UAV hydropower plant inspection methods, devices, media and equipment

Abstract

The present disclosure relates to a method, device, medium, and equipment for drone inspection of hydropower plants, including: determining a drone's sub-region inspection path within each inspection area and a regional flight path between inspection areas based on the security level and geographic location of the inspection sub-areas in each inspection area; determining the drone's inspection flight altitude and inspection flight speed in each inspection sub-area based on current weather conditions; controlling the drone to perform inspection tasks in the corresponding inspection area according to the sub-region inspection path and the inspection flight altitude and inspection flight speed; and controlling the drone to proceed to the next inspection area according to the regional flight path when all inspection tasks corresponding to the inspection sub-areas within the inspection area are completed. The drone's inspection path and flight path can be automatically planned, improving inspection efficiency and accuracy while ensuring the comprehensiveness of the inspection.

Description

Technical Field

[0001] The present disclosure relates to the technical field of hydropower plant inspection, and in particular to a method, device, medium and equipment for drone hydropower plant inspection. Background Art

[0002] Hydropower plants contain a wide variety of power generation equipment, spread across various areas, creating significant challenges for human inspections. Related technologies have used inspection robots to replace human inspections, but these robots have limitations. They cannot inspect high areas or river channels. For example, due to the unique environment of hydropower plants, river channels can be subject to fog at any time. Since inspection robots can only inspect the riverbanks, they have difficulty accurately assessing the situation within the river, thus failing to meet the comprehensiveness and accuracy requirements of unmanned inspections at hydropower plants. Summary of the Invention

[0003] The purpose of the present disclosure is to provide a method, device, medium and equipment for drone inspection of hydropower plants, which aims to automatically plan the inspection path and flight path of drones in hydropower plants, and improve the inspection efficiency and accuracy while ensuring the comprehensiveness of the inspection.

[0004] In order to achieve the above objectives, the present disclosure provides, in a first aspect, a method for inspecting a hydropower plant using a drone, the method comprising:

[0005] Determining the sub-region inspection path of the drone within each inspection area and the regional flight path between inspection areas based on the security level and geographical location of the inspection sub-regions in each inspection area;

[0006] Determining the inspection flight altitude and inspection flight speed of the UAV in each inspection sub-area according to current weather conditions;

[0007] According to the inspection path of the sub-area, and based on the inspection flight altitude and inspection flight speed, the UAV is controlled to perform the inspection task in the corresponding inspection area;

[0008] When the inspection tasks corresponding to all inspection sub-areas in the inspection area are completed, the drone is controlled to go to the next inspection area according to the regional flight path.

[0009] Optionally, when the inspection tasks corresponding to all inspection sub-areas within the inspection area are completed, controlling the drone to proceed to the next inspection area along the regional flight path includes:

[0010] When the inspection tasks corresponding to all inspection sub-areas within the inspection area are completed, the remaining battery power of the drone, the inspection power consumption of the next inspection area, and the flight power consumption of the last inspection sub-area in the sub-area inspection path corresponding to the next inspection area and the drone's landing pad are obtained;

[0011] When the remaining battery power is less than the sum of the inspection power consumption and the flight power consumption, determining a target inspection sub-area in the next inspection area according to the safety level of the inspection sub-area in the next inspection area and the remaining battery power;

[0012] Determining a first temporary inspection path and a first temporary flight path of the UAV according to the geographical location of the target inspection sub-area;

[0013] According to the first temporary inspection path and the first temporary flight path, the UAV is controlled to go to the next inspection area to perform the inspection task.

[0014] Optionally, the method comprises:

[0015] Obtaining inspected sub-areas in the first temporary inspection path where inspection tasks have been completed;

[0016] Determining a sub-area to be inspected in the next inspection area based on the inspected sub-area;

[0017] A second temporary inspection path corresponding to the next inspection area is determined according to the geographical location and security level of the sub-area to be inspected.

[0018] Optionally, determining the first temporary flight path of the UAV according to the geographical location of the target inspection sub-area includes:

[0019] Determining a first temporary flight sub-path according to the geographical location of the last inspection sub-area in the inspection area where the inspection task is completed and the geographical location of the first inspection sub-area in the next inspection area;

[0020] A second temporary flight sub-path is determined according to the geographical location of the first inspection sub-area in the next inspection area and the geographical location of the apron, where the first temporary flight path includes the first temporary flight sub-path and the second temporary flight sub-path.

[0021] Optionally, determining the inspection flight altitude and inspection flight speed of the drone in each inspection sub-area according to current weather conditions includes:

[0022] When the inspection area includes a downstream river area, obtaining historical river inspection logs;

[0023] Determining a target inspection river section from the historical river inspection log, wherein the target inspection river section is a river section where a target object has appeared in the river section history, and the target object includes animals and people;

[0024] Based on the geographical location of the target inspection river section and the current weather conditions, the inspection flight altitude and inspection flight speed of the target inspection river section are determined, and based on the current weather conditions, the inspection flight altitude and inspection flight speed of other river sections in the downstream river area except the target inspection river section are determined.

[0025] Optionally, the method comprises:

[0026] When it is determined that a target object exists in the downstream river area, an annotated image of the object is sent to the monitoring center, and an early warning to leave is played through the airborne broadcast on the UAV.

[0027] Optionally, the inspection area includes multiple ones of a downstream river area, a flood discharge area, a power generation equipment area and a warehouse area.

[0028] In a second aspect of the present disclosure, a drone hydropower plant inspection device is provided, the device comprising:

[0029] A first determination module is configured to determine a sub-region inspection path of the drone within each inspection area and a regional flight path between inspection areas based on the security level and geographical location of the inspection sub-regions in each inspection area;

[0030] A second determining module is configured to determine the inspection flight altitude and inspection flight speed of the UAV in each inspection sub-area according to current weather conditions;

[0031] A first control module is configured to control the UAV to perform an inspection task in the corresponding inspection area according to the sub-area inspection path and the inspection flight altitude and inspection flight speed;

[0032] The second control module is configured to control the UAV to go to the next inspection area according to the regional flight path when the inspection tasks corresponding to all inspection sub-areas in the inspection area are completed.

[0033] Optionally, the second control module is configured to:

[0034] When the inspection tasks corresponding to all inspection sub-areas within the inspection area are completed, the remaining battery power of the drone, the inspection power consumption of the next inspection area, and the flight power consumption of the last inspection sub-area in the sub-area inspection path corresponding to the next inspection area and the drone's landing pad are obtained;

[0035] When the remaining battery power is less than the sum of the inspection power consumption and the flight power consumption, determining a target inspection sub-area in the next inspection area according to the safety level of the inspection sub-area in the next inspection area and the remaining battery power;

[0036] Determining a first temporary inspection path and a first temporary flight path of the UAV according to the geographical location of the target inspection sub-area;

[0037] According to the first temporary inspection path and the first temporary flight path, the UAV is controlled to go to the next inspection area to perform the inspection task.

[0038] Optionally, the second control module is configured to:

[0039] Obtaining inspected sub-areas in the first temporary inspection path where inspection tasks have been completed;

[0040] Determining a sub-area to be inspected in the next inspection area based on the inspected sub-area;

[0041] A second temporary inspection path corresponding to the next inspection area is determined according to the geographical location and security level of the sub-area to be inspected.

[0042] Optionally, the second control module is configured to:

[0043] Determining a first temporary flight sub-path according to the geographical location of the last inspection sub-area in the inspection area where the inspection task is completed and the geographical location of the first inspection sub-area in the next inspection area;

[0044] A second temporary flight sub-path is determined according to the geographical location of the first inspection sub-area in the next inspection area and the geographical location of the apron, where the first temporary flight path includes the first temporary flight sub-path and the second temporary flight sub-path.

[0045] Optionally, the second determining module is configured to:

[0046] When the inspection area includes a downstream river area, obtaining historical river inspection logs;

[0047] Determining a target inspection river section from the historical river inspection log, wherein the target inspection river section is a river section where a target object has appeared in the river section history, and the target object includes animals and people;

[0048] Based on the geographical location of the target inspection river section and the current weather conditions, the inspection flight altitude and inspection flight speed of the target inspection river section are determined, and based on the current weather conditions, the inspection flight altitude and inspection flight speed of other river sections in the downstream river area except the target inspection river section are determined.

[0049] Optionally, the device includes an early warning module, which is configured to send an object annotation image to a monitoring center and play an early warning departure prompt tone through the airborne broadcast on the drone when it is determined that there is a target object in the downstream river area.

[0050] Optionally, the inspection area includes multiple ones of a downstream river area, a flood discharge area, a power generation equipment area and a warehouse area.

[0051] According to a third aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0052] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising:

[0053] a memory having a computer program stored thereon;

[0054] A processor is used to execute the computer program in the memory to implement the steps of any one of the methods in the first aspect.

[0055] Through the above technical solution, at least the following beneficial effects can be achieved:

[0056] The system determines the sub-regional inspection paths of the drone within each inspection area and the regional flight paths between inspection areas based on the security level and geographic location of the inspection sub-regions within each inspection area; determines the inspection flight altitude and inspection flight speed of the drone in each inspection sub-region based on current weather conditions; controls the drone to perform inspection tasks in the corresponding inspection area according to the sub-regional inspection paths and the inspection flight altitude and inspection flight speed; and controls the drone to proceed to the next inspection area according to the regional flight path when all inspection tasks corresponding to the inspection sub-regions within the inspection area are completed. The system can automatically plan drone inspection paths and flight paths, allowing the drone to fly to any area to perform inspection tasks, ensuring the comprehensiveness of the hydropower plant's inspections. Furthermore, the system determines the inspection flight altitude and inspection flight speed based on current weather conditions, improving inspection efficiency and accuracy while ensuring the comprehensiveness of the inspections.

[0057] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0059] Figure 1 The present invention is a flowchart of a method for inspecting a hydropower plant using a drone according to an exemplary embodiment.

[0060] Figure 2 The present invention is a block diagram of a drone hydropower plant inspection device according to an exemplary embodiment.

[0061] Figure 3 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0062] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0063] Figure 1 The flowchart of a method for inspecting a hydropower plant using a drone is shown in accordance with an exemplary embodiment. The method can be applied to inspecting hydropower plants using drones. The method includes:

[0064] In step S11, based on the security level and geographical location of the inspection sub-areas in each inspection area, the sub-area inspection path of the drone within each inspection area and the regional flight path between the inspection areas are determined;

[0065] In the embodiment of the present disclosure, the inspection sub-area with a higher security level can be inspected first, and the inspection sub-area with a lower security level can be inspected later. Of course, the geographical location must also be fully considered to avoid the drone from having to inspect back and forth, resulting in low inspection efficiency.

[0066] In the embodiment of the present disclosure, the sub-area inspection path of the drone within each inspection area and the regional flight path between inspection areas can also be determined based on the security level, geographical location and preset inspection time of the inspection sub-area in each inspection area.

[0067] In step S12, the inspection flight altitude and inspection flight speed of the UAV in each inspection sub-area are determined according to the current weather conditions;

[0068] It is understood that weather conditions can refer to visibility, temperature, and humidity. For example, the lower the visibility, the lower the inspection flight altitude and the slower the inspection flight speed. The higher the temperature and humidity, the higher the inspection altitude can be for live or metal equipment to maintain a safe distance from the live equipment, and the slower the inspection flight speed can be to avoid missed inspections.

[0069] In step S13, according to the sub-area inspection path, the UAV is controlled to perform the inspection task in the corresponding inspection area according to the inspection flight altitude and inspection flight speed;

[0070] It can be understood that all inspection sub-areas within each inspection area are inspected in the order of the sub-area inspection paths.

[0071] In step S14, when the inspection tasks corresponding to all inspection sub-areas in the inspection area are completed, the drone is controlled to go to the next inspection area according to the regional flight path.

[0072] The above technical solution determines the drone's sub-regional inspection path within each inspection area and the regional flight path between inspection areas based on the security level and geographical location of the inspection sub-areas within each inspection area; determines the drone's inspection flight altitude and inspection flight speed in each inspection sub-area based on current weather conditions; controls the drone to perform inspection tasks in the corresponding inspection area according to the sub-regional inspection path and the inspection flight altitude and inspection flight speed; and controls the drone to proceed to the next inspection area according to the regional flight path when all inspection tasks corresponding to the inspection sub-areas within the inspection area are completed. The drone's inspection path and flight path can be automatically planned, allowing the drone to fly to any area to perform inspection tasks, ensuring the comprehensiveness of the hydropower plant's inspections. Furthermore, the inspection flight altitude and inspection flight speed are determined based on current weather conditions, improving inspection efficiency and accuracy while ensuring the comprehensiveness of the inspection.

[0073] Optionally, in step S14, when the inspection tasks corresponding to all inspection sub-areas within the inspection area are completed, controlling the drone to go to the next inspection area according to the regional flight path includes:

[0074] When the inspection tasks corresponding to all inspection sub-areas within the inspection area are completed, the remaining battery power of the drone, the inspection power consumption of the next inspection area, and the flight power consumption of the last inspection sub-area in the sub-area inspection path corresponding to the next inspection area and the drone's landing pad are obtained;

[0075] In the embodiment of the present disclosure, the remaining battery power can be obtained through the battery management system or CPU parameters, and the inspection power consumption and flight power consumption of the next inspection area are obtained based on the historical inspection process.

[0076] When the remaining battery power is less than the sum of the inspection power consumption and the flight power consumption, determining a target inspection sub-area in the next inspection area according to the safety level of the inspection sub-area in the next inspection area and the remaining battery power;

[0077] Among them, the inspection sub-area list can be determined from high to low security levels, the first power consumption of the inspection between each inspection sub-area from the inspection sub-area with the highest security level to the inspection sub-area with the lowest security level, and the second power consumption of each inspection sub-area to the apron, and based on multiple first power consumptions and second power consumptions, the target inspection sub-area that meets the remaining battery power is determined.

[0078] It can be understood that when the remaining battery power is greater than or equal to the sum of the inspection power consumption and the flight power consumption, the drone flight is controlled according to the sub-area inspection path and regional flight path corresponding to the next inspection area.

[0079] Determining a first temporary inspection path and a first temporary flight path of the UAV according to the geographical location of the target inspection sub-area;

[0080] According to the first temporary inspection path and the first temporary flight path, the UAV is controlled to go to the next inspection area to perform the inspection task.

[0081] Optionally, the method comprises:

[0082] Obtaining inspected sub-areas in the first temporary inspection path where inspection tasks have been completed;

[0083] Determining a sub-area to be inspected in the next inspection area based on the inspected sub-area;

[0084] A second temporary inspection path corresponding to the next inspection area is determined according to the geographical location and security level of the sub-area to be inspected.

[0085] Optionally, determining the first temporary flight path of the UAV according to the geographical location of the target inspection sub-area includes:

[0086] Determining a first temporary flight sub-path according to the geographical location of the last inspection sub-area in the inspection area where the inspection task is completed and the geographical location of the first inspection sub-area in the next inspection area;

[0087] A second temporary flight sub-path is determined according to the geographical location of the first inspection sub-area in the next inspection area and the geographical location of the apron, where the first temporary flight path includes the first temporary flight sub-path and the second temporary flight sub-path.

[0088] Optionally, in step S12, determining the inspection flight altitude and inspection flight speed of the UAV in each inspection sub-area according to current weather conditions includes:

[0089] When the inspection area includes a downstream river area, obtaining historical river inspection logs;

[0090] Determining a target inspection river section from the historical river inspection log, wherein the target inspection river section is a river section where a target object has appeared in the river section history, and the target object includes animals and people;

[0091] Based on the geographical location of the target inspection river section and the current weather conditions, the inspection flight altitude and inspection flight speed of the target inspection river section are determined, and based on the current weather conditions, the inspection flight altitude and inspection flight speed of other river sections in the downstream river area except the target inspection river section are determined.

[0092] Optionally, the method comprises:

[0093] When it is determined that a target object exists in the downstream river area, an annotated image of the object is sent to the monitoring center, and an early warning to leave is played through the airborne broadcast on the UAV.

[0094] Optionally, the inspection area includes multiple ones of a downstream river area, a flood discharge area, a power generation equipment area and a warehouse area.

[0095] Based on the same concept, the present disclosure also provides a drone inspection device for hydropower plants, see Figure 2 As shown, the device 200 includes:

[0096] The first determination module 210 is configured to determine the sub-region inspection path of the drone within each inspection area and the regional flight path between inspection areas based on the security level and geographical location of the inspection sub-region in each inspection area;

[0097] The second determining module 220 is configured to determine the inspection flight altitude and inspection flight speed of the UAV in each inspection sub-area according to current weather conditions;

[0098] The first control module 230 is configured to control the UAV to perform the inspection task in the corresponding inspection area according to the sub-area inspection path and the inspection flight altitude and inspection flight speed;

[0099] The second control module 240 is configured to control the UAV to go to the next inspection area according to the regional flight path when the inspection tasks corresponding to all inspection sub-areas in the inspection area are completed.

[0100] The above-mentioned device can automatically plan the inspection route and flight path of the drone. The drone can fly to any area to perform inspection tasks, which can meet the comprehensive inspection requirements of the hydropower plant. The inspection flight altitude and inspection flight speed are determined according to the current weather. On the basis of ensuring the comprehensiveness of the inspection, the inspection efficiency and accuracy are improved.

[0101] Optionally, the second control module 240 is configured to:

[0102] When the inspection tasks corresponding to all inspection sub-areas within the inspection area are completed, the remaining battery power of the drone, the inspection power consumption of the next inspection area, and the flight power consumption of the last inspection sub-area in the sub-area inspection path corresponding to the next inspection area and the drone's landing pad are obtained;

[0103] When the remaining battery power is less than the sum of the inspection power consumption and the flight power consumption, determining a target inspection sub-area in the next inspection area according to the safety level of the inspection sub-area in the next inspection area and the remaining battery power;

[0104] Determining a first temporary inspection path and a first temporary flight path of the UAV according to the geographical location of the target inspection sub-area;

[0105] According to the first temporary inspection path and the first temporary flight path, the UAV is controlled to go to the next inspection area to perform the inspection task.

[0106] Optionally, the second control module 240 is configured to:

[0107] Obtaining inspected sub-areas in the first temporary inspection path where inspection tasks have been completed;

[0108] Determining a sub-area to be inspected in the next inspection area based on the inspected sub-area;

[0109] A second temporary inspection path corresponding to the next inspection area is determined according to the geographical location and security level of the sub-area to be inspected.

[0110] Optionally, the second control module 240 is configured to:

[0111] Determining a first temporary flight sub-path according to the geographical location of the last inspection sub-area in the inspection area where the inspection task is completed and the geographical location of the first inspection sub-area in the next inspection area;

[0112] A second temporary flight sub-path is determined according to the geographical location of the first inspection sub-area in the next inspection area and the geographical location of the apron, where the first temporary flight path includes the first temporary flight sub-path and the second temporary flight sub-path.

[0113] Optionally, the second determining module 220 is configured to:

[0114] When the inspection area includes a downstream river area, obtaining historical river inspection logs;

[0115] Determining a target inspection river section from the historical river inspection log, wherein the target inspection river section is a river section where a target object has appeared in the river section history, and the target object includes animals and people;

[0116] Based on the geographical location of the target inspection river section and the current weather conditions, the inspection flight altitude and inspection flight speed of the target inspection river section are determined, and based on the current weather conditions, the inspection flight altitude and inspection flight speed of other river sections in the downstream river area except the target inspection river section are determined.

[0117] Optionally, the device 200 includes an early warning module, which is configured to send an object annotation image to a monitoring center and play an early warning departure prompt sound through the airborne broadcast on the drone when it is determined that there is a target object in the downstream river area.

[0118] Optionally, the inspection area includes multiple ones of a downstream river area, a flood discharge area, a power generation equipment area and a warehouse area.

[0119] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0120] The embodiments of the present disclosure also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the drone hydropower plant inspection method described in any one of the above embodiments.

[0121] The present disclosure also provides an electronic device, including:

[0122] a memory having a computer program stored thereon;

[0123] A processor is used to execute the computer program in the memory to implement the steps of the drone hydropower plant inspection method described in any one of the above embodiments.

[0124] Figure 3 FIG. 1 is a block diagram of an electronic device 300 according to an exemplary embodiment. Figure 3 As shown, the electronic device 300 may include: a processor 301 , a memory 302 , and may further include one or more of a multimedia component 303 , an input / output (I / O) interface 304 , and a communication component 305 .

[0125] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned drone hydropower plant inspection method. The memory 302 is used to store various types of data to support the operation of the electronic device 300. This data may include, for example, instructions for any application or method operating on the electronic device 300, as well as application-related data, such as contact information, sent and received messages, images, audio, video, etc. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 303 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 302 or transmitted via the communication component 305. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 304 provides an interface between the processor 301 and other interface modules. The aforementioned other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 305 is used for wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more thereof, is not limited here. Therefore, the corresponding communication component 305 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0126] In an exemplary embodiment, the electronic device 300 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-mentioned drone hydropower plant inspection method.

[0127] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When executed by a processor, the program instructions implement the steps of the aforementioned drone hydropower plant inspection method. For example, the computer-readable storage medium may be the aforementioned memory 302 including the program instructions. The program instructions may be executed by the processor 301 of the electronic device 300 to implement the aforementioned drone hydropower plant inspection method.

[0128] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0129] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0130] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A method for inspecting a hydropower plant using a drone, characterized in that: The method comprises: Determining the sub-region inspection path of the drone within each inspection area and the regional flight path between inspection areas based on the security level and geographical location of the inspection sub-regions in each inspection area; Determining the inspection flight altitude and inspection flight speed of the UAV in each inspection sub-area according to current weather conditions; According to the inspection path of the sub-area, and based on the inspection flight altitude and inspection flight speed, the UAV is controlled to perform the inspection task in the corresponding inspection area; When the inspection tasks corresponding to all inspection sub-areas in the inspection area are completed, the drone is controlled to proceed to the next inspection area along the flight path of the area; Wherein, when the inspection tasks corresponding to all inspection sub-areas in the inspection area are completed, controlling the UAV to go to the next inspection area according to the regional flight path includes: When the inspection tasks corresponding to all inspection sub-areas within the inspection area are completed, the remaining battery power of the drone, the inspection power consumption of the next inspection area, and the flight power consumption of the last inspection sub-area in the sub-area inspection path corresponding to the next inspection area and the drone's landing pad are obtained; When the remaining battery power is less than the sum of the inspection power consumption and the flight power consumption, determining a target inspection sub-area in the next inspection area according to the safety level of the inspection sub-area in the next inspection area and the remaining battery power; Determining a first temporary inspection path and a first temporary flight path of the UAV according to the geographical location of the target inspection sub-area; According to the first temporary inspection path and the first temporary flight path, the UAV is controlled to go to the next inspection area to perform the inspection task.

2. The method according to claim 1, characterized in that Determining the inspection flight altitude and inspection flight speed of the UAV in each inspection sub-area according to the current weather conditions includes: When the inspection area includes a downstream river area, obtaining historical river inspection logs; Determining a target inspection river section from the historical river inspection log, wherein the target inspection river section is a river section where a target object has appeared in the river section history, and the target object includes animals and people; Based on the geographical location of the target inspection river section and the current weather conditions, the inspection flight altitude and inspection flight speed of the target inspection river section are determined, and based on the current weather conditions, the inspection flight altitude and inspection flight speed of other river sections in the downstream river area except the target inspection river section are determined.

3. The method according to claim 2, characterized in that The method comprises: When it is determined that a target object exists in the downstream river area, an annotated image of the object is sent to the monitoring center, and an early warning to leave is played through the airborne broadcast on the UAV.

4. The method according to any one of claims 1 to 3, characterized in that The inspection area includes multiple ones of the downstream river area, the flood discharge area, the power generation equipment area and the warehouse area.

5. A drone inspection device for hydropower plants, characterized in that: The device comprises: A first determination module is configured to determine a sub-region inspection path of the drone within each inspection area and a regional flight path between inspection areas based on the security level and geographical location of the inspection sub-regions in each inspection area; A second determining module is configured to determine the inspection flight altitude and inspection flight speed of the UAV in each inspection sub-area according to current weather conditions; A first control module is configured to control the UAV to perform an inspection task in the corresponding inspection area according to the sub-area inspection path and the inspection flight altitude and inspection flight speed; The second control module is configured to control the UAV to go to the next inspection area according to the regional flight path when the inspection tasks corresponding to all inspection sub-areas in the inspection area are completed; The second control module is configured to: When the inspection tasks corresponding to all inspection sub-areas within the inspection area are completed, the remaining battery power of the drone, the inspection power consumption of the next inspection area, and the flight power consumption of the last inspection sub-area in the sub-area inspection path corresponding to the next inspection area and the drone's landing pad are obtained; When the remaining battery power is less than the sum of the inspection power consumption and the flight power consumption, determining a target inspection sub-area in the next inspection area according to the safety level of the inspection sub-area in the next inspection area and the remaining battery power; Determining a first temporary inspection path and a first temporary flight path of the UAV according to the geographical location of the target inspection sub-area; According to the first temporary inspection path and the first temporary flight path, the UAV is controlled to go to the next inspection area to perform the inspection task.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

7. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 4.

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