CN103823451B - Unmanned plane power circuit polling centralized dispatching system and method based on GIS - Google Patents
Unmanned plane power circuit polling centralized dispatching system and method based on GIS Download PDFInfo
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Abstract
The invention discloses a kind of unmanned plane power circuit polling centralized dispatching system based on GIS, including dispatching platform, dispatch terminal, ground monitoring station and unmanned plane, it is equipped with the unmanned plane power circuit polling centralized dispatching method based on GIS of the present invention, consider to patrol and examine presence states information, the key element such as facility information and personal information, by the dispatch terminal equipment to patrolling and examining, personnel, time and circuit are scheduling, under limited resources supplIes, complete more patrol task as far as possible, improve unmanned plane and patrol and examine efficiency, improve reliability and safety that unmanned plane is patrolled and examined, reduce unmanned plane routing inspection cost.
Description
Technical field
The invention belongs to the operating maintenance field of power system, relate to unmanned plane polling transmission line field, especially one is used for
The centralized dispatching system and method for unmanned plane polling transmission line.
Background technology
Unmanned plane line walking plays the most important effect in polling transmission line, can significantly alleviate the work of electrical power services personnel
Make load, reduce the probability of contingent personnel hazard, reduce the maintenance cost of power equipment, improve electrical network safety and
Reliability.
Unmanned plane polling transmission line, in addition to relating to the transmission line of electricity patrolled and examined, has also related to a large amount of inspection device and patrol officer
Deng.Line walking unmanned plane is distributed in the area that each are different, patrols and examines region wide, and each patrol task mobility is big, the place patrolled and examined
Do not fix with content, the unloaded back and forth problem of inspection device easily occurs；Different patrol task correspondence sames patrols and examines power transmission line
Between road, or power transmission line section, the time-constrain patrolled and examined is relatively strong, needs according to importance and the patrol task patrolling and examining circuit
Between restriction relation, dispatch patrol task, to realize completing in order of patrol task；Corresponding different the patrolling and examining of different patrol tasks
Transmission line of electricity, patrol and examine purpose, the inspection device of outfit and patrol and examine type and also differ, it is numerous and diverse to patrol and examine the equipment of relating to, scattered,
Easily leave behind and lose, lacking the situations such as accessory during patrolling and examining and again and again occur, having had a strong impact on the efficiency patrolled and examined.Patrolling and examining money
In the case of source is limited, between particularly various in patrol task, patrol task, restriction relation is strong, needs reasonably scheduling to patrol and examine
Resource and equipment, it is to avoid the zero load back and forth of inspection device, utilize existing resource to greatest extent, complete many as far as possible patrolling and examining
Task, improves the efficiency patrolled and examined, and reduces routing inspection cost.
In task scheduling aspect, the patent, paper and other data that have comparison many both at home and abroad are open.Such as, Nanjing Aero-Space
" the aircraft assignment systematical design idea based on multi-task scheduling " of university Yin Solenognathus, normal pulse in summer being full mountain et al., the most detailed elaboration
Aircraft assignment system, completes arranging an order according to class and grade of aircraft task, aerial mission plan in a period of time be given, but cannot realize
Real-Time Scheduling to aircraft, more unfixing for transmission line of electricity trend, the feature of polling period length carries out task scheduling, enters
The factor such as transmission line of electricity and transmission line of electricity defect is not accounted for during row task scheduling." the task of Application No. 200910078344.3
Optimized Operation platform " patent, realize the Automatic dispatching of task execution staff according to Optimized Operation principle, do not relate to equipment
Scheduling with transmission line of electricity.The patent of " vehicle dispatching information transmitting method " of Application No. 02111547.8, gives and passes through
Communication issues communication and the dispatching method of schedule information." the emergency communication scheduling of Application No. 201120308746.0
Platform " provide one just can not carried out by computer operating that docking is changed, network switches, interconnects, central dispatching and
The dispatching platform of communication transfer management, ensures normal, the reliably working of scheduling." the mobile phone of Application No. 200910033399.2
Text scheduling system and text scheduling method thereof " be given a kind of by mobile phone as the dispatching patcher of dispatching response terminal, it is achieved car
Scheduling.Above patent or paper are all the technique device about task scheduling or system, but all do not have in power train
System application, is in theoretical research aspect, it is impossible to be applied to unmanned plane polling transmission line field.
In sum, mostly existing method for scheduling task is that scheduling geographic area is little, scheduling for personal scheduling and ground domain scheduling
Equipment is the most single, patrols and examines the outstanding problem of zero load.Also lack the special dispatching patcher for unmanned plane line data-logging now,
The dispatching method of other industry is applied directly in the dispatching patcher of unmanned plane line data-logging, and its effect is the most non-ideal, still has many
Problem needs to solve.
Summary of the invention
The invention aims to overcome the deficiencies in the prior art, it is provided that a kind of unmanned plane power circuit polling based on GIS is concentrated
Dispatching patcher and method, it is considered to patrol and examine the key elements such as presence states information, facility information and personal information, by dispatch terminal to patrolling
Equipment, personnel, time and the circuit of inspection are scheduling, and under limited resources supplIes, complete more patrol task as far as possible,
Improve unmanned plane and patrol and examine efficiency, improve reliability and safety that unmanned plane is patrolled and examined, reduce unmanned plane routing inspection cost.
To achieve these goals, the present invention adopts the following technical scheme that.
Unmanned plane power circuit polling centralized dispatching system based on GIS, includes dispatching platform, dispatch terminal, ground monitoring
Stand 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,
Inspection device, personnel and the transmission line of electricity etc. patrolled and examined of unmanned plane is patrolled and examined the distribution of key element and the scheduling of patrol task, it is achieved nothing
Distributing rationally of man-machine inspection device, personnel, circuit and monitoring time；
Dispatch terminal can pass through serial ports, Ethernet or wireless network and be connected one to one with ground monitoring station, passes also by figure
Communication link sum passes communication link and directly communicates with unmanned plane, for obtaining the status information that unmanned plane is patrolled and examined, to dispatching platform
Dispatch command respond, the scheduling of the elements of missions such as operational staff, equipment and circuit, to the equipment patrolled and examined, personal information
It is managed, weather information and aircraft state information is monitored, 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；
The unmanned plane multiple unmanned plane including fixed-wing unmanned plane, rotor wing unmanned aerial vehicle, many rotor wing unmanned aerial vehicles, is clapped by lift-launch
Camera or infrared detection terminal, ultraviolet detection terminal and other detection terminals carry out unmanned plane and patrol and examine, and pass sum by figure and pass
Communicate with ground monitoring station or dispatch terminal.
Described dispatching platform, receives including dispatch server, human-computer interaction module, rfid interrogator, identification card reader, note
Send out module.
Described dispatch server, for being managed unmanned plane inspection device, personnel, transmission line of electricity and patrol task etc. and adjust
Degree, reads the information such as the meteorology at the scene patrolled and examined, state of flight, equipment, personnel in real time, and according to patrolling and examining presence states and patrolling and examining
Task scheduling approach is adjusted by resource, carries out task scheduling.
Described rfid interrogator, is connected by serial ports with dispatch server, for RFID device label information is written and read,
Carry out the reading of facility information by RFID, write and edit；
Described identification card reader, is connected by serial ports with dispatch server, for reading identity card information；
Described short message transceiving module, is connected by serial ports, USB interface or Ethernet interface with dispatch server, for note
Transmitting-receiving.
Described human-computer interaction module, uses and includes current keyboard and mouse, also optional or combination remote controller, audio frequency apparatus,
Display, touch pad, multichannel ring curtain stereo projection system, be used for obtaining and resolving external command, and the outside after resolving refers to
Order is sent to dispatch server, is displayed by modes such as audio frequency, video and images.
As a further improvement on the present invention, described dispatch server includes data processing module, data memory module, task
Evaluation module, task scheduling modules, task management module, device management module, personal management module, wire management module,
GIS module, weather monitoring module and communication 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, it may also be used for patrol task information,
The importing of transmission line information, geography information, facility information, personal information, weather data and flight monitoring data etc.,
Derive and storage, and the data of storage are carried out additions and deletions change and check reason.
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
The workload of business, task priority, equipment needed thereby, restriction relation between required personnel and task.Described patrol task information includes
Patrol task table, device resource table, patrol officer's list, transmission line information, weather information, geography information, state of flight
Information etc..
Described task scheduling modules, including dispatching method administrative unit, Automatic dispatching unit, manual scheduling unit, scheduling input
Unit, scheduling output unit, schedule information administrative unit, excellent for the task workload according to input, the Resources list, task
Between first level list and task, the key element such as restriction relation, is scheduling patrol task, be given patrol task tasks carrying sequence,
List of devices, lists of persons, patrol and examine the information such as circuit and task execution time, complete the personnel of patrol task, equipment and time
Etc. the scheduling of information, scheduling result is exported.Dispatching method administrative unit may select dispatching method, determines Automatic dispatching or hands
The scheduling mode of work scheduling, it is also possible to add new dispatching method, and dispatching method is registered, delete, revise and inquires about
Management；Automatic dispatching unit, for the automatic scheduling method according to configuration, completes the Automatic dispatching of patrol task, is given and patrols and examines
The Automatic dispatching result of task, also can verify the result of manually scheduling, it is ensured that the task scheduling approach of manual scheduling is can
OK；Manual scheduling unit, for evaluating mission bit stream and scheduling reference information according to task, is scheduling by hand, formulation
Task scheduling approach, and task scheduling approach is carried out automatic Verification, it is ensured that the feasibility of task scheduling approach, it may also be used for right
The task scheduling result of Automatic dispatching carries out manual setting, is verified manual scheduling result by Automatic dispatching unit；Scheduling
Input block, has been used for the importing of task scheduling data, has managed and show, be additionally operable to the unmanned plane monitored by dispatch terminal
State of flight information and weather information etc. 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 that different dispatching methods be given can be contrasted, also by short message, short
It is mutual that the mode of letter and mail and dispatch terminal carry out information, issues dispatch command, scheduler task data are sent to dispatch terminal
On, complete task scheduling；Schedule information administrative unit, for remembering dispatch command, schedule information and dispatching response information
Record and storage, and carry out increasing, delete, edit, inquire about and browsing management.
Described task management module, including mission bit stream import unit, mission bit stream lead-out unit and mission bit stream maintenance unit,
For the mission bit stream patrolled and examined being imported, derive, inquire about, browse, deleting and edit operation, and to patrol task information
Import format verify, it is ensured that the form of the patrol task information importing and deriving is correct.Wherein, mission bit stream imports single
Unit, for the importing of patrol task information；Mission bit stream lead-out unit, for the derivation of patrol task information, imports and derives
File format include but not limited to but be not limited to text, XML, CSV, EXCEL, WORD, PDF, BMP, JPEG, GIF,
The forms such as TIFF, PNG；Mission bit stream maintenance unit, for realizing the inquiry to patrol task information, browsing, edit and delete
Operation, described patrol task information includes part of path, monitoring time section that unmanned plane patrols and examines, patrols and examines type (regular visit, spy
Very patrol and examine, fault is patrolled and examined, supervise and patrol and examine), patrol and examine the information such as purpose.
Described device management module, including equipment query unit, facility registration unit, plant maintenance unit, device status monitoring
Unit, equipment import and export unit, for inspection device information is inquired about, registers, safeguards, deletes, imports, derived
Deng operation.Equipment query unit, for the inquiry of facility information；Facility registration unit, for registration and the RFID of facility information
Device label information writes；Plant maintenance unit, for use state editor and the deletion of equipment essential information and equipment；Equipment
Condition monitoring unit, for the monitoring state to warehouse with the equipment patrolled and examined on vehicle, obtains status information of equipment in real time；
Equipment imports and exports unit, for facility information beat importing and derive, its import and derive form include but not limited to text,
The forms such as XML, EXCEL, word, pdf.
Described personal management module, including basic information management unit, essential information query unit, patrol record administrative unit,
Patrol record query unit, personnel's quality assessment unit, personnel state information monitoring unit, for the basic letter to patrol officer
Breath, patrol record and patrol and examine qualification and be managed and assess.Wherein, basic information management unit is for the individual to patrol officer
Essential information is safeguarded；Essential information query unit, for inquiring about the essential information of patrol officer, and is carried out Query Information
Show；Patrol record administrative unit is for being added the record patrolled and examined, editing and deletion action；Patrol record query unit
Record for patrolling and examining is inquired about；Personnel's quality assessment unit, for carrying out qualification evaluation to patrol officer's information of patrolling and examining；
Personnel state information monitoring unit, for being monitored the real time information of the patrol officer patrolling and examining scene, in order to patrolling and examining people
Member is scheduling.
Described wire management module, should have patrolling and examining the function that line information is inquired about, safeguards, deletes and imported and exported,
Corresponding transmission line information can be realized show in GIS map, browse, edit and delete, for transmission line information is used bag
Include but be not limited to the form such as text, XML, CSV, EXCEL, WORD, PDF import and derive, it may also be used for in dispatch terminal
Track data synchronization and share.
Described GIS module, including dispatch terminal GPS monitoring unit, unmanned plane GPS monitoring unit, historical track administrative unit,
GIS track data display unit and GIS track data administrative unit, for patrolling and examining the on-the-spot and displaying of unmanned plane GPS location information
And management, and the displaying of transmission line information and management.Wherein, dispatch terminal GPS monitoring unit, for monitoring and scheduling eventually
The GPS position information of end, and real-time exhibition is out in GIS map；Unmanned plane GPS monitoring unit, reads unmanned in real time
The GPS position information of machine, and real-time exhibition is out in GIS map；Historical track administrative unit, for dispatch terminal and nothing
Man-machine history run track carries out inquiring about, edits, deletes and play operation；GIS track data display unit, at GIS
Transmission line information is shown on map；GIS track data administrative unit, for looking into transmission line of electricity data in GIS map
Operations such as asking, browse, edit, delete and import and export.
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, uses GPRS communication mode to communicate, also optional or combination GSM, CDMA, WCDMA,
TD-SCDMA, LTE, Wifi, Zigbee, LAN and internet communication mode, carry out networking configuration as required, be used for adjusting
Data communication between degree platform and dispatch terminal, it is achieved the issuing and synchronizing, by note, literary composition of dispatch command and mission bit stream
This and short message are scheduling the mutual of information.
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, uses arm9 for embedding processor, supports 2G dominant frequency, be extended to four cores, support multiple embedded behaviour
Make system, there is good compatibility；Master control borad has power supply unit, 12V or 24V vehicle power can be used as input electricity
Source, provides power supply for each electric pressure chip in dispatch terminal.
Described human-computer interaction module, uses and includes touch pad and LCDs, also optional or combination remote controller, keyboard,
Mouse, audio frequency apparatus, display, be used for obtaining and resolving external command, and the external command after resolving is sent to master control borad,
Being displayed by modes such as audio frequency, video and images, described human-computer interaction module is connected with master control borad by matched interfaces.
Described GPS module, is connected by serial ports with main hollow plate, is used for receiving and parsing through GPS and positions information, completes dispatch terminal
GPS location；GPS module is connected with master control borad and communication module, and the GPS information of dispatch terminal is sent to dispatching platform,
Complete dispatch terminal location positioning in dispatching platform.
Described weather monitoring instrument, is connected with master control borad by USB port or serial ports, patrols and examines the meteorological prison at scene for monitoring in real time
Survey environmental information.
Described RFID scanner, is connected with master control borad by serial ports, reads in real time and patrols and examines on-the-spot RFID device label letter
Breath, and upload to dispatching platform.
Described identification card reader, is connected with master control borad by serial ports, for reading identity card information, and shows counterpart personnel
Information.
Described short message transceiving module, is connected with master control borad by serial ports, USB interface or Ethernet interface, for the receipts of note
Send out.
As a further improvement on the present invention, described master control borad, contain following functional module: dispatching response module, task are same
Step module, communication module, monitoring of tools module, personal management module, data memory module, GIS module, weather monitoring module,
Flight monitoring module.
Described dispatching response module, uses short message, also optional or combination note, mail, voice and video form with
It is mutual that dispatching platform carries out information, and the dispatch command of response scheduling platform and schedule information, to dispatch command, schedule information and tune
Degree response message carries out recording, store, inquire about, browse and deleting.
Described tasks synchronization module, is dispatched to the scheduler task information of corresponding ground monitoring station in isochronous schedules platform, including
The line information of task, personal information, facility information and temporal information etc.；Also with according to task device inventory to patrol task
Facility information is monitored, and sends equipment disappearance alarm when equipment lacks；Realize the personal information of isochronous schedules task, and
Patrol officer's information is inquired about, browse, edit and control of authority operation.
Described communication module, including wireless communication unit, Landline communication unit, number leaflet is first, figure leaflet is first and subsidiary communications list
Unit, for realizing the data interaction between dispatching platform and communication, is scheduling the response of instruction and schedule information, and leads to
Cross figure biography link sum biography link and realize mutual with the information of unmanned plane.Wireless communication unit, remote for realize with dispatching platform
Journey information alternately with communicate；Landline communication unit, mutual and Tong Bu with the information of big data quantity between dispatching platform for realizing；
Number leaflet is first, is connected by digital transmission communication link with unmanned plane, for interacting with above-mentioned unmanned plane, reads unmanned in real time
The state of flight information of machine；Figure leaflet unit, patrols and examines image information transmission for unmanned plane；Secondary communication unit, for the most right
The status information that unmanned plane is patrolled and examined detects.
Described monitoring of tools module, carries out real-time monitoring for the facility information patrolling and examining scene is led to RFID technique, reads in real time
Facility information；Realize the monitoring to inspection device, and according to inspection device list, equipment is compared and monitors, if gone out
Existing equipment disappearance, provides alarm；Be additionally operable to inspection device information is browsed, inquire about, state-maintenance, attributes edit and delete
Except waiting operation.
Described personal management module, including personnel information management unit, account management unit and Role Management unit, is used for patrolling and examining
Personal information carry out maintenance management, patrol officer's operating right is managed.Wherein, personnel information management unit, it is used for
Patrol officer's information carries out additions and deletions change and check reason；Account management unit, for giving user role to user, determines that user weighs
Limit, modifies to the account password of personnel and resets；Role Management unit, then change according to the additions and deletions of each functional module and check
Reason authority is added, edits, is deleted and inquire about user role.
Described data memory module, is used for storing scheduling and monitoring number data, and provides the additions and deletions of data to change to look into function.
Described GIS module, including line interface unit, line information administrative unit with import and export unit, is used for showing power transmission line
Road and shaft tower information, and corresponding transmission line information is provided corresponding attributes edit, mark color, imports, derive and displaying etc.
Operation.Line interface unit, for importing the transmission line information in mission bit stream；Line information administrative unit, is used for realizing
The additions and deletions of transmission line of electricity data are changed and looks into operation；Import and export unit, for realizing the importing of transmission line of electricity data and deriving operation,
Import and derive transmission line information employing and include but not limited to the form such as text, XML, CSV, EXCEL, WORD, PDF.
Described weather monitoring module, patrols and examines on-the-spot weather environment information for reading in real time and includes wind speed, temperature, humidity, air
The weather informations such as density (air pressure), height above sea level, and by communication module, on-the-spot weather information can be uploaded to dispatching platform in real time,
Weather information foundation is provided 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.
Present invention also offers a kind of unmanned plane power circuit polling centralized dispatching method based on GIS, comprise the steps:
1) task imports: in dispatching platform, carry out the importing of mission bit stream, lead in the task management module in dispatch server
Entering to need the task list of scheduling and corresponding mission bit stream, mission bit stream includes transmission line information, transmission line of electricity geography ring
The information such as environment information, patrol plan time.
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) task scheduling: in dispatching platform, the task workload be given according to task evaluation module and task urgency level and
Can equipment needed thereby meet mission requirements, completes task Automatic dispatching, gives the Automatic dispatching scheme gone out on missions；On this basis,
On the basis of existing task scheduling approach, by hand scheduling scheme can be adjusted, adjust dispatcher, unmanned plane, inspection
Survey the information such as terminal, vehicle etc., and the task execution time of scheduling.After having dispatched, by patrol task management personnel to appointing
Business scheduling scheme is audited.
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, be scheduling the adjustment of task scheme；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 scheduler task scheme is issued to correspondence by communication module by dispatching platform
Dispatch terminal, dispatch terminal resolves and responds corresponding dispatch command；Dispatching platform synchronize patrol task information to dispatch terminal,
Require to perform unmanned plane line data-logging task according to scheduler 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 etc. be incorporated to patrol and examine in resources bank, for task scheduling next time.
7) task is closed: dispatching platform performs information according to scheduler task, generates patrol task report, and patrol task is closed.
Beneficial effects of the present invention:
According to the present invention, can be to patrol unmanned machine, inspection device and the patrol officer etc. being linked into dispatching platform by dispatch terminal
Key element is effectively dispatched and is realized unmanned plane and patrol and examine the configuration of being furnished with of resource, improves personnel and the utilization rate of equipment, reduces to patrol and examine setting
Standby no-load ratio and vacancy rate.
By RFID technique, inspection device is carried out lifecycle management, state can be used to enter the Life cycle of inspection device
Row is safeguarded, the especially equipment of battery class, improves the maintenance effects of equipment, the service life of extension device；Simultaneously by RFID skill
Inspection device is effectively supervised by art, reduces the Loss Rate of equipment, reduces the cost patrolled and examined.
In the present invention, by identification card reader, personal information is safeguarded, be effectively improved personnel's maintenance efficiency and information
Accuracy, reduces personnel's maintenance cost, especially personal information error, the cost caused.
Accompanying drawing explanation
Fig. 1 unmanned plane line walking centralized dispatching system construction drawing.
Fig. 2 dispatch server functional structure chart.
Fig. 3 master control borad functional structure chart.
Fig. 4 unmanned plane line walking centralized dispatching system flow chart.
Fig. 5 dispatching platform scheduling flow figure.
Fig. 6 dispatch terminal dispatching response flow chart.
Wherein, 1, dispatching platform；2, dispatch terminal；3, ground monitoring station；4, unmanned plane；5, dispatch server；6、
Rfid interrogator；7, the first identification card reader；8, the first short message transceiving module；9, the first human-computer interaction module；10、
Data processing module；11, the first data memory module；12, task evaluation module；13, task scheduling modules；14, task
Management module；15, device management module；16, the first personal management module；17, wire management module；18, a GIS
Module；19, the first weather monitoring module；20, first communication module；21, master control borad；22, the second human-computer interaction module；
23, GPS module；24, weather monitoring instrument；25, RFID scanner；26, the second identification card reader；27, the second note
Transceiver module；28, dispatching response module；29, tasks synchronization module；30, second communication module；31, monitoring of tools module；
32, the second personal management module；33, the second data memory module；34, the 2nd GIS module；35, the second meteorological detection mould
Block；36, flight monitoring module.
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As it is shown in figure 1, be a kind of unmanned plane line walking centralized dispatching system, this system includes:
Dispatching platform 1, dispatch terminal 2, ground monitoring station 3 and unmanned plane 4.
Wherein, above-mentioned dispatching platform 1, one or more dispatch terminal 2 accessible, it is placed on control centre or control room at different levels,
Achieve a butt joint into the scheduling of dispatch terminal 2 and task distribution；Connected one to one by serial ports between dispatch terminal 2 and ground monitoring station 3
Connect, be arranged on unmanned plane and patrol and examine on vehicle, it is achieved to unmanned plane 4 status information and the real-time reading of ground monitoring station 3 information, and
Dispatching platform 1 will be sent in detail, provide foundation for unmanned plane 4 scheduling；Dispatch terminal 2 also can pass sum with unmanned plane 4 by figure
Biography link is connected, and directly obtains unmanned plane 4 state of flight information；Passed by number between ground monitoring station 3 and unmanned plane 4 and scheme to pass
Radio station is connected, for the flight of unmanned plane 4 is carried out real-time operation and monitoring.
Described dispatching platform 1, reads including dispatch server the 5, first human-computer interaction module 9, rfid interrogator the 6, first identity card
Take device the 7, first short message transceiving module 8.
Described dispatch server 5, for being managed unmanned plane inspection device, personnel, transmission line of electricity and patrol task etc. and adjust
Degree, reads the information such as the meteorology at the scene patrolled and examined, state of flight, equipment, personnel in real time, and according to patrolling and examining presence states and patrolling and examining
Task scheduling approach is adjusted by resource, carries out task scheduling.
Described rfid interrogator 6, for being written and read RFID device label information, carries out equipment letter by RFID
Breath reading, write and edit；
Described first identification card reader 7, for reading identity card information；
Described first short message transceiving module 8, for the transmitting-receiving of note.
Described first human-computer interaction module 9, uses and includes current keyboard and mouse, and also optional or combination remote controller, audio frequency set
Standby, display, touch pad, multichannel ring curtain stereo projection system, be used for obtaining and resolving external command, will resolve after outside
Portion's instruction is sent to dispatch server 5, is displayed by modes such as audio frequency, video and images.
Described dispatch server 5 includes data processing module the 10, first data memory module 11, task evaluation module 12, task
Scheduler module 13, task management module 14, device management module the 15, first personal management module 16, wire management module 17,
Oneth GIS module the 18, first weather monitoring module 19 and first communication module 20.
Described data processing module 10, has been used for parsing and the process of external command data, according to task scheduling approach, has issued
Dispatch command, is scheduling alternately with dispatch terminal 2, and to the logical calculated of server data and process；Data processing module 10,
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 task
Issue execution, or reschedule.
Described first data memory module 11, for realizing scheduling data and the storage of assistance data thereof, it may also be used for patrol task
Information, transmission line information, geography information, facility information, personal information, weather data and flight monitoring data etc.
Import, derive and store, and the data of storage are carried out additions and deletions change and check reason.
A described GIS module 18, for patrolling and examining displaying and the management of the GPS location information of on-the-spot and unmanned plane 4, and transmission of electricity
The displaying of line information and management.
Described first communication module 20, carries out networking configuration, the data between dispatching platform 1 and dispatch terminal 2 as required
Communication, it is achieved issuing and synchronizing of dispatch command and mission bit stream, is scheduling the friendship of information by note, text and short message
Mutually.
Dispatching platform 1 reads the status information of each dispatch terminal 2 accessed by first communication module 20, passes through task management module
14 import or planning patrol task information, and dispatching platform 1 is according to the status information of each dispatch terminal 2 and mission bit stream, to patrolling and examining
Task is scheduling, and the object information of scheduling is sent to the dispatch terminal 2 of correspondence by the form of short message, mail and note,
Complete the effective scheduling to patrol officer, equipment and circuit.
The first human-computer interaction module 9 in dispatching platform 1, uses and includes current keyboard and mouse, also optional or combination remote control
Device, audio frequency apparatus, display, touch pad, multichannel ring curtain stereo projection system, configure as required.
Task evaluation module 12 in dispatching platform 1, according to the mission bit stream in task management module 14, task place and circuit shape
The element informations such as condition, are estimated the workload of unmanned plane 4 patrol task, provide corresponding evaluation quantity.
In dispatching platform 1, the assessment data that task works are sent to task scheduling modules 13, task scheduling mould by task evaluation module 12
Block 13, read in the facility information in device management module, personal management module in personal information, weather monitoring module gas
Line information in image information and wire management module, and from the state of flight information of dispatch terminal 2 reading, GPS location letter
Patrol task is scheduling by breath etc., determines the equipment of patrol task, patrol officer in each dispatch terminal 2, patrols and examines the date etc.,
The rest and reorganization of personnel, the maintenance of equipment and maintenance and the tasks carrying time limit etc. involved by dispatch terminal 2 is considered about when being scheduling
Bundle.Task scheduling modules 13, by the state of flight information monitored from dispatch terminal, weather information, GPS position information, sets
Standby and personal information is as the foundation of task scheduling, and the foundation that task scheduling approach adjusts.
Device management module 15 in dispatching platform 1, for by the RFID technique letter to unmanned plane 4 inspection device Life cycle
Breathization manages, and is managed the equipment belonging to dispatch terminal 2 and the equipment in warehouse, and letter is maintained in the operation and maintenance to equipment
Breath is safeguarded, it is achieved dispatching platform 1 is to the information system management of unmanned plane 4 inspection device and scheduling, and equipment control imports and derives
File format includes but not limited to the form such as text, XML, EXCEL, word, pdf.
The first personal management module 16 in dispatching platform 1, is used for essential information, patrol record information to patrol officer and patrols and examines
Training information is managed, and the technical ability of patrol officer is given assessment, provides foundation for the staff redeployment in task scheduling.
The first weather monitoring module 19 in dispatching platform 1 is read the weather monitoring accessed on dispatch terminal 2 and believes by communication module
Breath.
Wire management module 17 in dispatching platform 1, has been used for the additions and deletions of track data and has changed and check reason, and in a GIS module
Transmission line information carries out on the map of 18 additions and deletions change and look into and the displaying of line information, and importing and the derivation of line information are provided
Function.
Task scheduling modules 13 in dispatching platform 1, will generate and audit the task scheduling approach passed through, by communication module with short
The dispatch terminal being issued to correspondence of message, note and mail he, the dispatching response module in dispatch terminal 2 accepts and under response
The dispatch command sent out and schedule information, and the scheduler task information issued by tasks synchronization module synchronization.
The assignment file form importing and deriving in task management module 14 in dispatching platform 1 include but not limited to text, XML,
CSV, EXCEL, WORD, PDF, BMP, JPEG, GIF, TIFF, PNG etc., also include the combination of above-mentioned file.
First communication module 20 in dispatching platform 1 can pass through GPRS radio communication access dispatching terminal 2, responds the first man-machine interaction
The remote scheduling instruction of module 9, obtains above-mentioned ground monitoring station 3 and the status information of unmanned plane 4 in real time.Described first communication module
20 also may select GSM, CDMA, WCDMA, TD-SCDMA, LTE, WIFI, Zigbee, LAN and internet communication mode in fact
Now communicate.
Described dispatch terminal 2, including master control borad the 21, second human-computer interaction module 22, GPS module 23, weather monitoring instrument 24, RFID
Scanner the 25, second identification card reader 26 and the second short message transceiving module 27；
Described RFID scanner 25, reads in real time and patrols and examines on-the-spot RFID device label information, and upload to dispatching platform 1；
Described second short message transceiving module 27, for the transmitting-receiving of note.
Described master control borad 21, comprises dispatching response module 28, tasks synchronization module 29, second communication module 30, monitoring of tools mould
Block the 31, second personal management module the 32, second data memory module the 33, the 2nd GIS module 34, weather monitoring module 35, flight
Monitoring modular 36；
Above-mentioned dispatch terminal 2, by second communication module 30 access dispatching platform 1, complete dispatching response and status information on give；
Dispatch terminal 2 is connected with ground monitoring station 3 by serial ports, for obtaining monitoring and the ground of state of flight information in ground monitoring station 3
The status information of face monitoring station 3；Dispatch terminal 2 passes link sum biography link also by figure and is directly accessed unmanned plane 4, reads unmanned
Machine 4 state of flight information.
The second human-computer interaction module 22 in dispatch terminal 2 uses and includes touch pad and LCDs, also may select or combines distant
Control device, keyboard, mouse, audio frequency apparatus, display etc. complete the mutual of people's machine information；
Dispatching response module 28 in dispatch terminal 2, the scheduling by the way of note, short message and mail, to dispatching platform 1
Information responds and processes, and corresponding schedule information and response message carry out additions and deletions changes and check reason；
Dispatching response module 28 in dispatch terminal 2 sends tasks synchronization and instructs in task synchronization module, and tasks synchronization module completes
The synchronization of scheduler task information, resolve and store.
Dispatching response module 28 in dispatch terminal 2, is carried out by the way of the transceiver module of note and dispatching platform 1 are by note
Task schedule information mutual；
Tasks synchronization module 29 in dispatch terminal 2, will synchronize to the equipment list in the patrol task of this locality and equipment state letter
Breath, is sent to monitoring of tools module 31, and monitoring of tools module 31 is according to equipment list, and the equipment at scene is currently patrolled and examined in real-time monitoring
Situation, it is provided that equipment loses alarm, it is to avoid the loss of equipment；
Tasks synchronization module 29 in dispatch terminal 2, will synchronize to patrol officer's inventory scheduled in the patrol task of this locality and patrols
Inspection personnel's authorization administration information, is sent to the second personal management module 32, is monitored personal management information and manages；
Monitoring of tools module 31 in dispatch terminal 2, is supervised the facility information patrolling and examining scene in real time by RFID scanner 24
Control, and carry out making an inventory and comparison with the facility information patrolling and examining scene monitored according to equipment list, loss device situation is given
Loss device alerts；
The second personal management module 32 in dispatch terminal 2, by the second automatic reading identity card information of identification card reader 26, root
Carrying out authenticating user identification according to the ID card information of input, certification enters system by then automated log on, carries out the operation of corresponding authority；
In the case of there is authority, also by essential information, patrol record information and the technical ability evaluation letter of personnel shown in reading identity card
Breath.
The 2nd GIS module 34 in dispatch terminal 2 is associated with GPS module 23, master control borad the 21, second human-computer interaction module 22, uses
Location in the GPS position information completing vehicle；2nd GIS module 34 is associated with master control borad the 21, second human-computer interaction module 22,
For importing and the derivation of transmission line of electricity data, and the transmission line of electricity data in GIS map are carried out additions and deletions change and check reason；
The second weather monitoring module 35 in dispatch terminal 2 and weather monitoring instrument 24, master control borad 21 and the second human-computer interaction module 22 phase
Association, is read in real time and patrols and examines on-the-spot weather monitoring information, corresponding weather monitoring information shown by the second human-computer interaction module 22
Out；Second weather monitoring module 35, is sent to dispatching platform 1 by second communication module 30 by the weather information monitored；
The flight monitoring module 36 of dispatch terminal 2, reads ground monitoring station 3 and unmanned plane 4 status information by communication module, and will
Corresponding unmanned plane 4 state of flight information is sent to dispatching platform 1；
Above-mentioned ground monitoring station 3, is communicated with unmanned plane by digital transmission communication link, reads the real-time flight state of unmanned plane 4
Information, and by status information by serial ports access dispatching terminal 2, it is achieved uploading of unmanned plane 4 real time status information；
Above-mentioned unmanned plane 4, passes communication link by digital transmission communication link and figure, for the real time status information flown by unmanned plane 4
Upload in dispatch terminal or ground monitoring station；Unmanned plane 4 can be selected for rotor wing unmanned aerial vehicle, many rotors or fixed-wing unmanned plane.
Carry out patrol task scheduling time, patrol task scheduling process has been divided into task importing, task assessment, task scheduling,
Scheduler task examination & verification, scheduler task synchronization, tasks carrying, task complete, task closes totally seven flow processs or state.Wherein
It is the initialization of task that task imports state, for the mission bit stream import system by scheduling, specifies the transmission line of electricity of patrol task
Section and geographic information environment.Task evaluation status completes the assessment of patrol task workload, determines the task amount patrolled and examined；Task
Dispatch state, for entering task scheduling state, waits for scheduler task.Scheduler task examination & verification state is then to complete in task scheduling
After carry out task examination & verification, examination & verification is by needing to carry out two times scheduling；Scheduler task is audited by rear, needs to be scheduling task
Synchronize, by the tasks synchronization after scheduling to dispatch terminal 2.Execution status of task is then according to corresponding mission bit stream, performs corresponding
Task, the task of this state is no longer participate in task scheduling.Tasks carrying then enters task completion status after completing, and will appoint accordingly
Dispatching platform 1 is delivered in business execution information.Tasks carrying completes, and formed corresponding task report after, enter task closed mode.
Unmanned plane line walking task scheduling flow process in the present invention is as shown in Figure 4:
1) task imports: in dispatching platform 1, carries out the importing of mission bit stream in task management module 14, imports and needs at present
Task list to be dispatched and corresponding mission bit stream, mission bit stream includes that transmission line information, transmission line of electricity geographical environment are believed
The information such as breath, patrol plan time.
2) task assessment: in dispatching platform 1, according to the task management information imported, the assessment parameter of setting task assessment is joined
Put, adjust task 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) task scheduling: in dispatching platform 1, the task workload be given evaluation stage according to task and task urgency level with
And can equipment needed thereby meet mission requirements, complete task Automatic dispatching, give the Automatic dispatching scheme gone out on missions；On this basis,
On the basis of existing task scheduling approach, by hand scheduling scheme can be adjusted, adjust dispatcher, unmanned plane 4, inspection
Survey the information such as terminal, vehicle etc., and the task execution time of scheduling.After having dispatched, by patrol task management personnel to appointing
Business scheduling scheme is audited.
4) scheduler task examination & verification: auditing the task scheduling approach of task scheduling state in dispatching platform 1, examination & verification is passed through
Then by tasks synchronization to dispatch terminal 2, enter execution status of task；Examination & verification is not passed through, and needs to be adjusted task scheduling approach,
Then enter task scheduling state, be scheduling the adjustment of task scheme；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 scheduler task scheme is issued by dispatching platform 1 by first communication module 20
To corresponding dispatch terminal 2, dispatch terminal 2 resolves and responds corresponding dispatch command；Dispatching platform 1 synchronizes patrol task information and arrives
Dispatch terminal 2, requires to perform unmanned plane line data-logging task according to scheduler task.
6) task completes: dispatch terminal 2 is after having performed corresponding patrol task, and the information that patrol task performed is sent to adjust
Degree platform 1；Dispatch terminal 2 task is completed after equipment and personnel etc. be incorporated to patrol and examine in resources bank, for task scheduling next time.
7) task is closed: dispatching platform 1 performs information according to scheduler task, generates patrol task report, and patrol task is closed
Close.
Scheduling flow in dispatching platform 1 is as shown in Figure 5:
1, patrol task workload assessment；To patrol task in the patrol task list imported, the amount of being operated is assessed, will assessment
Result is sent to task scheduling modules 13 and carries out task scheduling.
1) task list is imported to dispatching platform 1 by the task management module 14 in dispatching platform 1, and the mission bit stream of importing includes appointing
Business title, transmission line of electricity, patrol and examine type (regular visit, special patrol and examine, fault is patrolled and examined, supervise and patrol and examine), patrol and examine purpose, meter
Draw time, patrol task director.Concrete patrol task is listed as follows shown in table:
2) determine and patrol and examine main equipment；Task list is sent to task evaluation module 12, task assessment mould by task management module 14
Whether block 12 is corridor circuit according to transmission line information, and whether the type of line data-logging is regular visit, patrols and examines circuit long
Degree and time limit requirement, and fixed-wing patrol and examine can meet patrol and examine purpose determine patrol and examine employing unmanned plane type (fixed-wing, rotor,
Many rotors etc.)；According to patrolling and examining type and patrolling and examining purpose and determine detection terminal type detection equipment such as () visible ray, infrared and ultraviolets.
3) priority of patrol task is determined；Patrol secondary according to the historic defects quantity over nearly 3 years occurred on power transmission line section, spy
Number and fault patrol and examine the factorial analysis mode between number of times, determine the weight of each factor, obtain patrolling and examining the common factor of importance:
F=[X1*ln(T1)+X2*ln(T2)+X3*ln (T3)] * Voltage Cortrol factor * priority Dynamic gene
Wherein, T1 is historic defects quantity, and T2 is that spy patrols number of times, and T3 is that fault patrols and examines number of times, and X1 is historic defects quantity item
Weight factor, X2 is the weight factor that spy patrols number of times, and X3 is the weight factor that fault patrols and examines number of times, according to the Voltage Cortrol factor
Grade determines；500kV and above extra high voltage network, the Voltage Cortrol factor is 1.1, the Voltage Cortrol of below 500kV because of
Son is 1；Priority Dynamic gene is the parameter being manually set, and by adjusting this parameter, promotes or reduces the excellent of a certain patrol task
First level；
F common factor (f1, f2 ..., fn) by K rank clustering methodology, patrol task is divided into 1,2,3 Three Estates, point
Biao Shi not patrol and examine the urgency level of defect.
4) restriction relation between patrol task is determined；Transmission line of electricity that task evaluation module 12 is patrolled and examined according to patrol task, patrol and examine
Planned time, patrol and examine the information such as the priority of task that determines in type and the 3rd article, determine the restriction relation between patrol task,
Preferentially completing the different patrol tasks on same circuit, the different patrol task time differences on same circuit should be too not big, the completeest
Become the line data-logging of corridor class；And patrol and examine between circuit relation between geographical position, determine the task restriction that patrol task completes
Relation.
5) grade of difficulty of patrol task is determined；The geography information situation provided according to generalized information system, determines the difficulty of patrol task
Grade, provides task difficulty grade 1,2,3.
6) task workload is determined；According to the number patrolling and examining shaft tower and the circuit mileage patrolled and examined, and patrol and examine type, detection mode
With patrol and examine purpose, determine the workload patrolled and examined.The determination of workload is to determine according to history patrol task, by similar F
(patrolling and examining people's shaft tower number, circuit mileage, unmanned plane type, detection mode, patrol and examine mesh), usual task work in mining data storehouse
Amount is XX days * units.
The mission bit stream amount that evaluates in task list is sent in task scheduling modules 13, to patrolling and examining by task evaluation module 12
Task is scheduling.
2, scheduler task information imports；Task scheduling input block will need restriction relation between scheduler task information, task, each
Workload, task priority, the task difficulty grade of business and the information such as device type need to be configured import to task scheduling modules 13,
Task scheduling modules 13 carries out task scheduling according to above-mentioned information,
3, selection scheduling method；According to parameter configuration, select corresponding dispatching method.
4, task Automatic dispatching；Automatic dispatching unit, according to the dispatching method selected, retrains according between scheduler task information, task
Relation, the workload of each task, task priority, task difficulty grade and the influent factor such as device type need to be configured, and
Existing available personal information, RFID device information etc. determine unit, equipment, monitoring time that task patrols and examines and patrol and examine circuit
Origin, determine the scheduling scheme of task.Acquiescence Automatic dispatching algorithm is as follows:
1) by all patrol tasks according to priority from high to low, in press-in patrol task queue Q1.
2) choose patrol task A that in Q1 task queue, task priority is the highest, without the previous task not configured, will patrol
Inspection task queue is ejected, and determines the time patrolled and examined according to task workload, subsequently into step 3；If there being do not configure preposition
Task, is ejected into task A in queue Q2, chooses the patrol task that next priority is the highest, repeats step 2；
3) according to the inspection device type required for patrol task A determined in the first step, unit equipment is patrolled and examined in configuration accordingly,
If idle unit equipment B, is allocated to patrol task A by free time unit equipment B within this time period, enter step 4；If
Do not meet the Key generating unit equipment B1, Key generating unit equipment B1 required in this time period and include 1 patrol unmanned platform and 1
Individual detection terminal of patrolling and examining, then enter step 6.
4) according to the crew's number required for patrol task A, corresponding survey monitor group membership is configured, if in this time period
Interior idle crew C, is allocated to free time crew C patrol task A, enters step 5；If do not had in this time period
Idle crew, then enter step 7.
5) select to patrol and examine from patrolling and examining the some position patrol task starting point that unit is closest on transmission line of electricity, enter step 8.
6) travel through all of inspection device, choose the Key generating unit equipment B1 terminating to use the earliest, be allocated to patrol by corresponding equipment
Inspection task A, the initial monitoring time of amendment patrol task A terminates the use time to unit equipment B1, enters step 4；
7) traveling through all of crew, choose the crew ended task the earliest, be allocated to patrol task A, amendment is patrolled and examined
The initial monitoring time of task A is that crew ends task the time, enters step 5；
8) if queue Q1 does not has patrol task, step 9 is entered；If task queue Q1 is not empty entrance step 2；
9) queue Q2 will there is patrol task, by the task in queue Q2 according to task priority by height order press-in on earth
In queue Q1, enter step 2；If queue Q2 does not has queue member, enter step 10；
10) task scheduling is completed.
5, manually dispatch；Manual scheduling unit carries out manual modification to the scheduling scheme that Automatic dispatching unit generates, and amendment is mainly examined
The factor considered is the personal information at dispatch terminal 2 scene, status information of equipment, ground monitoring station 3 status information, GPS location
Information, unmanned plane 4 status information and patrol and examine scene weather information.Avoid being not suitable for the meteorological condition that unmanned plane 4 is patrolled and examined,
Avoid use to need maintaining equipment and personnel, especially unmanned plane 4, reduce and patrol and examine thing due to what maintaining caused not in time
Therefore.
6, scheduling result output；Being audited by scheduling scheme, examination & verification is not passed through, and needs manual setting, then enter manually scheduling
Unit carries out manual setting；If examination & verification is not passed through, and need to reschedule, then amendment Automatic dispatching parameter, re-starts
Task scheduling；Corresponding scheduling scheme, by rear, is exported in output unit by examination & verification.
7, dispatch command issues；Scheduling scheme examination & verification passed through, according to task execution time successively, by mail, short message
Or the mode of note is sent to corresponding dispatch terminal 2, completes issuing of dispatch command, and interactive information will be dispatched accordingly
It is saved in schedule information administrative unit, in schedule information administrative unit, scheduling interactive information is managed.
As shown in Figure 6, in the present invention, unmanned plane line walking task scheduling terminal 2 responding process is as follows:
1, dispatch command is issued: dispatch terminal 2 resolves issuing dispatch command, by mail, short message or note
Mode response scheduling instructs, and performs corresponding dispatch command；
2, new patrol task dispatch command response:
<1>dispatch terminal 2 is according to the new patrol task dispatch command issued, and carries out the synchronization of new patrol task information, will patrol accordingly
Equipment, personnel in inspection task and patrol and examine the synchronizing information such as circuit in dispatch terminal 2, the newest patrolling and examining is appointed by dispatch terminal 2
Business information resolves and configures；
<2>show in GIS map the GPS position information in patrol task information, and dispatch terminal 2, weather environment information,
The role-security information etc. of inspection device list, survey monitor group membership and crew, it is simple to crew performs patrol task；
<3>patrol task is performed；According to patrol task information requirements, perform patrol task, patrol task is performed procedural information and
Object information is sent to dispatching platform 1；
<4>, after having performed, step 6 is entered.
3, inspection device scheduling: according to dispatch command, determining inspection device by RFID scanner 25, amendment facility information is new
Scheduling time arrange, after running succeeded enter step 6；
4, crew's scheduling: according to dispatch command, be mark by ID (identity number) card No., to the worker tasks's time patrolling and examining scene
Arrangement is managed, and the task time updating dispatcher group membership arranges, and enters step 6 after running succeeded；
5, field conditions monitoring is patrolled and examined: according to dispatch command, read the meteorology read from weather monitoring instrument 24 in dispatch terminal 2
Environmental information, the GPS position information in GPS module 23, the device RF ID state in RFID scanner 24 and positional information and
The unmanned plane status information read from unmanned plane and monitoring ground station, after reading successfully, enters step 6；
6, by dispatch accordingly execution result information and perform procedural information be sent to dispatching platform 1, end task scheduling.
Describe in detail the present invention above by concrete with preferred embodiment, but it will be understood by those skilled in the art that this
Invention is not limited to embodiment described above, all within the spirit and principles in the present invention, any amendment, the equivalent made are replaced
Change, should be included within the 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.
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