Power inspection path planning method and device, electronic equipment and storage medium

Abstract

The invention provides an electric power inspection path planning method and device, electronic equipment and a storage medium, and the method comprises the steps: setting a search space for electric power inspection, and initializing the search space; constructing a target function based on the search space; on the basis of the objective function and a black wing supporting optimization algorithm, performing optimization iteration on position information of black wing supporting in the search space to obtain an electric power inspection path of an optimal solution; wherein the black-wing plinary optimization algorithm optimizes position information of black-wing plinary based on an attack behavior and a migration behavior. According to the method, the attack behavior and the migration behavior of black-wing plenum are simulated through the black-wing plenum optimization algorithm, and the position information of the black-wing plenum is updated, so that the electric power inspection path with the most solution is obtained, and the path planning efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and in particular to a method, device, electronic equipment and storage medium for planning a power inspection path. Background Art

[0002] With the continuous development of power systems, the importance of power inspection has become increasingly prominent. Traditional power inspection methods mainly rely on manual inspections and helicopter inspections, which have problems such as low efficiency, high cost, and high risk. In recent years, the introduction of unmanned aerial vehicles (UAVs) has provided an efficient, safe, and low-cost solution for power inspections. UAVs can quickly and accurately inspect transmission lines and detect line faults and safety hazards. However, UAVs face complex environments and obstacles during power inspections, and effective path planning methods are needed to ensure the smooth completion of inspection tasks.

[0003] Traditional path planning algorithms, such as the A* algorithm and the Dijkstra algorithm, perform well in two-dimensional environments, but often suffer from large computational complexity, low search efficiency, and easy local optimization when faced with complex terrain and dynamic obstacles in three-dimensional environments. Especially in power inspections, drones need to inspect in a wide space, covering the entire transmission line while avoiding possible obstacles, which places higher demands on path planning algorithms. Summary of the invention

[0004] The present invention provides a method, device, electronic device and storage medium for planning an electric power inspection path, which are used to solve the defect of low inspection path planning efficiency obtained in the prior art and realize the improvement of inspection path planning efficiency.

[0005] The present invention provides a method for planning a power inspection path, comprising: Setting a search space for power inspection and initializing the search space; constructing an objective function based on the search space; Based on the objective function and the black kite optimization algorithm, the location information of the black kite is optimized and iterated in the search space to obtain the optimal solution for the power inspection path; wherein the black kite optimization algorithm optimizes the location information of the black kite based on attack behavior and migration behavior.

[0006] According to a method for planning a power inspection path provided by the present invention, based on the objective function and the black kite optimization algorithm, the location information of the black kite is optimized and iterated in the search space to obtain the power inspection path of the optimal solution, including: In the current optimization iteration process, based on the objective function and the black-winged kite optimization algorithm, the target position information and the objective function value of each black-winged kite after performing the attack behavior and the migration behavior are calculated; The optimal position of each black kite is updated based on the target position information and the objective function value until the maximum number of iterations is reached or the convergence condition is met, and the optimal position of each black kite is output to obtain the optimal solution power inspection path.

[0007] According to a method for planning a power inspection path provided by the present invention, the convergence condition includes that a path change amplitude of the power inspection path obtained during a number of consecutive optimization iterations is lower than a preset threshold.

[0008] According to a method for planning a power inspection path provided by the present invention, based on the objective function and the black kite optimization algorithm, the location information of the black kite is optimized and iterated in the search space to obtain the power inspection path of the optimal solution, including: Based on the objective function and the black kite optimization algorithm, a number of black kites are randomly selected in the search space to perform optimization iterations of position information to obtain an optimal solution for the power inspection path.

[0009] According to a method for planning a power inspection path provided by the present invention, setting a search space for power inspection and initializing the search space include: Setting the starting point and the end point of the power inspection, and setting the three-dimensional boundary of the search space; Setting a plurality of path segments in the search space, and detecting whether there is an obstacle in each of the path segments; If there is an obstacle in the path segment, the path segment with the obstacle is deleted.

[0010] According to a method for planning a power inspection path provided by the present invention, constructing an objective function based on the search space includes: Based on the search space, determining path length, obstacle proximity, and line coverage; The objective function is constructed based on the path length, the obstacle proximity and the line coverage.

[0011] According to a method for planning a power inspection path provided by the present invention, based on the objective function and the black kite optimization algorithm, after optimizing and iterating the location information of the black kite in the search space to obtain the power inspection path of the optimal solution, the method further includes: The optimal solution power inspection path is used as the flight path of the UAV to perform the power inspection task, and the performance of the optimal solution power inspection path is evaluated.

[0012] The present invention also provides a power inspection path planning device, comprising: A setting module, configured to set a search space for power inspection and initialize the search space; A construction module configured to construct an objective function based on the search space; The optimization iteration module is configured to optimize and iterate the location information of the black kite in the search space based on the objective function and the black kite optimization algorithm to obtain the optimal solution of the power inspection path; wherein the black kite optimization algorithm optimizes the location information of the black kite based on the attack behavior and migration behavior.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the power inspection path planning method described in any one of the above methods is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the power inspection path planning method as described in any one of the above is implemented.

[0015] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned methods for planning a power inspection path.

[0016] The power inspection path planning method, device, electronic device and storage medium provided by the present invention, by setting the inspection search space and constructing the corresponding objective function, optimizes and iterates the power inspection path through the black kite optimization algorithm, and then obtains the power inspection path with the optimal solution. In the process of optimizing the power inspection path, the black kite optimization algorithm simulates the attack behavior and migration behavior of the black kite, and then updates the location information. By simulating these natural behaviors, the black kite individual can find the optimal path in a complex environment, and adopts an iterative method to continuously update the location information of the black kite, continuously optimize the path, and then obtain the power inspection path with the optimal solution. The black kite optimization algorithm can effectively find the global optimal solution in a complex search space, and effectively improve the efficiency of power inspection path planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1It is a flow chart of the power inspection path planning method provided by the present invention.

[0019] Figure 2 It is a structural schematic diagram of the power inspection path planning device provided by the present invention.

[0020] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Combine the following Figure 1-Figure 3 The invention describes a method, device, electronic device and storage medium for planning a power inspection path.

[0023] Figure 1 FIG. 1 is a flow chart of a method for planning a power inspection path according to an exemplary embodiment. Figure 1 As shown, in an exemplary embodiment, the power inspection route planning method includes steps 110 to 130, which are described in detail as follows.

[0024] Step 110: setting a search space for power inspection and initializing the search space.

[0025] In the embodiment of the present invention, the search space is initialized before path planning begins.

[0026] Step 120: construct an objective function based on the search space.

[0027] In an embodiment of the present invention, an objective function is constructed, and the objective function is used to calculate the objective function value when the black kite obtains new position information during the optimization iteration based on the black kite optimization algorithm. The objective function value is a fitness value to measure the quality of the new position information obtained by each black kite.

[0028] Step 130, based on the objective function and the black kite optimization algorithm, the location information of the black kite is optimized and iterated in the search space to obtain the optimal solution of the power inspection path; wherein the black kite optimization algorithm optimizes the location information of the black kite based on the attack behavior and migration behavior.

[0029] In the embodiment of the present invention, the Black-winged Kite Optimization (BKO) algorithm is a swarm intelligence optimization algorithm inspired by the flight and predation behaviors of black-winged kites in nature.

[0030] In the process of optimizing the power inspection path, the attack and migration behaviors of black kites are simulated. Black kites update their positions through attack behaviors, and adjust their positions according to environmental conditions and seasonal changes during migration behaviors. By simulating these natural behaviors, black kites can find the optimal path in a complex environment. The position and path of black kites are continuously updated in a cyclic iteration. Through multiple rounds of iterations, the path is continuously optimized to obtain the optimal power inspection path. The black kite optimization algorithm can effectively find the global optimal solution in a complex search space. Black kites show strong target positioning capabilities and flexible attack strategies during predation, and can adapt to environmental changes and choose the optimal path during migration. Applying the black kite optimization algorithm to the path planning of UAV power inspection can make full use of its global search capabilities and fast convergence characteristics in complex environments, and effectively solve the path optimization problem in the UAV inspection process.

[0031] In an exemplary embodiment of the present invention, the setting of the search space for power inspection and initialization of the search space include the following steps, which are described in detail as follows.

[0032] The starting point and the end point of the power inspection are set, and the three-dimensional boundary of the search space is set.

[0033] A plurality of path segments are set in the search space, and it is detected whether there is an obstacle in each of the path segments.

[0034] If there is an obstacle in the path segment, the path segment with the obstacle is deleted.

[0035] In the embodiment of the present invention, the starting point P1 and the end point P2 of the power inspection are set. N , and the three-dimensional boundary of the search space [x min , x max ]×[y min , y max ]×[z min , z max ]. The ideal path from the starting point to the end point is divided into N segments, and a local target point is set for each segment. Therefore, except for the starting point P1 and the end point P N A total of N-1 local target points P i (i=2,3…,N-1). These local target points are randomly distributed between the starting point and the end point, and the line connecting every two local target points forms a path segment.

[0036] Each path segment is tested to determine whether the path segment intersects with an obstacle. If the local target point P i With P i+1 If the line between them intersects with an obstacle, the path segment is deleted from the path segment array to obtain the initialized path sequence.

[0037] In an exemplary embodiment of the present invention, constructing the objective function based on the search space includes the following steps, which are described in detail as follows.

[0038] Based on the search space, path length, obstacle proximity, and line coverage are determined.

[0039] The objective function is constructed based on the path length, the obstacle proximity and the line coverage.

[0040] In the embodiment of the present invention, the objective function f constructed includes the path length L, the obstacle proximity d and the line coverage c, wherein the obstacle proximity is the distance between the path segment and the obstacle, and the line coverage is the comprehensiveness of the line coverage. Therefore, the objective function f can be expressed by the following formula:

[0041] Among them, w1, w2, w3 are weight coefficients, and di is the distance between path segment i and the obstacle.

[0042] In the embodiment of the present invention, the objective function realizes fast and efficient optimization of the power inspection path by comprehensively considering multiple factors such as path length, obstacle proximity and line coverage. This diversified consideration method improves the accuracy and efficiency of power inspection tasks.

[0043] In an exemplary embodiment of the present invention, based on the objective function and the black kite optimization algorithm, the location information of the black kite is optimized and iterated in the search space to obtain the optimal solution of the power inspection path, including the following steps, which are described in detail as follows.

[0044] In the current optimization iteration process, based on the objective function and the black kite optimization algorithm, the target position information and the objective function value of each black kite after performing attacking behavior and migrating behavior are calculated.

[0045] The optimal position of each black kite is updated based on the target position information and the objective function value until the maximum number of iterations is reached or the convergence condition is met, and the optimal position of each black kite is output to obtain the optimal solution power inspection path.

[0046] In the embodiment of the present invention, when optimizing the power inspection path, the initial positions X of M black-winged kites are randomly generated. i(i=1,2,…,M), the initial positions of these individuals will be used as the initial solutions for path optimization.

[0047] In each round of optimization iteration, the black kite is updated according to the current position information X(i,j) to simulate its attack behavior when preying. The formula corresponding to the attack behavior is as follows:

[0048] in, and They represent the position information of the i-th black-winged kite in the j-th dimension during the t-th and (t+1)-th optimization iterations respectively; r is a random number between 0 and 1, p is a constant of 0.9; T is the maximum number of iterations, and t is the number of iterations completed so far.

[0049] Each black kite obtains new position information according to its attack behavior, calculates the objective function value of the power inspection path corresponding to the new position information through the objective function, and compares the new objective function value with the objective function value of the power inspection path corresponding to the current position information. If the new objective function value is greater than the current objective function value, the new position information is better than the current position information, and it is updated to the new position information. Otherwise, it is not updated.

[0050] At a specific stage in each iteration, the seasonal migration behavior of black kites is simulated. Black kites adjust their positions according to environmental conditions and seasonal changes. During migration, black kites will determine their new position information according to the following formula:

[0051] Among them, similarly, and L represents the position information of the i-th black-winged kite in the j-dimension during the t-th and (t+1) optimization iterations. j t F represents the leading scorer of the j-th black-winged kite at the t-th iteration so far. i represents the current position information of the jth dimension obtained by any black-winged kite in the tth iteration; F ri represents the objective function value of any black kite at a random position in the jth dimension in the tth iteration; C(0,1) represents the Cauchy mutation.

[0052] Each black kite obtains new location information based on its migration behavior, evaluates the new location information, calculates the objective function value of the power inspection path corresponding to the new location information through the objective function, and compares the new objective function value with the objective function value of the power inspection path corresponding to the current location information. If the new objective function value is greater than the current objective function value, the new location information is better than the current location information, and it is updated to the new location information. Otherwise, it is not updated.

[0053] After each new location information is obtained, the objective function value of the corresponding path is evaluated. The path is evaluated and optimized based on factors such as path length, distance to obstacles, and comprehensiveness of line coverage.

[0054] In the process of path optimization, the position and path of black kites are continuously updated by using a cyclic iteration method. Through multiple rounds of iteration, the path is continuously optimized until the maximum number of iterations is reached or the convergence condition is met. The final output path is the optimized power inspection path.

[0055] In an exemplary embodiment of the present invention, the convergence condition includes that the path change amplitude of the power inspection path obtained during a number of consecutive optimization iterations is lower than a preset threshold.

[0056] In an embodiment of the present invention, after each iteration, a new power inspection path is obtained, and the path change amplitude between the new power inspection path and the previous power inspection path is calculated. If the path change amplitude for several consecutive times is less than a preset threshold, it is considered that the convergence condition is met.

[0057] In an exemplary embodiment of the present invention, based on the objective function and the black kite optimization algorithm, the location information of the black kite is optimized and iterated in the search space to obtain the optimal solution of the power inspection path, including the following steps, which are described in detail as follows.

[0058] Based on the objective function and the black kite optimization algorithm, a number of black kites are randomly selected in the search space to perform optimization iterations of position information to obtain an optimal solution for the power inspection path.

[0059] In the embodiment of the present invention, a number of black kites are randomly selected for position update to increase the diversity of path search, and a better position is selected for update by comparing the objective function values ​​of the black kites.

[0060] In an exemplary embodiment of the present invention, after optimizing and iterating the location information of the black kite in the search space based on the objective function and the black kite optimization algorithm to obtain the optimal power inspection path, the method further includes: The optimal solution power inspection path is used as the flight path of the UAV to perform the power inspection task, and the performance of the optimal solution power inspection path is evaluated as follows, which is described in detail as follows.

[0061] In an embodiment of the present invention, the obtained optimal solution power inspection path is applied to the UAV power inspection task, and the UAV flies according to the obtained power inspection path to ensure the smooth completion of the inspection task.

[0062] The final inspection path is evaluated for performance to verify its effectiveness in practical applications. Specifically, the performance evaluation can be performed by at least one of the path smoothness, path length, time complexity, space complexity, and actual running time of the power inspection path. The smoothness of the path is measured by calculating the root mean square (RMS) of the curvature to ensure that the path is both safe and easy to track; the path length is used to determine whether the algorithm can generate the shortest possible path, thereby reducing travel time; the time complexity and space complexity analysis of the algorithm provides a prediction of its performance when dealing with large-scale problems, and the record of actual running time directly reflects the efficiency of the algorithm under real conditions.

[0063] The following is a description of the power inspection path planning device provided by the present invention. The power inspection path planning device described below and the power inspection path planning method described above can be referred to each other. It should be noted that the device provided in the following embodiment and the method provided in the above embodiment belong to the same concept, and the specific way in which each module and unit performs the operation has been described in detail in the method embodiment, which will not be repeated here.

[0064] In an exemplary embodiment of the present invention, see Figure 2 , Figure 2 A power inspection path planning device according to an exemplary embodiment includes: A setting module 210, configured to set a search space for power inspection and initialize the search space; A construction module 220, configured to construct an objective function based on the search space; The optimization iteration module 230 is configured to optimize and iterate the location information of the black kite in the search space based on the objective function and the black kite optimization algorithm to obtain the optimal solution for the power inspection path; wherein the black kite optimization algorithm optimizes the location information of the black kite based on the attack behavior and migration behavior.

[0065] In an exemplary embodiment of the present invention, the optimization iteration module 230 includes: A calculation submodule is configured to calculate the target position information and the objective function value of each black-winged kite after performing an attack behavior and a migration behavior based on the objective function and the black-winged kite optimization algorithm during the current optimization iteration process; The update submodule is configured to update the optimal position of each black kite based on the target position information and the objective function value until the maximum number of iterations is reached or the convergence condition is met, output the optimal position of each black kite, and obtain the optimal solution power inspection path.

[0066] In an exemplary embodiment of the present invention, the convergence condition includes that the path change amplitude of the power inspection path obtained during a number of consecutive optimization iterations is lower than a preset threshold.

[0067] In an exemplary embodiment of the present invention, the optimization iteration module 230 includes: The optimization iteration submodule is configured to randomly select a number of black kites in the search space to perform optimization iteration of position information based on the objective function and the black kite optimization algorithm to obtain the optimal solution of the power inspection path.

[0068] In an exemplary embodiment of the present invention, the setting module 210 includes: A first setting submodule is configured to set a starting point and an end point of the power inspection, and to set a three-dimensional boundary of the search space; A second setting submodule is configured to set a plurality of path segments in the search space and detect whether there is an obstacle in each of the path segments; The deletion submodule is configured to delete the path segment where the obstacle exists if there is an obstacle in the path segment.

[0069] In an exemplary embodiment of the present invention, the construction module 220 includes: a determination submodule configured to determine path length, obstacle proximity, and line coverage based on the search space; A construction submodule is configured to construct the objective function based on the path length, the obstacle proximity and the line coverage.

[0070] In an exemplary embodiment of the present invention, the power inspection path planning device further includes: The performance evaluation module is configured to use the optimal solution power inspection path as the flight path of the drone to perform the power inspection task, and to perform a performance evaluation on the optimal solution power inspection path.

[0071] Figure 3 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 3As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the power inspection path planning method, the method comprising: setting a search space for power inspection and initializing the search space; constructing an objective function based on the search space; Based on the objective function and the black kite optimization algorithm, the location information of the black kite is optimized and iterated in the search space to obtain the optimal solution for the power inspection path; wherein the black kite optimization algorithm optimizes the location information of the black kite based on attack behavior and migration behavior.

[0072] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0073] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the power inspection path planning method provided by the above methods, the method includes: setting a search space for power inspection, and initializing the search space; constructing an objective function based on the search space; Based on the objective function and the black kite optimization algorithm, the location information of the black kite is optimized and iterated in the search space to obtain the optimal solution for the power inspection path; wherein the black kite optimization algorithm optimizes the location information of the black kite based on attack behavior and migration behavior.

[0074] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the power inspection path planning method provided by the above methods, the method comprising: setting a search space for power inspection and initializing the search space; constructing an objective function based on the search space; Based on the objective function and the black kite optimization algorithm, the location information of the black kite is optimized and iterated in the search space to obtain the optimal solution for the power inspection path; wherein the black kite optimization algorithm optimizes the location information of the black kite based on attack behavior and migration behavior.

[0075] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0076] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0077] 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for planning a power inspection path, characterized in that: include: Setting a search space for power inspection and initializing the search space; constructing an objective function based on the search space; Based on the objective function and the black kite optimization algorithm, the location information of the black kite is optimized and iterated in the search space to obtain the optimal solution for the power inspection path; wherein the black kite optimization algorithm optimizes the location information of the black kite based on attack behavior and migration behavior.

2. The method for planning a power inspection path according to claim 1, characterized in that: Based on the objective function and the black kite optimization algorithm, the location information of the black kite is optimized and iterated in the search space to obtain the optimal power inspection path, including: In the current optimization iteration process, based on the objective function and the black-winged kite optimization algorithm, the target position information and the objective function value of each black-winged kite after performing the attack behavior and the migration behavior are calculated; The optimal position of each black kite is updated based on the target position information and the objective function value until the maximum number of iterations is reached or the convergence condition is met, and the optimal position of each black kite is output to obtain the optimal solution power inspection path.

3. The method for planning a power inspection path according to claim 2, characterized in that: The convergence condition includes that the path change amplitude of the power inspection path obtained during a number of consecutive optimization iterations is lower than a preset threshold.

4. The method for planning a power inspection path according to claim 1, characterized in that: Based on the objective function and the black kite optimization algorithm, the location information of the black kite is optimized and iterated in the search space to obtain the optimal power inspection path, including: Based on the objective function and the black kite optimization algorithm, a number of black kites are randomly selected in the search space to perform optimization iterations of position information to obtain an optimal solution for the power inspection path.

5. The method for planning a power inspection path according to claim 1, characterized in that: The step of setting a search space for power inspection and initializing the search space includes: Setting the starting point and the end point of the power inspection, and setting the three-dimensional boundary of the search space; Setting a plurality of path segments in the search space, and detecting whether there is an obstacle in each of the path segments; If there is an obstacle in the path segment, the path segment with the obstacle is deleted.

6. The method for planning a power inspection route according to claim 1, characterized in that: The constructing the objective function based on the search space comprises: Based on the search space, determining path length, obstacle proximity, and line coverage; The objective function is constructed based on the path length, the obstacle proximity and the line coverage.

7. The method for planning a power inspection path according to any one of claims 1 to 6, characterized in that: After optimizing and iterating the location information of the black kite in the search space based on the objective function and the black kite optimization algorithm to obtain the optimal power inspection path, the method further includes: The optimal solution power inspection path is used as the flight path of the UAV to perform the power inspection task, and the performance of the optimal solution power inspection path is evaluated.

8. A power inspection route planning device, characterized in that: include: A setting module, configured to set a search space for power inspection and initialize the search space; A construction module configured to construct an objective function based on the search space; The optimization iteration module is configured to optimize and iterate the location information of the black kite in the search space based on the objective function and the black kite optimization algorithm to obtain the optimal solution of the power inspection path; wherein the black kite optimization algorithm optimizes the location information of the black kite based on the attack behavior and migration behavior.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the power inspection path planning method as described in any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the power inspection path planning method as described in any one of claims 1 to 7 is implemented.

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