralized scheduling system and method for power line inspection of unmanned aerial vehicles based on GIS, and to consider elements such as inspection site status information, equipment information and personnel information, through the scheduling terminal to The equipment, personnel, time and lines of the inspection are scheduled, and under the condition of limited resources, as many inspection tasks as possible can be completed, the efficiency of UAV inspection can be improved, and the reliability and safety of UAV inspection can be improved. , to reduce the cost of UAV inspection.

In order to achieve the above object, the present invention adopts the following technical solutions.

GIS-based centralized dispatching system for UAV power line inspection, including dispatching platform, dispatching terminal, ground monitoring station and UAV;

One-to-many communication is realized between the dispatching platform and the dispatching terminal, which is used to allocate inspection elements such as inspection equipment, personnel, and inspection transmission lines of the UAV according to the status information of the UAV inspection equipment. Scheduling and inspection tasks to realize the optimal configuration of UAV inspection equipment, personnel, lines and inspection time;

The dispatching terminal can be connected one-to-one with the ground monitoring station through a serial port, Ethernet or wireless network, and can also communicate directly with the UAV through the image transmission communication link and data transmission communication link to obtain UAV inspection information. It responds to the dispatching instructions of the dispatching platform, executes the dispatching of task elements such as personnel, equipment and lines, manages the inspection equipment and personnel information, monitors the weather information and aircraft status information, and uploads them to the dispatching platform ;

The ground monitoring station is used to control the flight of the UAV through the image transmission and data transmission station, adjust the flight attitude of the UAV, and take inspection pictures;

UAVs include fixed-wing UAVs, rotary-wing UAVs, and multi-rotor UAVs. UAV patrols are carried out by carrying cameras or infrared detection terminals, ultraviolet detection terminals and other detection terminals. It communicates with the ground monitoring station or dispatching terminal through image transmission and data transmission.

The dispatching platform includes a dispatching server, a human-computer interaction module, an RFID reader, an ID card reader, and a short message sending and receiving module.

The dispatching server is used to manage and dispatch UAV inspection equipment, personnel, power transmission lines and inspection tasks, etc., read the weather, flight status, equipment, personnel and other information on the inspection site in real time, and The inspection site status and inspection resources are used to adjust the task scheduling plan and perform task scheduling.

The RFID reader is connected with the dispatching server through a serial port, and is used to read and write the RFID device tag information, and read, write and edit the device information through the RFID electronic tag;

The ID card reader is connected to the scheduling server through a serial port for reading ID card information;

The short message sending and receiving module is connected with the scheduling server through a serial port, a USB interface or an Ethernet port, and is used for sending and receiving short messages.

The human-computer interaction module adopts the current keyboard and mouse, and can also select or combine remote controllers, audio equipment, displays, touch panels, and multi-channel ring-screen stereoscopic projection systems for obtaining and analyzing external commands, and the analyzed External instructions are sent to the scheduling server and displayed through audio, video and images.

As a further improvement of the present invention, the scheduling server includes a data processing module, a data storage module, a task evaluation module, a task scheduling module, a task management module, an equipment management module, a personnel management module, a line management module, a GIS module, a weather monitoring modules and communication modules,

The data processing module is used to complete the analysis and processing of external instruction data, issue scheduling instructions according to the task scheduling scheme, perform scheduling interaction with the scheduling terminal, and perform logical calculation and processing of server data; the data processing module also has a built-in There is a task review module for reviewing the task scheduling plan, and according to the result of the task review, the scheduling task is issued for execution or rescheduled.

The data storage module is used to realize the storage of scheduling data and its auxiliary data, and can also be used for the import of inspection task information, transmission line information, geographic information, equipment information, personnel information, weather monitoring data and flight monitoring data, Export and store, and add, delete, modify, and query the stored data.

The task evaluation module is used to evaluate the patrol inspection task information according to the set task evaluation parameters, and provide the workload, task priority, required equipment, required personnel and task constraint relationship of the patrol inspection task. The inspection task information includes an inspection task table, an equipment resource table, a list of inspection personnel, transmission line information, weather information, geographic information, flight status information, and the like.

The task scheduling module includes a scheduling method management unit, an automatic scheduling unit, a manual scheduling unit, a scheduling input unit, a scheduling output unit, and a scheduling information management unit, which are used for inputting task workload, resource list, task priority list and Constraint relationship among tasks and other elements, schedule inspection tasks, give information such as task execution sequence, equipment list, personnel list, inspection line and task execution time of inspection tasks, personnel, equipment and time to complete inspection tasks Scheduling such as information, and outputting the scheduling result. The scheduling method management unit can select the scheduling method, determine the scheduling method of automatic scheduling or manual scheduling, and can also add a new scheduling method, and perform registration, deletion, modification and query management on the scheduling method; the automatic scheduling unit is used for scheduling according to the configuration The automatic scheduling method completes the automatic scheduling of inspection tasks, gives the automatic scheduling results of inspection tasks, and can also verify the results of manual scheduling to ensure that the task scheduling scheme of manual scheduling is feasible; the manual scheduling unit is used to The task evaluates the task information and scheduling reference information, manually schedules, formulates the task scheduling plan, and automatically verifies the task scheduling plan to ensure the feasibility of the task scheduling plan. It can also be used to manually check the task scheduling results of the automatic scheduling Adjustment, through the automatic scheduling unit to verify the manual scheduling results; the scheduling input unit is used to complete the import, management and display of task scheduling data, and is also used to upload the UAV flight status information and weather information monitored by the scheduling terminal. Access to provide information basis for task scheduling; the scheduling output unit is used for storage, export and display of scheduling result data, which can compare the scheduling results given by different scheduling methods, and can also communicate with The scheduling terminal performs information interaction, issues scheduling instructions, and sends scheduling task data to the scheduling terminal to complete task scheduling; the scheduling information management unit is used to record and store scheduling instructions, scheduling information and scheduling response information, and add , delete, edit, query and browse management.

The task management module includes a task information import unit, a task information export unit and a task information maintenance unit, which are used to import, export, query, browse, delete and edit the task information of the patrol inspection, and perform operations on the task information of the patrol inspection. Check the imported format to ensure that the format of the imported and exported inspection task information is correct. Among them, the task information import unit is used for the import of inspection task information; the task information export unit is used for the export of inspection task information, and the file formats of import and export include but are not limited to but not limited to text, XML, CSV, EXCEL , WORD, PDF, BMP, JPEG, GIF, TIFF, PNG and other formats; the task information maintenance unit is used to realize the query, browse, edit and delete operations on the patrol task information, and the patrol task information includes the drone Inspection line section, inspection time period, inspection type (regular inspection, special inspection, failure inspection, monitoring inspection), inspection purpose and other information.

The device management module includes a device query unit, a device registration unit, a device maintenance unit, a device status monitoring unit, and a device import and export unit, which are used to perform operations such as query, registration, maintenance, deletion, import, and export of inspection device information . The device query unit is used to query device information; the device registration unit is used to register device information and write RFID device tag information; the device maintenance unit is used to edit and delete basic device information and device usage status; device status monitoring The unit is used to monitor the status of the equipment on the warehouse and inspection vehicles, and obtain equipment status information in real time; the equipment import and export unit is used to import and export equipment information. The formats of import and export include but are not limited to text, XML, EXCEL, word, pdf and other formats.

The personnel management module includes a basic information management unit, a basic information query unit, a patrol record management unit, a patrol record query unit, a personnel qualification evaluation unit, and a personnel status information monitoring unit, which are used for basic information of patrol personnel, Inspection records and inspection qualifications are managed and evaluated. Among them, the basic information management unit is used to maintain the personal basic information of the patrol personnel; the basic information query unit is used to query the basic information of the patrol personnel and display the query information; the patrol record management unit is used to Inspection records can be added, edited and deleted; the inspection record query unit is used to query the inspection records; the personnel qualification evaluation unit is used to evaluate the inspection information of the inspection personnel; the personnel status information monitoring unit, It is used to monitor the real-time information of the inspectors on the inspection site, so as to dispatch the inspectors.

The line management module should have the functions of querying, maintaining, deleting and importing and exporting the inspection line information, and can realize the display, browsing, editing and deleting of the corresponding transmission line information on the GIS map, and is used to use the transmission line information Including but not limited to the import and export of text, XML, CSV, EXCEL, WORD, PDF and other formats, it can also be used to synchronize and share with the line data in the dispatch terminal.

The GIS module includes a dispatching terminal GPS monitoring unit, an unmanned aerial vehicle GPS monitoring unit, a historical track management unit, a GIS line data display unit and a GIS line data management unit, and is used for the display of the inspection site and the GPS positioning information of the unmanned aerial vehicle and management, as well as the display and management of transmission line information. Among them, the GPS monitoring unit of the dispatching terminal is used to monitor the GPS position information of the dispatching terminal and display it on the GIS map in real time; the GPS monitoring unit of the drone is used to read the GPS position information of the drone in real time and display it on the GIS map. Real-time display on the map; the historical trajectory management unit is used to query, edit, delete and play the historical operation trajectory of dispatching terminals and UAVs; the GIS line data display unit is used to display transmission line information on the GIS map ; GIS line data management unit, used to query, browse, edit, delete, import and export the transmission line data on the GIS map.

The weather monitoring module is used to monitor and display the weather environment information of the scheduling terminal, query, browse, import and export the monitored weather information, provide the weather environment information to the task scheduling module, and provide weather information for task scheduling. Information basis.

The communication module adopts GPRS communication mode for communication, and can also choose or combine GSM, CDMA, WCDMA, TD-SCDMA, LTE, Wifi, Zigbee, LAN and Internet communication mode, and perform networking configuration as required for dispatching platform The data communication with the dispatching terminal realizes the issuance and synchronization of dispatching instructions and task information, and the interaction of dispatching information through SMS, text and short messages.

The dispatching terminal includes a main control board, a human-computer interaction module, a GPS module, a weather monitor, an RFID scanner, an ID card reader and a short message transceiver module.

The main control board uses arm9 as an embedded processor, supports 2G main frequency, can be expanded to four cores, supports multiple embedded operating systems, and has good compatibility; the main control board has a power supply unit that can use 12V or 24V The on-board power supply is used as the input power supply to provide power for each voltage level chip in the dispatching terminal.

The human-computer interaction module adopts a touch panel and a liquid crystal display screen, and can also select or combine remote controllers, keyboards, mice, audio equipment, and displays to obtain and analyze external commands, and send the analyzed external commands to the host computer. The control board is displayed through audio, video and images, and the human-computer interaction module is connected with the main control board through a matching interface.

The GPS module is connected with the main empty board through a serial port, and is used to receive and analyze GPS positioning information, and complete the GPS positioning of the dispatching terminal; the GPS module is connected with the main control board and the communication module, and sends the GPS information of the dispatching terminal to The dispatching platform completes the positioning of the dispatching terminal in the dispatching platform.

The meteorological monitor is connected with the main control board through a USB port or a serial port, and is used for real-time monitoring of the meteorological monitoring environment information of the inspection site.

The RFID scanner is connected to the main control board through a serial port, and is used to read the RFID equipment label information on the inspection site in real time and upload it to the dispatching platform.

The ID card reader is connected to the main control board through a serial port, and is used to read ID card information and display corresponding personnel information.

The short message sending and receiving module is connected with the main control board through a serial port, a USB interface or an Ethernet port, and is used for sending and receiving short messages.

As a further improvement of the present invention, the main control board includes the following functional modules: scheduling response module, task synchronization module, communication module, equipment monitoring module, personnel management module, data storage module, GIS module, weather monitoring module, flight monitoring module.

The dispatching response module adopts short messages, and can also select or combine short messages, emails, voice and video forms to interact with the dispatching platform, respond to dispatching instructions and dispatching information of the dispatching platform, and respond to dispatching instructions, dispatching information and dispatching responses Information is recorded, stored, inquired, browsed and deleted.

The task synchronization module is used to synchronize the dispatching task information dispatched to the corresponding ground monitoring station in the dispatching platform, including line information, personnel information, equipment information and time information of the task; it is also used to perform inspection tasks according to the task equipment list The device information is monitored, and a device missing alarm is issued when the device is missing; the personnel information of the synchronization scheduling task is realized, and the inspection personnel information is queried, browsed, edited, and the authority control operation is performed.

The communication module, including a wireless communication unit, a wired communication unit, a data transmission unit, a video transmission unit and an auxiliary communication unit, is used to realize data interaction and communication with the dispatching platform, and respond to dispatching instructions and dispatching information, And through the image transmission link and data transmission link to realize the information interaction with the UAV. The wireless communication unit is used to realize the remote information interaction and communication with the dispatching platform; the wired communication unit is used to realize the information interaction and synchronization of a large amount of data with the dispatching platform; the data transmission unit communicates with the UAV through data transmission The link is connected to interact with the above-mentioned drones and read the flight status information of the drones in real time; the image transmission unit is used for the transmission of drone inspection image information; the auxiliary communication unit is used for real-time The status information of man-machine inspection is detected.

The equipment monitoring module is used for real-time monitoring of the equipment information on the inspection site through RFID technology, and real-time reading of equipment information; to realize the monitoring of the inspection equipment, and to compare and compare the equipment according to the inspection equipment list. Monitoring, if a device is missing, an alarm is given; it is also used to browse, query, status maintenance, attribute editing and deletion of inspection device information.

The personnel management module includes a personnel information management unit, an account management unit and a role management unit, which are used to maintain and manage personnel information for inspections, and manage operation rights of inspection personnel. Among them, the personnel information management unit is used to add, delete, modify, and manage the inspection personnel information; the account management unit is used to assign user roles to users, determine user permissions, and modify and reset personnel account passwords; role management unit , add, edit, delete, and query user roles according to the addition, deletion, modification, and query management rights of each functional module.

The data storage module is used for storing scheduling and monitoring data, and providing functions of addition, deletion, modification and query of data.

The GIS module includes a line interface unit, a line information management unit, and an import and export unit, which are used to display transmission line and tower information, and provide corresponding attribute editing, color marking, import, export, and display for the corresponding transmission line information. operate. The line interface unit is used to import the transmission line information in the task information; the line information management unit is used to realize the operation of adding, deleting, modifying and checking the transmission line data; the import and export unit is used to realize the import and export operation of the transmission line data, import And export transmission line information in formats including but not limited to text, XML, CSV, EXCEL, WORD, PDF, etc.

The meteorological monitoring module is used to read the meteorological environment information of the inspection site in real time, including wind speed, temperature, humidity, air density (air pressure), altitude and other meteorological information, and can upload the meteorological information of the site to the dispatching platform in real time through the communication module , to provide meteorological information basis for task scheduling.

The flight monitoring module is used to read the real-time status information of the ground monitoring station and the unmanned aerial vehicle in real time, and forward it to the dispatching platform.

The present invention also provides a GIS-based method for centralized dispatching of unmanned aerial vehicle power line patrol inspection, including the following steps:

1) Task import: In the scheduling platform, the task management module in the scheduling server imports the task information, imports the list of tasks to be scheduled and the corresponding task information, and the task information includes transmission line information, transmission line geographic environment information, patrol Information such as inspection schedule time.

2) Task evaluation: In the scheduling platform, according to the imported task information, set the evaluation parameters of the task evaluation, adjust the weight of the task evaluation parameters; evaluate the task scheduling information, determine the priority of the task, the workload of the task, and the It is necessary to inspect the task equipment and personnel to provide the corresponding basis for task scheduling.

3) Task scheduling: In the scheduling platform, according to the task workload and task urgency given by the task evaluation module and whether the required equipment can meet the task requirements, the task automatic scheduling is completed, and the task automatic scheduling scheme is given; based on this On the basis of the existing task scheduling scheme, the scheduling scheme can be adjusted manually, such as dispatchers, drones, detection terminals, vehicles, etc., as well as the dispatched task execution time and other information. After the scheduling is completed, the inspection task management personnel will review the task scheduling plan.

4) Scheduling task review: In the scheduling platform, review the task scheduling plan of the task scheduling state. If the review is passed, the task will be synchronized to the dispatching terminal and enter the task execution state; if the review fails, the task scheduling plan needs to be adjusted, then enter In the task scheduling state, adjust the scheduling task plan; if the review fails and needs to be re-scheduled, you need to enter the task evaluation state, reset the evaluation parameters, and perform task scheduling.

5) Task execution: the dispatching platform sends the dispatching instructions in the corresponding dispatching task plan to the corresponding dispatching terminal through the communication module, and the dispatching terminal parses and responds to the corresponding dispatching instructions; the dispatching platform synchronizes the inspection task information to the dispatching terminal, according to Scheduling tasks require the execution of UAV line inspection tasks.

6) Task completion: After the dispatching terminal completes the corresponding inspection task, it sends the inspection task execution information to the dispatching platform; the dispatching terminal incorporates the equipment and personnel after the task is completed into the inspection resource library for downloading Sub-task scheduling.

7) Task closing: The dispatching platform generates inspection task reports based on the dispatching task execution information, and closes the inspection tasks.

Beneficial effects of the present invention:

According to the present invention, elements such as inspection drones, inspection equipment, and inspection personnel connected to the dispatching platform through the dispatching terminal can be effectively dispatched to realize the configuration of UAV inspection resources and improve the efficiency of personnel and equipment. Utilization rate, reduce the no-load rate and idle rate of inspection equipment.

The whole life cycle management of the inspection equipment can be carried out through RFID technology, which can maintain the whole life cycle of the inspection equipment, especially the battery equipment, improve the maintenance effect of the equipment, and prolong the service life of the equipment; at the same time, the RFID technology can effectively Supervise the inspection equipment, reduce the loss rate of equipment, and reduce the cost of inspection.

In the present invention, the personnel information is maintained by the ID card reader, which effectively improves personnel maintenance efficiency and information accuracy, and reduces personnel maintenance costs, especially costs caused by personnel information errors.

Description of drawings

Fig. 1 Structural diagram of centralized dispatching system for UAV line inspection.

Fig. 2 Functional structure diagram of dispatching server.

Figure 3 Functional structure diagram of the main control board.

Fig. 4 Flowchart of centralized dispatching system for UAV line inspection.

Fig. 5 is a flow chart of dispatching platform dispatching.

Fig. 6 is a flow chart of dispatching terminal dispatching response.

Among them, 1. Dispatch platform; 2. Dispatch terminal; 3. Ground monitoring station; 4. UAV; 5. Dispatch server; 6. RFID reader; 7. First ID card reader; 8. First Short message sending and receiving module; 9. The first human-computer interaction module; 10. Data processing module; 11. The first data storage module; 12. Task evaluation module; 13. Task scheduling module; 14. Task management module; 15. Equipment management module 16. The first personnel management module; 17. The line management module; 18. The first GIS module; 19. The first weather monitoring module; 20. The first communication module; 21. The main control board; 22. The second human-computer interaction Module; 23. GPS module; 24. Weather monitor; 25. RFID scanner; 26. Second ID card reader; 27. Second SMS transceiver module; 28. Scheduling response module; 29. Task synchronization module; 30 . The second communication module; 31. The equipment monitoring module; 32. The second personnel management module; 33. The second data storage module; 34. The second GIS module; 35. The second weather detection module; 36. The flight monitoring module.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

As shown in Figure 1, it is a centralized dispatching system for UAV line inspection, which includes:

Dispatching platform 1, dispatching terminal 2, ground monitoring station 3 and drone 4.

Among them, the above-mentioned dispatching platform 1 can be connected to one or more dispatching terminals 2, and placed in the dispatching center or dispatching rooms at all levels to realize dispatching and task assignment to the access dispatching terminal 2; the connection between the dispatching terminal 2 and the ground monitoring station 3 The room is connected one-to-one through the serial port, installed on the UAV inspection vehicle, to realize the real-time reading of the status information of the UAV 4 and the information of the ground monitoring station 3, and send the details to the dispatching platform 1, for the UAV 4 provides basis for dispatching; the dispatching terminal 2 can also be connected with the UAV 4 through image transmission and data transmission links, and directly obtain the flight status information of the UAV 4; It is connected with the image transmission station for real-time operation and monitoring of the flight of the UAV 4.

The dispatching platform 1 includes a dispatching server 5 , a first human-computer interaction module 9 , an RFID reader 6 , a first ID card reader 7 , and a first short message transceiver module 8 .

The dispatching server 5 is used to manage and dispatch UAV inspection equipment, personnel, power transmission lines and inspection tasks, etc., read the weather, flight status, equipment, personnel and other information on the inspection site in real time, and based on The inspection site status and inspection resources adjust the task scheduling plan and perform task scheduling.

The RFID reader/writer 6 is used to read and write RFID device tag information, and read, write and edit device information through the RFID electronic tag;

The first ID card reader 7 is used to read ID card information;

The first short message sending and receiving module 8 is used for sending and receiving short messages.

The first human-computer interaction module 9 adopts the current keyboard and mouse, and can also select or combine remote controllers, audio equipment, displays, touch panels, and multi-channel ring-screen stereoscopic projection systems to obtain and analyze external commands. The parsed external instructions are sent to the scheduling server 5 and displayed through audio, video, and images.

The scheduling server 5 includes a data processing module 10, a first data storage module 11, a task evaluation module 12, a task scheduling module 13, a task management module 14, a device management module 15, a first personnel management module 16, and a line management module 17 , the first GIS module 18, the first weather monitoring module 19 and the first communication module 20.

The data processing module 10 is used to complete the analysis and processing of external instruction data, issue scheduling instructions according to the task scheduling scheme, perform scheduling interaction with the scheduling terminal 2, and perform logical calculation and processing of server data; the data processing module 10 , there is also a built-in task review module for reviewing the task scheduling plan, and according to the results of the task review, the scheduling task is issued for execution or rescheduled.

The first data storage module 11 is used to realize the storage of scheduling data and its auxiliary data, and can also be used for inspection task information, transmission line information, geographic information, equipment information, personnel information, meteorological monitoring data and flight monitoring data, etc. Import, export and store, and add, delete, modify and query the stored data.

The first GIS module 18 is used for the display and management of the inspection site and the GPS positioning information of the UAV 4, as well as the display and management of the transmission line information.

The first communication module 20 performs networking configuration as required, and is used for data communication between the dispatching platform 1 and the dispatching terminal 2, and realizes dispatching and synchronizing dispatching instructions and task information through short messages, texts and short messages. Interaction of scheduling information.

The dispatching platform 1 reads the state information of each dispatching terminal 2 accessed through the first communication module 20, imports or plans the inspection task information through the task management module 14, and the dispatching platform 1 according to the state information and task information of each dispatching terminal 2, Scheduling inspection tasks, and sending the dispatched result information to the corresponding dispatching terminal 2 in the form of short messages, emails and text messages, and completing the effective dispatching of inspection personnel, equipment and lines.

The first human-computer interaction module 9 in the dispatching platform 1 adopts and includes the current keyboard and mouse, and can also select or combine remote controls, audio equipment, displays, touch panels, and multi-channel ring-screen stereoscopic projection systems, and configure them as required.

The task evaluation module 12 in the dispatching platform 1 evaluates the workload of the UAV 4 inspection task according to the task information, task location and line status and other element information in the task management module 14, and gives the corresponding evaluation amount.

In the dispatching platform 1, task evaluation module 12 sends the evaluation data of task work to task dispatching module 13, and task dispatching module 13 reads the equipment information in the equipment management module, personnel information in the personnel management module, and the weather in the weather monitoring module. Information and the line information in the line management module, as well as the flight status information read from the dispatching terminal 2, GPS position information, etc., schedule the inspection tasks, and determine the equipment, inspection personnel, and patrol inspection tasks in each dispatching terminal 2. Check dates, etc., and take into account constraints such as the rest of personnel involved in the dispatch terminal 2, maintenance and maintenance of equipment, and task execution deadlines when scheduling. The task scheduling module 13 uses the flight status information, weather information, GPS position information, equipment and personnel information monitored from the scheduling terminal as the basis for task scheduling and the basis for adjusting the task scheduling plan.

The equipment management module 15 in the dispatching platform 1 is used for informatization management of the entire life cycle of the UAV 4 inspection equipment through RFID technology, management of the equipment to which the dispatching terminal 2 belongs and the equipment in the warehouse, and the use of the equipment Maintenance and maintenance information is carried out to realize the information management and scheduling of the UAV 4 inspection equipment by the dispatching platform 1, and the equipment management import and export file formats include but are not limited to text, XML, EXCEL, word, pdf and other formats.

The first personnel management module 16 in the dispatching platform 1 is used to manage the basic information, inspection record information and inspection training information of the inspection personnel, and to provide an assessment of the skills of the inspection personnel, providing a basis for task scheduling. Provide basis for personnel transfer.

The first weather monitoring module 19 in the dispatching platform 1 reads the weather monitoring information accessed on the dispatching terminal 2 through the communication module.

The line management module 17 in the dispatching platform 1 is used to complete the addition, deletion, modification, and query management of line data, and performs addition, deletion, modification, and line information display of transmission line information on the map of the first GIS module 18, and provides line information. Import and export functions.

The task scheduling module 13 in the dispatching platform 1 will generate and review the task dispatching scheme passed, and send it to the corresponding dispatching terminal through the communication module in the form of short message, short message and email, and the dispatching response module in the dispatching terminal 2 accepts and Respond to the issued scheduling instructions and scheduling information, and synchronize the issued scheduling task information through the task synchronization module.

The task file formats imported and exported in the task management module 14 in the scheduling platform 1 include but are not limited to text, XML, CSV, EXCEL, WORD, PDF, BMP, JPEG, GIF, TIFF, PNG, etc., and also include combinations of the above files .

The first communication module 20 in the dispatching platform 1 can access the dispatching terminal 2 through GPRS wireless communication, respond to the remote dispatching instruction of the first human-computer interaction module 9, and obtain the status information of the ground monitoring station 3 and the UAV 4 in real time. The first communication module 20 can also select GSM, CDMA, WCDMA, TD-SCDMA, LTE, WIFI, Zigbee, local area network and Internet communication methods to realize communication.

The dispatching terminal 2 includes a main control board 21, a second man-machine interaction module 22, a GPS module 23, a weather monitor 24, an RFID scanner 25, a second ID card reader 26 and a second short message transceiver module 27;

Described RFID scanner 25 is used for reading the RFID equipment label information of inspection site in real time, and uploads to dispatching platform 1;

The second short message sending and receiving module 27 is used for sending and receiving short messages.

The main control board 21 includes a scheduling response module 28, a task synchronization module 29, a second communication module 30, an equipment monitoring module 31, a second personnel management module 32, a second data storage module 33, a second GIS module 34, a weather Monitoring module 35, flight monitoring module 36;

The above-mentioned dispatching terminal 2 is connected to the dispatching platform 1 through the second communication module 30, and the dispatching response and status information are completed; the dispatching terminal 2 is connected with the ground monitoring station 3 through a serial port, and is used to obtain the flight status in the ground monitoring station 3 Information monitoring and status information of the ground monitoring station 3; the dispatching terminal 2 can also directly access the UAV 4 through the image transmission link and the data transmission link, and read the flight status information of the UAV 4.

The second human-computer interaction module 22 in the dispatching terminal 2 adopts a touch panel and a liquid crystal display screen, and can also select or combine remote controls, keyboards, mice, audio equipment, displays, etc. to complete the interaction of human-computer information;

The dispatching response module 28 in the dispatching terminal 2 responds and processes the dispatching information of the dispatching platform 1 by means of short messages, short messages and mails, and performs addition, deletion, modification, and management of corresponding dispatching information and response information;

The scheduling response module 28 in the scheduling terminal 2 sends a task synchronization command to the task synchronization module, and the task synchronization module completes the synchronization, analysis and storage of scheduling task information.

The scheduling response module 28 in the dispatching terminal 2, through the sending and receiving module of the short message and the dispatching platform 1, carries out the interaction of the task scheduling information by the mode of the short message;

The task synchronization module 29 in the dispatching terminal 2 sends the device list and device status information synchronized to the local inspection task to the device monitoring module 31, and the device monitoring module 31 monitors the devices on the current inspection site in real time according to the device list Status, provide equipment loss alarm, to avoid equipment loss;

The task synchronization module 29 in the dispatching terminal 2 will be synchronized to the patrol inspection personnel list and the inspection personnel authority management information scheduled in the local inspection task, and send them to the second personnel management module 32 to monitor and monitor the personnel management information. manage;

The equipment monitoring module 31 in the dispatching terminal 2 monitors the equipment information of the inspection site in real time through the RFID scanner 24, and performs inventory and comparison according to the equipment list and the monitored equipment information of the inspection site, and checks the situation of lost equipment. Give a lost device warning;

The second personnel management module 32 in the dispatching terminal 2 automatically reads the ID card information through the second ID card reader 26, and performs user identity authentication according to the input ID card information. operation; if authorized, it can also read the basic information, inspection record information and skill evaluation information of the personnel shown in the ID card.

The second GIS module 34 in the dispatching terminal 2 is associated with the GPS module 23, the main control board 21, the second human-computer interaction module 22, and is used to complete the positioning of the GPS position information of the vehicle; the second GIS module 34 is connected with the main control board 21. The second human-computer interaction module 22 is associated, used for importing and exporting transmission line data, and performing addition, deletion, modification and query management on transmission line data in the GIS map;

The second weather monitoring module 35 in the dispatching terminal 2 is associated with the weather monitor 24, the main control board 21 and the second human-computer interaction module 22, and reads the inspection site weather monitoring information in real time, and passes through the second human-computer interaction module 22 The corresponding weather monitoring information is displayed; the second weather monitoring module 35 sends the monitored weather information to the dispatching platform 1 through the second communication module 30;

The flight monitoring module 36 of the dispatching terminal 2 reads the status information of the ground monitoring station 3 and the UAV 4 through the communication module, and sends the corresponding UAV 4 flight status information to the dispatching platform 1;

The above-mentioned ground monitoring station 3 communicates with the UAV through a data transmission communication link, reads the real-time flight status information of the UAV 4, and connects the status information to the dispatching terminal 2 through the serial port to realize the real-time status of the UAV 4 uploading of information;

The above-mentioned unmanned aerial vehicle 4 is used to upload the real-time status information of the flight of the unmanned aerial vehicle 4 to the dispatching terminal or the ground monitoring station through the data transmission communication link and the image transmission communication link; the unmanned aerial vehicle 4 can choose the rotorless Man-machine, multi-rotor or fixed-wing UAV.

When scheduling inspection tasks, the inspection task scheduling process is divided into seven processes or states: task import, task evaluation, task scheduling, scheduling task review, scheduling task synchronization, task execution, task completion, and task closure. The task import status is the initialization of the task, which is used to import the scheduled task information into the system, and clarify the transmission line section and geographic information environment of the inspection task. In the task evaluation state, the evaluation of the inspection task workload is completed, and the inspection task amount is determined; the task scheduling state is entering the task scheduling state, waiting for the scheduling task. The audit status of the scheduling task is that the task audit is performed after the task scheduling is completed. If the audit fails, a second scheduling is required; The task execution state is to execute the corresponding task according to the corresponding task information, and the task in this state no longer participates in the task scheduling. After the task execution is completed, it enters the task completion state, and sends the corresponding task execution information to the scheduling platform 1. After the task execution is completed and the corresponding task report is formed, it enters the task closed state.

The unmanned aerial vehicle patrol line task dispatching process among the present invention is as shown in Figure 4:

1) Task import: In the scheduling platform 1, task information is imported in the task management module 14, and the list of tasks that need to be scheduled and the corresponding task information are imported. The task information includes transmission line information, transmission line geographic environment information, patrol Information such as inspection schedule time.

2) Task evaluation: In scheduling platform 1, according to the imported task management information, set the evaluation parameter configuration of task evaluation, adjust the weight of task evaluation parameters; evaluate task scheduling information, determine the priority of tasks and the workload of tasks , as well as the required inspection task equipment and personnel, to provide the corresponding basis for task scheduling.

3) Task scheduling: In the scheduling platform 1, according to the task workload and task urgency given in the task evaluation stage and whether the required equipment can meet the task requirements, the task automatic scheduling is completed, and the task automatic scheduling scheme is given; here Basically, on the basis of the existing task scheduling scheme, the scheduling scheme can be adjusted manually, such as dispatchers, drones 4, detection terminals, vehicles, etc., as well as the dispatched task execution time and other information. After the scheduling is completed, the inspection task management personnel will review the task scheduling plan.

4) Scheduling task review: In the dispatching platform 1, review the task scheduling plan in the task scheduling state. If the review is passed, the task will be synchronized to the dispatching terminal 2 and enter the task execution state; if the review fails, the task scheduling plan needs to be adjusted. Then enter the task scheduling state, and adjust the scheduling task plan; if the review fails and needs to be re-scheduled, it needs to enter the task evaluation state, reset the evaluation parameters, and perform task scheduling.

5) Task execution: the dispatching platform 1 sends the dispatching instructions in the corresponding dispatching task plan to the corresponding dispatching terminal 2 through the first communication module 20, and the dispatching terminal 2 analyzes and responds to the corresponding dispatching instructions; the dispatching platform 1 performs synchronous inspection The task information is sent to the dispatching terminal 2, and the UAV line inspection task is performed according to the dispatching task requirements.

6) Task completion: after the dispatching terminal 2 completes the corresponding inspection task, it sends the inspection task execution information to the dispatching platform 1; the dispatching terminal 2 incorporates the equipment and personnel after the task is completed into the inspection resource library, Used for next task scheduling.

7) Task closing: the dispatching platform 1 generates an inspection task report according to the dispatching task execution information, and closes the inspection task.

The scheduling process in scheduling platform 1 is shown in Figure 5:

1. Evaluate the workload of inspection tasks: evaluate the workload of the inspection tasks in the imported inspection task list, and send the evaluation results to the task scheduling module 13 for task scheduling.

1) The task management module 14 in the dispatching platform 1 imports the task list into the dispatching platform 1, and the imported task information includes the task name, transmission line, inspection type (regular inspection, special inspection, fault inspection, supervision inspection ), inspection purpose, planned time, and person in charge of inspection tasks. The specific inspection task list is shown in the following table:

2) Determine the main equipment for inspection; the task management module 14 sends the task list to the task evaluation module 12, and the task evaluation module 12 checks the line according to whether the transmission line information is a corridor line and whether the type of line inspection is regular inspection. Length and time limit requirements, and whether the fixed-wing inspection can meet the purpose of the inspection determines the type of drone used for the inspection (fixed-wing, rotor, multi-rotor, etc.); determines the type of detection terminal (visible light, Infrared and ultraviolet detection equipment).

3) Determine the priority of the inspection task; according to the factor analysis method between the number of historical defects, the number of special inspections and the number of fault inspections on the transmission line section in the past three years, determine the weight of each factor, and obtain the importance of inspection. Common factor of sex:

F=[X1*ln(T1)+X2*ln(T2)+X3*ln(T3)]*voltage adjustment factor*priority adjustment factor

Among them, T1 is the number of historical defects, T2 is the number of special inspections, T3 is the number of fault inspections, X1 is the weight factor of the number of historical defects, X2 is the weight factor of special inspections, X3 is the weight factor of fault inspections, The voltage adjustment factor is determined according to the level; for ultra-high voltage transmission lines of 500kV and above, the voltage adjustment factor is 1.1, and for those below 500kV, the voltage adjustment factor is 1; the priority adjustment factor is an artificially set parameter. By adjusting this parameter, the Or reduce the priority of a certain inspection task;

The F common factors (f1, f2, ..., fn) divide the inspection tasks into three grades of 1, 2, and 3 through the K-order cluster analysis method, which respectively represent the urgency of inspection defects.

4) Determine the constraint relationship between the inspection tasks; the task evaluation module 12 determines the inspection tasks according to the transmission lines of the inspection tasks, the planned time of the inspection, the type of inspection, and the priority of the tasks determined in Article 3. Constraint relationship between tasks, give priority to completing different inspection tasks on the same line, the time difference between different inspection tasks on the same line should not be too large, give priority to completing line inspections of corridors; and geographical locations between inspection lines Relationship, to determine the task constraint relationship for the completion of the inspection task.

5) Determine the difficulty level of the inspection task; according to the geographic information provided by the GIS system, determine the difficulty level of the inspection task, and give the task difficulty level 1, 2, and 3.

6) Determine the workload of the task; determine the workload of the inspection according to the number of inspection towers and the mileage of the inspection line, as well as the inspection model, detection method and inspection purpose. The determination of the workload is based on the historical inspection tasks. Through similar F (number of inspectors, towers, line mileage, drone model, detection method, inspection purpose), the usual task workload in the mining database is XX Day*crew.

The task evaluation module 12 sends the estimated amount of task information in the task list to the task scheduling module 13 to schedule the inspection tasks.

2. Import scheduling task information; the task scheduling input unit imports information such as task scheduling information, constraint relationships between tasks, workload of each task, task priority, task difficulty level, and equipment type to be configured into the task scheduling module 13. Scheduling module 13 performs task scheduling according to the above information,

3. Select the scheduling method; select the corresponding scheduling method according to the parameter configuration.

4. Task automatic scheduling; the automatic scheduling unit is based on the selected scheduling method, according to the scheduling task information, the constraint relationship between tasks, the workload of each task, task priority, task difficulty level and the type of equipment to be configured, as well as the existing The available personnel information, RFID equipment information, etc. determine the task inspection unit, equipment, inspection time and starting location of the inspection line, and determine the task scheduling plan. The default automatic scheduling algorithm is as follows:

1) Push all the inspection tasks into the inspection task queue Q1 according to the priority from high to low.

2) Select the inspection task A with the highest task priority in the Q1 task queue. If there is no unconfigured predecessor task, pop up the inspection task queue, determine the inspection time according to the task workload, and then go to step 3; if there is For unconfigured pre-tasks, pop task A into queue Q2, select the next inspection task with the highest priority, and repeat step 2;

3) According to the type of inspection equipment required by the inspection task A determined in the first step, configure the corresponding inspection unit equipment, if the idle unit equipment B is idle within this time period, configure the idle unit equipment B to the inspection task A, go to step 4; if there is no key unit equipment B1 that meets the requirements within this time period, and the key unit equipment B1 includes 1 inspection unmanned platform and 1 inspection detection terminal, go to step 6.

4) According to the number of crew members required by the inspection task A, configure the corresponding inspection crew members. If the idle crew member C is idle within this time period, assign the idle crew member C to the inspection task A and go to step 5; If there is no free crew member within the time period, go to step 7.

5) Select the starting point of the inspection task on the inspection transmission line closest to the inspection unit, and go to step 8.

6) Traverse all the inspection equipment, select the key unit equipment B1 that is the earliest to end use, configure the corresponding equipment to the inspection task A, modify the initial inspection time of the inspection task A to the end of use time of the unit equipment B1, enter Step 4;

7) Traverse all the crew members, select the crew member who finishes the task the earliest, and assign it to the inspection task A, modify the initial inspection time of the inspection task A to be the crew member's end mission time, and go to step 5;

8) If there is no inspection task in the queue Q1, go to step 9; if the task queue Q1 is not empty, go to step 2;

9) Put the inspection tasks in the queue Q2, push the tasks in the queue Q2 into the queue Q1 according to the order of task priority from high to low, and enter step 2; if there is no queue member in the queue Q2, enter step 10;

10) Complete task scheduling.

5. Manual dispatching: the manual dispatching unit manually modifies the dispatching plan generated by the automatic dispatching unit, and the main factors to be considered in the revision are personnel information, equipment status information, ground monitoring station 3 status information, GPS position information, wireless Human-machine 4 status information, and meteorological information on the inspection site. Avoid weather conditions that are not suitable for UAV 4 inspections, avoid the use of equipment and personnel that require maintenance, especially UAV 4, and reduce inspection accidents caused by untimely maintenance.

6. Scheduling result output; review the scheduling plan, if the review fails and manual adjustment is required, enter the manual scheduling unit for manual adjustment; if the review fails and needs to be re-scheduled, modify the automatic scheduling parameters and re-schedule the task; After passing the review, output the corresponding scheduling plan to the output unit.

7. Issuance of dispatching instructions; the approved dispatching plan will be sent to the corresponding dispatching terminal 2 by email, short message or text message according to the time of task execution, and the dispatching of dispatching instructions will be completed, and the corresponding dispatching interaction will be completed. The information is stored in the scheduling information management unit, and the scheduling interaction information is managed in the scheduling information management unit.

As shown in Figure 6, the response process of the UAV line inspection task scheduling terminal 2 in the present invention is as follows:

1. Issuing dispatching instructions: the dispatching terminal 2 analyzes the dispatching instructions, responds to the dispatching instructions by email, short message or text message, and executes the corresponding dispatching instructions;

2. New inspection task scheduling command response:

<1> The dispatching terminal 2 synchronizes the information of the new inspection task according to the new inspection task scheduling instruction issued, and synchronizes the equipment, personnel, and inspection lines in the corresponding inspection task to the dispatching terminal 2, and the scheduling Terminal 2 analyzes and configures the corresponding new inspection task information;

<2> Display the inspection task information on the GIS map, as well as the GPS position information in the dispatching terminal 2, the meteorological environment information, the inspection equipment list, the inspection crew members and the role authority information of the crew members, etc., so that the crew members can perform the inspection. inspection task;

<3> Execute the inspection task; execute the inspection task according to the information requirements of the inspection task, and send the inspection task execution process information and result information to the dispatching platform 1;

<4> After the execution is completed, go to step 6.

3. Inspection equipment scheduling: according to the scheduling instructions, determine the inspection equipment through the RFID scanner 25, modify the equipment information to be a new scheduling schedule, and enter step 6 after successful execution;

4. Crew member scheduling: according to the dispatching instructions, use the ID number as an identification to manage the task schedule of the personnel at the inspection site, update the task schedule of the dispatch crew members, and enter step 6 after successful execution;

5. Inspection site status monitoring: according to dispatching instructions, read the meteorological environment information read from the weather monitor 24 in the dispatching terminal 2, the GPS position information in the GPS module 23, the equipment RFID status and the status in the RFID scanner 24 Position information, as well as the status information of the drone read from the drone and the monitoring ground station, after reading successfully, go to step 6;

6. Send the corresponding scheduling execution result information and execution process information to the scheduling platform 1, and end the task scheduling.

The present invention has been described in detail above through specific and preferred embodiments, but those skilled in the art should understand that the present invention is not limited to the above-described embodiments, and within the spirit and principles of the present invention, any Modifications, equivalent replacements, etc., should all be included within the protection scope of the present invention.

Claims (10)

1. unmanned plane power circuit polling centralized dispatching system based on GIS, is characterized in that, includes dispatching platform, scheduling eventually End, ground monitoring station and unmanned plane；

One-to-many communication is realized between described dispatching platform and dispatch terminal, for the status information according to unmanned plane inspection device, Unmanned plane is patrolled and examined the distribution of key element and the scheduling of patrol task, it is achieved unmanned plane inspection device, personnel, circuit and monitoring time Distribute rationally；

Dispatch terminal is connected one to one with ground monitoring station, or passes communication link sum biography communication link and unmanned plane by figure Directly communication, for obtaining the status information that unmanned plane is patrolled and examined, responds the dispatch command of dispatching platform, operational staff, Equipment and the scheduling of circuit elements of mission, be managed the equipment patrolled and examined, personal information, believes weather information and aircraft state Breath is monitored, and uploads to dispatching platform；

Ground monitoring station, for being passed by figure and the flight of data radio station control unmanned plane, is adjusted the attitude of unmanned plane during flying Whole, picture is patrolled and examined in shooting；

Unmanned plane, carries out unmanned plane by lift-launch detection terminal and patrols and examines, whole by scheming biography sum biography and ground monitoring station or scheduling End communicates.

2. unmanned plane power circuit polling centralized dispatching system based on GIS as claimed in claim 1, is characterized in that,

Described dispatching platform, receives including dispatch server, human-computer interaction module, rfid interrogator, identification card reader and note Send out module；

Described dispatch server, for unmanned plane inspection device, personnel, transmission line of electricity and patrol task being managed and dispatching, Read meteorology, state of flight, equipment and the personal information at the scene patrolled and examined in real time, and according to patrolling and examining presence states and patrolling and examining resource pair Task scheduling approach is adjusted, and carries out task scheduling；

Described rfid interrogator, for being written and read RFID device label information, carries out facility information by RFID Reading, write and edit；

Described identification card reader, for reading identity card information；

Described short message transceiving module, for the transmitting-receiving of note；

Described human-computer interaction module, is used for obtaining and resolving external command, and the external command after resolving is sent to dispatch server, And display.

3. unmanned plane power circuit polling centralized dispatching system based on GIS as claimed in claim 2, is characterized in that,

Described dispatch server includes data processing module, data memory module, task evaluation module, task scheduling modules, appoints Business manages module, device management module, personal management module, wire management module, GIS module, weather monitoring module and leads to Letter module；

Described data processing module, has been used for parsing and the process of external command data, according to task scheduling approach, has issued tune Degree instruction, is scheduling alternately with dispatch terminal, and to the logical calculated of server data and process；Data processing module, also It is built-in with the task auditing module that task scheduling approach is audited, and according to the result of task examination & verification, is scheduling under task Send out and perform, or reschedule；

Described data memory module, for realizing scheduling data and the storage of assistance data thereof；

Described task evaluation module, is estimated patrol task information for assessing parameter according to the task that arranges, and is given to patrol and examine and appoints Restriction relation between workload, task priority, equipment needed thereby, required personnel and the task of business；

Described task scheduling modules, between task workload, the Resources list, task priority list and the task according to input Restriction relation key element, is scheduling patrol task, be given the tasks carrying sequence of patrol task, list of devices, lists of persons, Patrol and examine circuit and task execution time information, complete the scheduling of the personnel of patrol task, equipment and temporal information, by scheduling result Output；

Described task management module, for importing the mission bit stream patrolled and examined, derive, inquire about, browse, delete and edit Operation, and the import format of patrol task information is verified, it is ensured that the form of the patrol task information importing and deriving is correct；

Described device management module, for inquiring about inspection device information, register, safeguard, delete, importing and derive behaviour Make；

Described personal management module, for essential information, the patrol record of patrol officer with patrol and examine qualification and be managed and assess；

Described wire management module, has patrolling and examining the function that line information is inquired about, safeguards, deletes and imported and exported, real Now corresponding transmission line information is shown in GIS map, browses, edits and is deleted, for transmission line information being imported and deriving, Be additionally operable to the synchronization of the track data in dispatch terminal and share；

Described GIS module, for patrolling and examining the on-the-spot and displaying of unmanned plane GPS location information and management, and transmission line information Show and management；

Described weather monitoring module, for being monitored and show the weather environment information of dispatch terminal, to the meteorology monitored Information carries out inquiring about, browses, imports and derive operation, it is provided that weather environment information, to task scheduling modules, carries for task scheduling For weather information foundation；

Described communication module, for the data communication between dispatching platform and dispatch terminal, it is achieved dispatch command and mission bit stream Issue and synchronize, be scheduling the mutual of information.

4. unmanned plane power circuit polling centralized dispatching system based on GIS as claimed in claim 3, is characterized in that,

Described task scheduling modules, including dispatching method administrative unit, Automatic dispatching unit, manual scheduling unit, scheduling input Unit, scheduling output unit and schedule information administrative unit；Dispatching method administrative unit selection scheduling method, determines Automatic dispatching Or the scheduling mode of manual scheduling, or add new dispatching method, and dispatching method is registered, delete, revise and Searching and managing；Automatic dispatching unit, for the automatic scheduling method according to configuration, completes the Automatic dispatching of patrol task, is given The Automatic dispatching result of patrol task, or the result of manually scheduling is verified, it is ensured that the task scheduling approach of manual scheduling It is feasible；Manual scheduling unit, for evaluating mission bit stream and scheduling reference information according to task, is scheduling, system by hand Determine task scheduling approach, and task scheduling approach is carried out automatic Verification, it is ensured that the feasibility of task scheduling approach, or be used for The task scheduling result of Automatic dispatching is carried out manual setting, by Automatic dispatching unit, manual scheduling result is verified；Adjust Degree input block, be used for the importing of task scheduling data, has managed and show, be additionally operable to monitor dispatch terminal nobody Machine state of flight information and weather information access, and provide information foundation for task scheduling；Scheduling output unit is for scheduling result number According to storage, derive and show, the scheduling result providing different dispatching methods contrasts, and carries out information friendship with dispatch terminal Mutually, issue dispatch command, scheduler task data are sent on dispatch terminal, complete task scheduling；Schedule information administrative unit, For dispatch command, schedule information and dispatching response information are recorded and stores, and carry out increasing, delete, edit, look into Ask and browsing management.

5. unmanned plane power circuit polling centralized dispatching system based on GIS as claimed in claim 3, is characterized in that,

Described task management module, including mission bit stream import unit, mission bit stream lead-out unit and mission bit stream maintenance unit； Wherein, mission bit stream import unit, for the importing of patrol task information；Mission bit stream lead-out unit, believes for patrol task The derivation of breath；Mission bit stream maintenance unit, for realizing the inquiry of patrol task information, browsing, edit and deletion action.

6. unmanned plane power circuit polling centralized dispatching system based on GIS as claimed in claim 1, is characterized in that,

Described dispatch terminal, including master control borad, human-computer interaction module, GPS module, weather monitoring instrument, RFID scanner, body Part card reader and short message transceiving module；

Described master control borad, for the dispatch command of response scheduling platform, according to dispatch command sync response scheduler task information, holds Row scheduler task, and to the unmanned plane during flying state in patrol task with patrol and examine site environment and be monitored；

Described human-computer interaction module, is used for obtaining and resolving external command, and the external command after resolving is sent to master control borad, and Display；

Described GPS module, is used for receiving and parsing through GPS and positions information, completes the GPS location of dispatch terminal；

Described weather monitoring instrument, patrols and examines the weather monitoring environmental information at scene for monitoring in real time；

Described RFID scanner, reads in real time and patrols and examines on-the-spot RFID device label information, and upload to dispatching platform；

Described identification card reader, for reading identity card information, and shows counterpart personnel's information；

Described short message transceiving module, for the transmitting-receiving of note.

7. unmanned plane power circuit polling centralized dispatching system based on GIS as claimed in claim 6, is characterized in that,

Described master control borad, comprises dispatching response module, tasks synchronization module, communication module, monitoring of tools module, personal management Module, data memory module, GIS module, weather monitoring module and flight monitoring module；

Described dispatching response module, carries out information alternately with dispatching platform, the dispatch command of response scheduling platform and schedule information, Dispatch command, schedule information and dispatching response information are recorded, store, inquire about, browse and deletes；

Described tasks synchronization module, is dispatched to the scheduler task information of corresponding ground monitoring station in isochronous schedules platform, also uses With according to task device inventory, patrol task facility information is monitored, and sends equipment disappearance alarm when equipment lacks；Real The personal information of existing isochronous schedules task, and patrol officer's information is inquired about, browse, edit and control of authority operation；

Described communication module, for realizing the data interaction between dispatching platform and communication, is scheduling instruction and schedule information Response, and by figure pass link sum pass link realize mutual with the information of unmanned plane；

Described monitoring of tools module, for the facility information patrolling and examining scene is carried out real-time monitoring by RFID technique, reads in real time Taking equipment information；Realize the monitoring to inspection device, and according to inspection device list, equipment is compared and monitors, if Appearance equipment lacks, and provides alarm；Be additionally operable to inspection device information is browsed, inquire about, state-maintenance, attributes edit and Deletion action；

Described personal management module, carries out maintenance management for the personal information patrolled and examined, is managed patrol officer's operating right；

Described data memory module, is used for storing scheduling and Monitoring Data, and provides the additions and deletions of data to change to look into function；

Described GIS module, is used for showing transmission line of electricity and shaft tower information, and provides corresponding attribute to corresponding transmission line information Editor, mark color, import, derive and show operation；

Described weather monitoring module, reads in real time and patrols and examines on-the-spot weather environment information, and by communication module by on-the-spot gas Image information uploads to dispatching platform in real time, provides weather information foundation for task scheduling；

Described flight monitoring module, reads ground monitoring station and the real time status information of unmanned plane, and transfers it to in real time Dispatching platform.

8. unmanned plane power circuit polling centralized dispatching system based on GIS as claimed in claim 7, is characterized in that,

Described communication module, including wireless communication unit, Landline communication unit, number leaflet is first, figure leaflet is first and subsidiary communications list Unit, wireless communication unit, alternately and communicate for the remote information realized with dispatching platform；Landline communication unit, is used for realizing Mutual and Tong Bu with the information of big data quantity between dispatching platform；Number leaflet is first, is connected by digital transmission communication link with unmanned plane, For interacting with above-mentioned unmanned plane, read the state of flight information of unmanned plane in real time；Figure leaflet unit, patrols and examines for unmanned plane Image information is transmitted；Secondary communication unit, detects for the status information patrolled and examined unmanned plane in real time.

9. unmanned plane power circuit polling centralized dispatching system based on GIS as claimed in claim 7, is characterized in that,

Described GIS module, including line interface unit, line information administrative unit with import and export unit, line interface unit, For importing the transmission line information in mission bit stream；Line information administrative unit, for realizing the additions and deletions to transmission line of electricity data Change and look into operation；Import and export unit, for realizing the importing of transmission line of electricity data and deriving operation.

10. the method for work of unmanned plane power circuit polling centralized dispatching system based on GIS as claimed in claim 1, it is special Levy and be: comprise the steps:

1) task imports: in dispatching platform, carries out the importing of mission bit stream, imports and needs the task list of scheduling and corresponding Mission bit stream；

2) task assessment: in dispatching platform, according to the mission bit stream imported, sets the assessment parameter of task assessment, adjusts and appoint Business assessment parameters weighting；Task schedule information is estimated, determines the priority of task and the workload of task, and required Patrol task equipment and personnel, provide corresponding foundation for task scheduling；

3) can task scheduling: in dispatching platform, meet according to task workload and task urgency level and equipment needed thereby and appoint Business requirement, completes task Automatic dispatching, gives the Automatic dispatching scheme gone out on missions；On this basis, in existing task scheduling side On the basis of case, by hand scheduling scheme is adjusted, adjusts dispatcher, unmanned plane, detection terminal, vehicle, and adjust The task execution time information of degree；After having dispatched, by patrol task, task scheduling approach is audited by management personnel；

4) scheduler task examination & verification: audit the task scheduling approach of task scheduling state in dispatching platform, examination & verification is by then By tasks synchronization to dispatch terminal, enter execution status of task；Examination & verification is not passed through, and needs to be adjusted task scheduling approach, Then enter task scheduling state, carry out the adjustment of task scheduling approach；Examination & verification is not passed through, and needs scheduling again then to need to enter Task evaluation status, resets assessment parameter, carries out task scheduling；

5) tasks carrying: the dispatch command in corresponding task scheduling approach is issued to the dispatch terminal of correspondence by dispatching platform, adjusts Degree terminal resolves and responds corresponding dispatch command；Dispatching platform synchronization patrol task information is to dispatch terminal, according to scheduler task Require to perform unmanned plane line data-logging task；

6) task completes: dispatch terminal is after having performed corresponding patrol task, and the information that patrol task performed is sent to scheduling Platform；Dispatch terminal task is completed after equipment and personnel be incorporated to patrol and examine in resources bank, for next time task scheduling；

7) task is closed: dispatching platform performs information according to scheduler task, generates patrol task report, and patrol task is closed.