Satellite and unmanned aerial vehicle cooperative railway inspection efficiency evaluation method and storage medium

Abstract

The invention discloses a satellite and unmanned aerial vehicle cooperative railway inspection efficiency evaluation method and a storage medium, and the method comprises the steps: determining an inspection mode of satellite and unmanned aerial vehicle cooperative railway inspection according to a satellite type and an unmanned aerial vehicle type; then determining each influence factor influencing the inspection efficiency and each inspection efficiency evaluation index; and then the maximum inspection efficiency of the railway to be inspected is calculated according to the influence factors and the inspection efficiency evaluation indexes, so that a scientific guiding effect is achieved on efficiency evaluation of railway inspection, workers can conveniently select the inspection mode with the optimal efficiency, and the inspection efficiency and benefits can be improved.

Description

Technical Field

[0001] The present invention relates to the field of satellite inspection, and in particular to a method and storage medium for evaluating the effectiveness of satellite and unmanned aerial vehicle collaborative railway inspection. Background Art

[0002] At present, the forms of railway inspection include on-board (additional) inspection, fixed equipment (such as monitoring and sensors in special areas) and manual inspection, among which manual inspection accounts for the vast majority. The inspection angles of on-board inspection and fixed equipment inspection are relatively fixed, with poor flexibility and large observation blind spots; manual inspection is mainly based on walking along the line, visual inspection, manual measurement and other methods. Although flexibility has been improved, there are problems such as low operating efficiency, dangerous inspection environment, low measurement accuracy, and detection blind spots. At the same time, there are problems such as inspection materials mainly taking paper photos and lacking digital support, and the lack of coordination and sharing between professionals; the above problems will gradually become more acute as the railway train operation speed increases, the skylight maintenance time is further shortened, and the labor volume is controlled.

[0003] Compared with manual inspection, drones have fast flight speed, are more maneuverable and flexible, and can obtain ground information by carrying a variety of sensor equipment. They have the characteristics of fast data acquisition and high data accuracy. With the maturity of drone technology, it has also achieved good results in railway inspection. Satellite remote sensing has the characteristics of wide monitoring range and high frequency. It can accurately, effectively, quickly and timely provide data with multiple resolutions, which can effectively improve the shortcomings of long manual line inspection cycle and high labor intensity, and greatly improve the intensity and efficiency of railway inspection.

[0004] Nowadays, satellite remote sensing and drone aerial photography and surveying are gradually being used in the railway inspection industry for coordinated inspections. However, the existing technology lacks methods for comprehensive evaluation of the above inspection methods, which makes it impossible to maximize the effectiveness of railway inspections, affecting the efficiency and benefits of railway inspection operations. Summary of the invention

[0005] To achieve the above-mentioned purpose and other related purposes, the present invention discloses a method for evaluating the effectiveness of satellite and UAV collaborative railway inspection, comprising:

[0006] Determine the inspection mode of satellite and drone collaborative railway inspection based on the type of satellite and drone;

[0007] Determine the various influencing factors and inspection efficiency evaluation indicators that affect inspection efficiency;

[0008] According to the influencing factors and inspection efficiency evaluation indicators, the maximum inspection efficiency of the railway to be inspected is calculated.

[0009] Furthermore, the inspection modes include: 0.5m resolution satellite inspection mode, 1m resolution satellite inspection mode, fixed-wing UAV inspection mode, multi-rotor UAV inspection mode, 0.5m resolution satellite inspection and 1m resolution satellite inspection mode, 0.5m resolution satellite inspection and fixed-wing UAV inspection mode, 0.5m resolution satellite inspection and multi-rotor UAV inspection mode, 1m resolution satellite inspection and fixed-wing UAV inspection mode, 1m resolution satellite inspection and multi-rotor UAV inspection mode, fixed-wing UAV inspection and multi-rotor UAV inspection mode, 0.5m resolution satellite inspection mode + 1m resolution satellite inspection mode + fixed-wing UAV inspection mode, 0.5m resolution satellite inspection mode + 1m resolution satellite inspection mode + multi-rotor UAV inspection mode.

[0010] Furthermore, the influencing factors include terrain conditions, weather conditions and inspection types, wherein the terrain conditions include plains, hills, and mountain rivers; the weather conditions include good and bad; and the performance evaluation indicators include quality indicator performance, safety indicator performance, efficiency indicator performance and economic indicator performance.

[0011] Furthermore, the maximum inspection efficiency is:

[0012]

[0013] Among them, g is the total number of terrain sections on the railway inspection line, i is the i-th terrain section on the railway inspection line, is the maximum value of the inspection efficiency under different inspection modes in the i-th terrain section; the inspection efficiency under different inspection modes is:

[0014]

[0015] in, is the inspection efficiency of the uth inspection mode on the i-th terrain section on the railway inspection line, t i1 is the length of time that the weather is good on the i-th terrain section, t i2 is the length of time that the weather is bad on the ith terrain section, t i is the total duration of weather conditions on the i-th terrain section, The inspection quality index performance evaluation value of the u-th inspection method in good weather on the i-th railway inspection section, The efficiency evaluation value of the inspection quality index of the uth inspection method under bad weather conditions on the i-th railway inspection section; is the inspection safety index performance evaluation value of the u-th inspection method in good weather on the i-th railway inspection section, is the inspection safety index effectiveness evaluation value of the u-th inspection method under severe weather conditions on the i-th railway inspection section; is the inspection efficiency index performance evaluation value of the u-th inspection method in good weather on the i-th railway inspection section, is the effectiveness evaluation value of the inspection efficiency index of the u-th inspection method under bad weather conditions on the i-th railway inspection section; is the inspection economic index performance evaluation value of the u-th inspection method in good weather on the i-th railway inspection section, is the evaluation value of the economic index efficiency of the u-th inspection method in the i-th railway inspection section under bad weather conditions, n is the proportion of quality index efficiency, m is the proportion of safety index efficiency, p is the proportion of efficiency index efficiency, and q is the proportion of economic index efficiency.

[0016] Furthermore, the n, m, p, and q are obtained based on the Delphi method.

[0017] Furthermore, the quality indicator performance includes the recognition rate of color steel tiles, plastic greenhouses and external construction, the recognition rate of burning, the recognition rate of various devices and the recognition rate of power supply equipment defects, among which:

[0018] Q=n 1 Q 1 +n 2 Q 2 +n 3 Q 3 +n 4 Q 4

[0019] Among them, Q is the quality index efficiency Q 1 =(1-Q 11 )×Q 12 , Q 2 =(1-Q 21 )×Q 22 , Q 3 =(1-Q 31 )×Q 32 , Q 4 =(1-Q 41 )×Q 42 , Q 1 Q is the recognition rate of color steel tiles, plastic greenhouses and external construction. 11 Q is the recognition rate of color steel tiles and plastic greenhouses in railway inspection lines and the blind spot rate of external construction recognition. 12 The recognition rate of color steel tiles, plastic greenhouses and external construction in railway inspection lines; Q 2 is the recognition rate of burning wasteland, Q 21 is the blind spot rate of burning identification in railway inspection lines, Q 22 is the identification rate of burnt wasteland in railway inspection lines; Q 3 is the recognition rate of various devices, Q 31 Q is the blind spot rate of various devices in railway inspection lines;32 is the recognition rate of various devices in the railway inspection line; Q 4 is the power supply equipment defect recognition rate, Q 41 is the blind spot rate of power supply equipment defect identification in railway inspection lines, Q 42 is the defect recognition rate of power supply equipment in railway inspection lines, n 1 is the proportion of color steel tile, plastic greenhouse recognition rate and external construction recognition rate in the quality index performance, n 2 is the proportion of the burning identification rate in the quality index performance, n 3 is the proportion of each type of device recognition rate in the quality indicator performance, n 4 It is the proportion of power supply equipment defect recognition rate in the quality indicator performance.

[0020] Furthermore, the safety index performance includes personal safety performance and equipment safety performance, wherein:

[0021] S=m 1 S 1 +m 2 S 2

[0022] Among them, S 1 For the personal safety efficiency during railway inspection; 1 is the proportion of personal safety efficiency in the railway inspection process; S 2 The safety performance of the railway inspection process equipment, m 2 is the proportion of equipment safety in the railway inspection process, where S 2 =m 21 S 21 +m 22 S 22 +m 23 S 23 , S 21 For the safety performance of various railway equipment during railway inspection, S 22 To evaluate the safety and effectiveness of drones in railway inspection, S 23 is the road transport safety efficiency, m 21 For railway equipment S 21 Proportion of equipment safety performance, m 22 Safety of UAVs in Railway Inspection 22 Proportion of equipment safety performance, m 23 It is the proportion of road transport safety efficiency in equipment safety efficiency during railway inspection.

[0023] Furthermore, the efficiency index performance is obtained by the following method:

[0024] E=E 1 +E2

[0025] E is the efficiency index, E 1 is the inspection efficiency of drones, E 2 For satellite inspection efficiency;

[0026] When drones are involved in inspections, the efficiency of drone inspections is:

[0027]

[0028] Among them, L 巡检 is the inspection distance of the UAV, and V is the inspection speed of the UAV;

[0029] When the satellite participates in the inspection, the satellite inspection efficiency is:

[0030]

[0031] Among them, L 星巡 is the satellite inspection distance, R 星巡 Satellite resolution, The influence coefficient of weather conditions on satellite inspection, V 数据处理 It is the processing speed of satellite remote sensing image data.

[0032] Furthermore, the economic indicator performance includes inspection costs and equipment costs, which are obtained by:

[0033] C=C 1 +C 2 , where C 1 is the inspection fee, C 2 is the equipment cost, which can be calculated from the data statistics of previous years;

[0034] C 1 =D 1 +D 2

[0035] D 1 Inspection fees for drone inspections:

[0036]

[0037] Among them, L 巡检 is the inspection distance of the UAV, l i is the length of a single section of inspection, is the influence coefficient of the ith terrain on the flight distance of the UAV, This is the inspection fee for a single drone.

[0038] D 2 Inspection fee for satellite inspection:

[0039]

[0040] in, is the satellite remote sensing image inspection fee per square kilometer, L 星巡 is the length of the inspection.

[0041] On the other hand, the present invention further discloses a computer-readable storage medium on which a computer program is stored, and the program implements the above method when executed by a processor.

[0042] By adopting the above technical scheme, firstly, the inspection mode of satellite and UAV collaborative railway inspection is determined according to the satellite type and the UAV type; then, the various influencing factors and inspection efficiency evaluation indicators affecting the inspection efficiency are determined; then, based on the influencing factors and inspection efficiency evaluation indicators, the maximum inspection efficiency of the railway to be inspected is calculated, which plays a scientific guiding role in the efficiency evaluation of railway inspection, facilitates the staff to choose the inspection method with the best efficiency, and helps to improve the efficiency and benefits of the inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, among which:

[0044] Figure 1 A flowchart of a method for evaluating the effectiveness of railway inspection by satellite and UAV collaboration is provided; DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0046] Reference Figure 1 The embodiment of the present invention provides a method for evaluating the effectiveness of railway inspection by satellite and UAV collaboration, comprising the following steps:

[0047] S1: Determine the inspection mode of satellite and drone collaborative railway inspection based on the satellite type and drone type.

[0048] Specifically, in the environmental inspection scene along the railway, the inspection targets are color steel tiles, plastic greenhouses, and burning wasteland, etc., and satellite and drone collaborative inspection can be used. Satellite inspection is divided into 0.5m resolution satellite inspection and 1m resolution satellite inspection based on the comprehensive consideration of input cost, recognition accuracy, processing workload, and image resolution; drone inspection can be divided into fixed-wing drone inspection and multi-rotor drone inspection according to the type of drone. Therefore, the satellite and UAV inspection modes in railway inspection include: 0.5m resolution satellite inspection mode, 1m resolution satellite inspection mode, fixed-wing UAV inspection mode, multi-rotor UAV inspection mode, 0.5m resolution satellite inspection and 1m resolution satellite inspection mode, 0.5m resolution satellite inspection and fixed-wing UAV inspection mode, 0.5m resolution satellite inspection and multi-rotor UAV inspection mode, 1m resolution satellite inspection and fixed-wing UAV inspection mode, 1m resolution satellite inspection and multi-rotor UAV inspection mode, fixed-wing UAV inspection and multi-rotor UAV inspection mode, 0.5m resolution satellite inspection mode + 1m resolution satellite inspection mode + fixed-wing UAV inspection mode, 0.5m resolution satellite inspection mode + 1m resolution satellite inspection mode + multi-rotor UAV inspection mode.

[0049] As described above, by combining multiple inspection modes and subsequently obtaining the inspection efficiencies of the multiple inspection modes, it is helpful to obtain the inspection mode with the highest efficiency and to obtain the best inspection mode.

[0050] S2: Determine the various influencing factors and inspection efficiency evaluation indicators that affect the inspection efficiency.

[0051] Specifically, the influencing factors include terrain conditions, weather conditions and inspection types, wherein the terrain conditions include plains, hills, and mountain rivers; the weather conditions include good and bad; and the performance evaluation indicators include quality indicator performance, safety indicator performance, efficiency indicator performance and economic indicator performance.

[0052] The quality index performance includes the recognition rate of color steel tiles, plastic greenhouses and external construction, the recognition rate of burning, the recognition rate of various devices and the recognition rate of power supply equipment defects, among which:

[0053] Q=n 1 Q 1 +n 2 Q 2 +n 3 Q 3 +n 4 Q 4

[0054] Among them, Q is the quality index efficiency Q 1 =(1-Q 11 )×Q 12 , Q2 =(1-Q 21 )×Q 22 , Q 3 =(1-Q 31 )×Q 32 , Q 4 =(1-Q 41 )×Q 42 , Q 1 Q is the recognition rate of color steel tiles, plastic greenhouses and external construction. 11 Q is the recognition rate of color steel tiles and plastic greenhouses in railway inspection lines and the blind spot rate of external construction recognition. 12 The recognition rate of color steel tiles, plastic greenhouses and external construction in railway inspection lines; Q 2 is the recognition rate of burning wasteland, Q 21 is the blind spot rate of burning identification in railway inspection lines, Q 22 is the identification rate of burnt wasteland in railway inspection lines; Q 3 is the recognition rate of various devices, Q 31 Q is the blind spot rate of various devices in railway inspection lines; 32 is the recognition rate of various devices in the railway inspection line; Q 4 is the power supply equipment defect recognition rate, Q 41 is the blind spot rate of power supply equipment defect identification in railway inspection lines, Q 42 is the defect recognition rate of power supply equipment in railway inspection lines, n 1 is the proportion of color steel tile, plastic greenhouse recognition rate and external construction recognition rate in the quality index performance, n 2 is the proportion of the burning identification rate in the quality index performance, n 3 is the proportion of each type of device recognition rate in the quality indicator performance, n 4 It is the proportion of power supply equipment defect recognition rate in the quality indicator performance.

[0055] Above, n 1 、n 2 、n 3 、n 4 The results are obtained through the hierarchical analysis method. Specifically, the efficiency indicators of railway inspection coordinated by satellites and drones in various modes are divided into three levels. Among them, the first-level indicators include: efficiency indicators; the second-level indicators include: quality indicators, safety indicators, efficiency indicators and economic indicators; the third-level indicators include off-road environment indicators corresponding to quality (color steel tiles, plastic greenhouses, external construction and burning identification indicators), auxiliary facilities indicators (various device identification indicators), and facilities and equipment indicators (power supply equipment defect identification indicators); the safety indicators correspond to personal safety indicators and equipment safety indicators, the efficiency indicators correspond to inspection efficiency indicators, and the economic indicators correspond to inspection cost indicators and equipment cost indicators, as shown in Table 1:

[0056]

[0057] Table 1

[0058] After the construction of Table 1, the subsequent steps were carried out through the analytic hierarchy process to obtain n 1 、n 2 、n 3 、n 4 The method is prior art and will not be described in detail here.

[0059] The safety index performance includes personal safety performance and equipment safety performance, among which:

[0060] S=m 1 S 1 +m 2 S 2

[0061] Among them, S 1 For the personal safety efficiency during railway inspection; 1 is the proportion of personal safety efficiency in the railway inspection process; S 2 The safety performance of the railway inspection process equipment, m 2 is the proportion of equipment safety in the railway inspection process, where S 2 =m 21 S 21 +m 22 S 22 +m 23 S 23 , S 21 For the safety performance of various railway equipment during railway inspection, S 22 To evaluate the safety and effectiveness of drones in railway inspection, S 23 is the road transport safety efficiency, m 21 For railway equipment S 21 Proportion of equipment safety performance, m 22 Safety of UAVs in Railway Inspection 22 Proportion of equipment safety performance, m 23 It is the proportion of road transport safety efficiency in equipment safety efficiency during railway inspection.

[0062] Among them, m 1 、m 2 、m 21 、m 22 、m 23 All of them are obtained through the hierarchical analysis method and will not be repeated here.

[0063] The efficiency index performance is obtained by the following method:

[0064] E=E1 +E 2

[0065] E is the efficiency index, E 1 is the inspection efficiency of drones, E 2 is the satellite inspection efficiency. When UAVs are involved in the inspection, the UAV inspection efficiency is:

[0066]

[0067] Among them, L 巡检 is the inspection distance of the UAV, and V is the inspection speed of the UAV;

[0068] When the satellite participates in the inspection, the satellite inspection efficiency is:

[0069]

[0070] Among them, L 星巡 is the satellite inspection distance, R 星巡 Satellite resolution, The influence coefficient of weather conditions on satellite inspection is set by technicians in this field. 数据处理 It is the processing speed of satellite remote sensing image data.

[0071] The economic performance includes inspection costs and equipment costs, and is obtained in the following ways:

[0072] C=C 1 +C 2 , where C 1 is the inspection fee, C 2 is the equipment cost, which can be calculated from the data statistics of previous years;

[0073] C 1 =D 1 +D 2

[0074] D 1 Inspection fees for drone inspections:

[0075]

[0076] Among them, L 巡检 is the inspection distance of the UAV, l i is the length of a single section of inspection, is the influence coefficient of the ith terrain on the flight distance of the UAV, This is the inspection fee for a single drone.

[0077] D 2 Inspection fee for satellite inspection:

[0078]

[0079] in, is the satellite remote sensing image inspection fee per square kilometer, L 星巡 is the length of the inspection.

[0080] S3: Calculate the maximum inspection efficiency of the railway to be inspected based on the influencing factors and inspection efficiency evaluation indicators.

[0081] The maximum inspection efficiency is:

[0082]

[0083] Among them, g is the total number of terrain sections on the railway inspection line, i is the i-th terrain section on the railway inspection line, is the maximum value of the inspection efficiency under different inspection modes in the i-th terrain section; the inspection efficiency under different inspection modes is:

[0084]

[0085] in, is the inspection efficiency of the uth inspection mode on the i-th terrain section on the railway inspection line, t i1 is the length of time that the weather is good on the i-th terrain section, t i2 is the length of time that the weather is bad on the ith terrain section, t i is the total duration of weather conditions on the i-th terrain section, The inspection quality index performance evaluation value of the u-th inspection method in good weather on the i-th railway inspection section, The efficiency evaluation value of the inspection quality index of the uth inspection method under bad weather conditions on the i-th railway inspection section; is the inspection safety index performance evaluation value of the u-th inspection method in good weather on the i-th railway inspection section, is the inspection safety index effectiveness evaluation value of the u-th inspection method under severe weather conditions on the i-th railway inspection section; is the inspection efficiency index performance evaluation value of the u-th inspection method in good weather on the i-th railway inspection section, is the effectiveness evaluation value of the inspection efficiency index of the u-th inspection method under bad weather conditions on the i-th railway inspection section; is the inspection economic index performance evaluation value of the u-th inspection method in good weather on the i-th railway inspection section, is the performance evaluation value of economic indicators of the u-th inspection method in the i-th railway inspection section under bad weather conditions, n is the proportion of quality indicator performance, m is the proportion of safety indicator performance, p is the proportion of efficiency indicator performance, q is the proportion of economic indicator performance, and n, m, p, and q are obtained based on the Delphi method and will not be repeated here.

[0086] This embodiment discloses a method for evaluating the effectiveness of satellite and UAV collaborative railway inspection. First, the inspection mode of satellite and UAV collaborative railway inspection is determined according to the satellite type and the UAV type; then, various influencing factors and inspection effectiveness evaluation indicators that affect the inspection effectiveness are determined; then, based on the influencing factors and the inspection effectiveness evaluation indicators, the maximum inspection effectiveness of the railway to be inspected is calculated, which plays a scientific guiding role in the effectiveness evaluation of railway inspection, facilitates the staff to select the inspection method with the best effectiveness, and helps to improve the efficiency and benefits of the inspection.

[0087] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above method is implemented.

[0088] Those skilled in the art will appreciate that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined.

[0089] For the method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0090] It can be known from the description of the above implementation modes that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute the methods described in the various implementation modes of the present application or certain parts of the implementation modes.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for evaluating the effectiveness of railway inspection by satellite and UAV collaboration, characterized in that: include: Determine the inspection mode of satellite and drone collaborative railway inspection based on the type of satellite and drone; Determine the various influencing factors and inspection efficiency evaluation indicators that affect inspection efficiency; According to the influencing factors and inspection efficiency evaluation indicators, the maximum inspection efficiency of the railway to be inspected is calculated.

2. The method according to claim 1, characterized in that The inspection modes include: 0.5m resolution satellite inspection mode, 1m resolution satellite inspection mode, fixed-wing UAV inspection mode, multi-rotor UAV inspection mode, 0.5m resolution satellite inspection and 1m resolution satellite inspection mode, 0.5m resolution satellite inspection and fixed-wing UAV inspection mode, 0.5m resolution satellite inspection and multi-rotor UAV inspection mode, 1m resolution satellite inspection and fixed-wing UAV inspection mode, 1m resolution satellite inspection and multi-rotor UAV inspection mode, fixed-wing UAV inspection and multi-rotor UAV inspection mode, 0.5m resolution satellite inspection mode + 1m resolution satellite inspection mode + fixed-wing UAV inspection mode, 0.5m resolution satellite inspection mode + 1m resolution satellite inspection mode + multi-rotor UAV inspection mode.

3. The method according to claim 1, characterized in that The influencing factors include terrain conditions, weather conditions and inspection types, wherein the terrain conditions include plains, hills, and high mountain rivers; the weather conditions include good and bad; and the performance evaluation indicators include quality index performance, safety index performance, efficiency index performance and economic index performance.

4. The method according to claim 3, characterized in that The maximum inspection efficiency is: Among them, g is the total number of terrain sections on the railway inspection line, i is the i-th terrain section on the railway inspection line, is the maximum value of the inspection efficiency under different inspection modes in the i-th terrain section; the inspection efficiency under different inspection modes is: in, is the inspection efficiency of the uth inspection mode on the i-th terrain section on the railway inspection line, t i1 is the length of time that the weather is good on the i-th terrain section, t i2 is the length of time that the weather is bad on the ith terrain section, t i is the total duration of weather conditions on the i-th terrain section, The inspection quality index performance evaluation value of the u-th inspection method in good weather on the i-th railway inspection section, The efficiency evaluation value of the inspection quality index of the uth inspection method under bad weather conditions on the i-th railway inspection section; is the inspection safety index performance evaluation value of the u-th inspection method in good weather on the i-th railway inspection section, is the inspection safety index effectiveness evaluation value of the u-th inspection method under severe weather conditions on the i-th railway inspection section; is the inspection efficiency index performance evaluation value of the u-th inspection method in good weather on the i-th railway inspection section, is the effectiveness evaluation value of the inspection efficiency index of the u-th inspection method under bad weather conditions on the i-th railway inspection section; is the inspection economic index performance evaluation value of the u-th inspection method in good weather on the i-th railway inspection section, is the evaluation value of the economic index efficiency of the u-th inspection method in the i-th railway inspection section under bad weather conditions, n is the proportion of quality index efficiency, m is the proportion of safety index efficiency, p is the proportion of efficiency index efficiency, and q is the proportion of economic index efficiency.

5. The method according to claim 4, characterized in that The n, m, p, and q are obtained based on the Delphi method.

6. The method according to claim 3, characterized in that The quality index performance includes the recognition rate of color steel tiles, plastic greenhouses and external construction, the recognition rate of burning, the recognition rate of various devices and the recognition rate of power supply equipment defects, among which: Q=n1Q1+n2Q2+n3Q3+n4Q4 Where Q is the quality index efficiency Q1 = (1-Q 11 )×Q 12 , Q2=(1-Q 21 )×Q 22 , Q3=(1-Q 31 )×Q 32 , Q4=(1-Q 41 )×Q 42 , Q1 is the recognition rate of color steel tiles, plastic greenhouses and external construction, Q 11 Q is the recognition rate of color steel tiles and plastic greenhouses in railway inspection lines and the blind spot rate of external construction recognition. 12 The recognition rate of color steel tiles, plastic greenhouses and external construction in the railway inspection line; Q2 is the recognition rate of burning wasteland, Q 21 is the blind spot rate of burning identification in railway inspection lines, Q 22 is the identification rate of burning wasteland in railway inspection lines; Q3 is the identification rate of various devices, Q 31 Q is the blind spot rate of various devices in railway inspection lines; 32 is the recognition rate of various devices in the railway inspection line; Q4 is the recognition rate of power supply equipment defects, Q 41 is the blind spot rate of power supply equipment defect identification in railway inspection lines, Q 42 is the defect recognition rate of power supply equipment in railway inspection lines, n1 is the proportion of color steel tiles, plastic greenhouse recognition rate and external construction recognition rate in the quality index performance, n2 is the proportion of burning recognition rate in the quality index performance, n3 is the proportion of recognition rate of various devices in the quality index performance, n4 is the proportion of power supply equipment defect recognition rate in the quality index performance.

7. The method according to claim 3, characterized in that The safety index performance includes personal safety performance and equipment safety performance, among which: S=m1S1+m2S2 Among them, S1 is the personal safety efficiency during the railway inspection process; m1 is the proportion of personal safety efficiency during the railway inspection process; S2 is the safety efficiency of the equipment during the railway inspection process, and m2 is the proportion of equipment safety during the railway inspection process, where S2 = m 21 S 21 +m 22 S 22 +m 23 S 23 , S 21 For the safety performance of various railway equipment during railway inspection, S 22 To evaluate the safety and effectiveness of drones in railway inspection, S 23 is the road transport safety efficiency, m 21 For railway equipment S 21 Proportion of equipment safety performance, m 22 Safety of UAVs in Railway Inspection 22 Proportion of equipment safety performance, m 23 It is the proportion of road transport safety efficiency in equipment safety efficiency during railway inspection.

8. The method according to claim 3, characterized in that The efficiency index performance is obtained by the following method: E=E1+E2 E is the efficiency indicator, E1 is the inspection efficiency of drones, and E2 is the inspection efficiency of satellites; When drones are involved in inspections, the efficiency of drone inspections is: Among them, L 巡检 is the inspection distance of the UAV, and V is the inspection speed of the UAV; When the satellite participates in the inspection, the satellite inspection efficiency is: Among them, L 星巡 is the satellite inspection distance, R 星巡 Satellite resolution, The influence coefficient of weather conditions on satellite inspection, V 数据处理 It is the processing speed of satellite remote sensing image data.

9. The method according to claim 3, characterized in that: The economic performance includes inspection costs and equipment costs, and is obtained in the following ways: C=C1+C2, where C1 is the inspection fee and C2 is the equipment cost, which can be calculated from the statistics of previous years; C1=D1+D2 D1 is the inspection fee for drone inspection: Among them, L 巡检 is the inspection distance of the UAV, l i is the length of a single section of inspection, is the influence coefficient of the ith terrain on the flight distance of the UAV, This is the inspection fee for a single drone. D2 is the inspection fee for satellite inspection: in, is the satellite remote sensing image inspection fee per square kilometer, L 星巡 is the length of the inspection.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method described in any one of claims 1 to 9 is implemented.

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