Power transmission equipment intelligent inspection method and system based on three-dimensional modeling

Abstract

The invention discloses a power transmission equipment intelligent inspection method and system based on three-dimensional modeling, and belongs to the technical field of power transmission equipment intelligent inspection, and the method comprises the steps: obtaining the operation data and topological data of power transmission equipment, and carrying out the three-dimensional modeling based on a pre-established three-dimensional modeling model according to the topological data and equipment data, obtaining a three-dimensional model of the power transmission equipment; based on the three-dimensional model, formulating a fault inspection route for the to-be-inspected equipment, and checking whether the fault inspection route meets requirements or not; and if yes, controlling inspection equipment, and inspecting the to-be-inspected equipment according to the inspection route. According to the method, the power transmission equipment of various structures can be effectively inspected, the inspection route can be quickly formulated by using the established model, and conventional inspection can be carried out, so that the normal operation of the power transmission equipment is ensured, and the loss caused by faults is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent inspection of power transmission equipment, and in particular to a method and system for intelligent inspection of power transmission equipment based on three-dimensional modeling. Background Art

[0002] During the operation of transmission equipment / lines, power system operation and maintenance personnel need to inspect and enter data on the equipment, instruments and lines in the station to ensure that the above facilities operate normally and the data records are complete. However, the following problems still exist in the above existing technologies:

[0003] Unreasonable setting of preset points: There is no universal specification or standard for setting preset inspection points for inspection robots. Therefore, the setting of preset points has problems such as inappropriate shooting distance, poor shooting angle, partial occlusion by obstacles and single shooting angle, which increases the difficulty of later data analysis and low data utilization.

[0004] Complex manual operation: Manual operation of inspection robots is complex, inspection time is increased, missed inspections are easy to be detected, and false inspections are easy to be detected. Real-time image communication is required, and the communication device has high power consumption, which leads to an increase in the workload of power system operation and maintenance personnel and an increase in the communication cost of the inspection robot.

[0005] Poor edge computing effect: Inspection robots based on edge computing need to analyze image data in real time and optimize inspection paths, which leads to increased power consumption, charging times and inspection time of inspection robots, and the inspection effect is affected by the environment's processing of image data.

[0006] With the development of 3D technology, refined planning, non-contact detection and virtual reality simulation training for operation and maintenance personnel, various 3D models have been initially and comprehensively established. In addition, due to the dense distribution of current equipment and meters and the scattered spatial structure, the two-dimensional electronic map can no longer meet the needs of high-precision and efficient inspections. There is an urgent need for inspection path planning based on 3D spatial models to improve the efficiency of robot inspections. Summary of the invention

[0007] In view of the above-mentioned existing problems, the present invention aims to solve the problems of efficiency and accuracy of power transmission equipment inspection through three-dimensional modeling technology, realize intelligent inspection path planning, reduce safety risks, and quickly locate abnormal operating points to optimize the inspection process and resource allocation; at the same time, by simulating the inspection process in a three-dimensional model, potential dangers can be avoided in advance, the safety of inspection personnel can be ensured, and intuitive visual effects can be provided to support decision-making, thereby comprehensively improving the intelligence, precision and safety level of power transmission equipment maintenance and management.

[0008] In order to solve the above technical problems, a transmission equipment intelligent inspection method based on three-dimensional modeling is proposed, including:

[0009] The operation data and topology data of the power transmission equipment are obtained, and according to the topology data and the equipment data, three-dimensional modeling is performed based on a pre-established three-dimensional modeling model to obtain a three-dimensional model of the power transmission equipment; based on the three-dimensional model, a fault inspection route is formulated for the equipment to be inspected, and it is verified whether the fault inspection route meets the requirements; when the fault inspection route is verified to meet the requirements, the inspection equipment is controlled to inspect the equipment to be inspected according to the inspection route.

[0010] As a preferred solution of the intelligent inspection method of power transmission equipment based on three-dimensional modeling described in the present invention, wherein: the pre-established three-dimensional modeling model includes obtaining topological data of power transmission equipment of various topological types and corresponding three-dimensional models, extracting device feature data from the topological data of power transmission equipment of various topological types, and extracting model feature data of the three-dimensional model corresponding to the feature data;

[0011] The device feature data is used as the input data for model training, and the model feature data is used as the output data to train the preset network. Through the trained preset network, the process of establishing a three-dimensional scene model according to the output data is learned to generate a three-dimensional modeling model.

[0012] As a preferred solution of the intelligent inspection method for power transmission equipment based on three-dimensional modeling described in the present invention, wherein: the topology data includes extracting characteristic data from the topology data and filtering out abnormal operation data from the equipment data;

[0013] Based on the feature data, a three-dimensional scene model of the power transmission equipment is established according to the three-dimensional modeling model;

[0014] Based on the abnormal operation data, the abnormal operation points in the power transmission equipment are determined, and at the positions corresponding to the abnormal operation points in the three-dimensional scene model, labels to be inspected are added to generate a three-dimensional model.

[0015] As a preferred solution of the intelligent inspection method of power transmission equipment based on three-dimensional modeling described in the present invention, the three-dimensional model of the power transmission equipment includes obtaining topological data of power transmission equipment of various topological types and corresponding three-dimensional models, extracting device feature data from the topological data of power transmission equipment of various topological types, and extracting model feature data of the three-dimensional model corresponding to the feature data;

[0016] The device feature data is used as the input data for model training, and the model feature data is used as the output data to train the preset network. Through the trained preset network, the process of establishing a three-dimensional scene model according to the output data is learned to generate a three-dimensional modeling model.

[0017] As a preferred solution of the intelligent inspection method for power transmission equipment based on three-dimensional modeling described in the present invention, wherein: the equipment to be inspected includes the equipment corresponding to the abnormal operating point in the power transmission equipment as the equipment to be inspected;

[0018] The fault inspection route includes determining the three-dimensional coordinates of the tags to be inspected in the three-dimensional model, and formulating the fault inspection route according to the three-dimensional coordinates.

[0019] As a preferred solution of the intelligent inspection method for power transmission equipment based on three-dimensional modeling described in the present invention, wherein: the verification that the fault inspection route meets the requirements includes performing a simulated inspection in the three-dimensional model with the fault inspection route, and monitoring the simulated inspection process to obtain the monitoring results;

[0020] If, according to the monitoring results, it is determined that the inspection is carried out according to the fault inspection route, and all the equipment to be inspected is inspected, and the inspection equipment is not disturbed or damaged during the inspection process, then the fault inspection route meets the requirements, otherwise it does not meet the requirements;

[0021] If the fault inspection route does not meet the requirements, the fault inspection route is adjusted according to the monitoring results and the model data of the three-dimensional model until the fault inspection route meets the requirements.

[0022] As a preferred solution of the intelligent inspection method for power transmission equipment based on three-dimensional modeling described in the present invention, the inspection route includes: formulating a conventional inspection route for the power transmission equipment based on the three-dimensional model, and performing conventional inspection on the remaining equipment in the power transmission equipment excluding the equipment to be inspected based on the conventional inspection route;

[0023] The inspection equipment includes inspection drones and inspection robots.

[0024] Another object of the present invention is to provide an intelligent inspection system for power transmission equipment based on three-dimensional modeling. The present invention aims to solve the problems of low efficiency, high cost and safety risks in the inspection process of power transmission equipment. By adopting three-dimensional modeling technology, a three-dimensional model of the power transmission equipment is established, and based on this model, the fault inspection route is automatically formulated and optimized, thereby achieving efficient and accurate inspection of the inspection equipment, reducing manual intervention, and reducing inspection costs and risks. At the same time, the system improves the information level of equipment management by quickly locating fault points and optimizing resource allocation, providing technical support for the full life cycle management of the power transmission equipment status.

[0025] As a preferred solution of the intelligent inspection system for power transmission equipment based on three-dimensional modeling described in the present invention, it is characterized by comprising an initial unit, an inspection route determination unit, and an inspection unit;

[0026] The initialization unit is used to obtain operation data and topological data of the power transmission equipment, and perform three-dimensional modeling based on the pre-established three-dimensional modeling model according to the topological data and equipment data to obtain a three-dimensional model of the power transmission equipment;

[0027] The inspection route determination unit is used to formulate a fault inspection route for the equipment to be inspected based on the three-dimensional model, and verify whether the fault inspection route meets the requirements;

[0028] The inspection unit is used to control the inspection equipment when the fault inspection route meets the requirements, and inspect the equipment to be inspected according to the inspection route.

[0029] A computer device includes a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of the intelligent inspection method for power transmission equipment based on three-dimensional modeling are implemented.

[0030] A computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps of the intelligent inspection method for power transmission equipment based on three-dimensional modeling are implemented.

[0031] The beneficial effects of the present invention are as follows: by acquiring the operating data and topological data of the power transmission equipment and performing three-dimensional modeling, the technical problem that the overall structure and operating status of the equipment cannot be intuitively displayed in the traditional inspection method is solved, and the technical effect of combining the operating data with the three-dimensional model to intuitively display the equipment status is achieved; by adding the label to be inspected in the three-dimensional model, the problem of quickly locating the abnormal operating point is solved, the accurate identification of the equipment to be inspected is achieved, and the inspection efficiency and accuracy are improved; by establishing a three-dimensional modeling model, the problem that manual modeling is time-consuming and has low precision is solved, and the automatic extraction of equipment feature data and the rapid generation of an accurate three-dimensional model are achieved; by formulating and verifying the fault inspection route, the problem that the traditional inspection route planning is unreasonable and susceptible to interference is solved, scientific and reasonable inspection path planning is achieved, and the inspection safety and efficiency are improved; finally, by controlling the inspection equipment to carry out inspections, the problem of large investment in manpower and material resources and low efficiency is solved, automated and intelligent efficient inspection is achieved, and the technical effect of reducing costs and improving inspection quality is achieved.

[0032] The implementation of the present invention can effectively inspect power transmission equipment of various structures. The constructed model can be used to quickly formulate inspection routes and conduct routine inspections to ensure the normal operation of the power transmission equipment and avoid losses caused by faults. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0034] Figure 1 A mobile inspection flow chart of a smart inspection method for power transmission equipment based on three-dimensional modeling is provided as an embodiment of the present invention.

[0035] Figure 2 A system solution module diagram of a power transmission equipment intelligent inspection system based on three-dimensional modeling provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0037] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0038] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it an embodiment that is mutually exclusive with other embodiments, either individually or selectively.

[0039] The present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0040] At the same time, in the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper, lower, inner and outer" are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first, second or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0041] In the present invention, unless otherwise clearly specified and limited, the terms "install, connect, connect" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection or an integral connection; it can also be a mechanical connection, an electrical connection or a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] Example 1, reference Figure 1 , which is the first embodiment of the present invention, provides a power transmission equipment intelligent inspection method based on three-dimensional modeling, comprising:

[0043] S1: Acquire operation data and topology data of the power transmission equipment, perform three-dimensional modeling based on the pre-established three-dimensional modeling model according to the topology data and equipment data, and obtain a three-dimensional model of the power transmission equipment.

[0044] Furthermore, the three-dimensional model includes: labels to be inspected for abnormal operating points of the power transmission equipment.

[0045] Among them, the three-dimensional modeling model is established in advance, including:

[0046] Acquire topological data of power transmission equipment of various topological types and corresponding three-dimensional models, extract device feature data from the topological data of the power transmission equipment of various topological types, and extract model feature data of the three-dimensional models corresponding to the feature data;

[0047] The device characteristic data is used as input data for model training, and the model characteristic data is used as output data to train the preset network. The process of establishing a three-dimensional scene model based on the output data is learned through the trained preset network to generate a three-dimensional modeling model.

[0048] According to the topology data and the equipment data, three-dimensional modeling is performed based on a pre-established three-dimensional modeling model to obtain a three-dimensional model of the power transmission equipment, including:

[0049] Extracting characteristic data from the topological data, and filtering out abnormal operation data from the device data;

[0050] Based on the feature data, establishing a three-dimensional scene model of the power transmission equipment according to the three-dimensional modeling model;

[0051] Based on the abnormal operation data, an abnormal operation point in the power transmission equipment is determined, and a to-be-inspected label is added at a position corresponding to the abnormal operation point in the three-dimensional scene model to generate a three-dimensional model.

[0052] S2: Based on the three-dimensional model, a fault inspection route is formulated for the equipment to be inspected, and it is verified whether the fault inspection route meets the requirements.

[0053] Furthermore, the equipment corresponding to the abnormal operating point in the power transmission equipment is taken as the equipment to be inspected.

[0054] Wherein, based on the three-dimensional model, a fault inspection route is formulated for the equipment to be inspected, including:

[0055] The three-dimensional coordinates of the tags to be inspected in the three-dimensional model are determined, and a fault inspection route is formulated according to the three-dimensional coordinates.

[0056] Wherein, verifying whether the fault inspection route meets the requirements includes:

[0057] Performing a simulated inspection in the three-dimensional model using the fault inspection route, and monitoring the simulated inspection process to obtain monitoring results;

[0058] If it is determined according to the monitoring results that the inspection can be completed for all the equipment to be inspected by following the fault inspection route, and the inspection equipment is not disturbed or damaged during the inspection process, then the fault inspection route meets the requirements, otherwise it does not meet the requirements;

[0059] If the fault inspection route does not meet the requirements, the fault inspection route is adjusted according to the monitoring results and the model data of the three-dimensional model until the fault inspection route meets the requirements.

[0060] S3: When the fault inspection route meets the requirements, the inspection equipment is controlled to inspect the equipment to be inspected according to the inspection route.

[0061] Furthermore, based on the three-dimensional model, a regular inspection route for the power transmission equipment is formulated, and based on the regular inspection route, regular inspections are performed on the remaining equipment in the power transmission equipment except the equipment to be inspected.

[0062] Among them, inspection equipment includes: inspection drones and inspection robots.

[0063] Embodiment 2, the second embodiment of the present invention, is different from the first two embodiments in that:

[0064] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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. The computer software product is stored in a storage medium, including several 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 methods 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, and other media that can store program codes.

[0065] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0066] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0067] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0068] Example 3, reference Figure 2 , which is the third embodiment of the present invention, provides an intelligent inspection system for power transmission equipment based on three-dimensional modeling, including an initial unit 201, an inspection route determination unit 202, and an inspection unit 203.

[0069] The initial unit 201 is used to obtain the operation data and topology data of the power transmission equipment, and perform three-dimensional modeling based on the pre-established three-dimensional modeling model according to the topology data and equipment data to obtain the three-dimensional model of the power transmission equipment;

[0070] An inspection route determination unit 202 is used to formulate a fault inspection route for the equipment to be inspected based on the three-dimensional model, and to verify whether the fault inspection route meets the requirements;

[0071] The inspection unit 203 is used to control the inspection device to inspect the device to be inspected according to the inspection route when the fault inspection route meets the requirements.

[0072] The three-dimensional model includes: labels to be inspected for abnormal operation points of power transmission equipment.

[0073] Among them, the three-dimensional modeling model is established in advance, including:

[0074] Acquire topological data of power transmission equipment of various topological types and corresponding three-dimensional models, extract device feature data from the topological data of the power transmission equipment of various topological types, and extract model feature data of the three-dimensional models corresponding to the feature data;

[0075] The device characteristic data is used as input data for model training, and the model characteristic data is used as output data to train the preset network. The process of establishing a three-dimensional scene model based on the output data is learned through the trained preset network to generate a three-dimensional modeling model.

[0076] According to the topology data and the equipment data, three-dimensional modeling is performed based on a pre-established three-dimensional modeling model to obtain a three-dimensional model of the power transmission equipment, including:

[0077] Extracting characteristic data from the topological data, and filtering out abnormal operation data from the device data;

[0078] Based on the feature data, establishing a three-dimensional scene model of the power transmission equipment according to the three-dimensional modeling model;

[0079] Based on the abnormal operation data, an abnormal operation point in the power transmission equipment is determined, and a to-be-inspected label is added at a position corresponding to the abnormal operation point in the three-dimensional scene model to generate a three-dimensional model.

[0080] Among them, the equipment corresponding to the abnormal operating point in the power transmission equipment is taken as the equipment to be inspected.

[0081] Wherein, based on the three-dimensional model, a fault inspection route is formulated for the equipment to be inspected, including:

[0082] The three-dimensional coordinates of the tags to be inspected in the three-dimensional model are determined, and a fault inspection route is formulated according to the three-dimensional coordinates.

[0083] Wherein, verifying whether the fault inspection route meets the requirements includes:

[0084] Performing a simulated inspection in the three-dimensional model using the fault inspection route, and monitoring the simulated inspection process to obtain monitoring results;

[0085] If it is determined according to the monitoring results that the inspection can be completed for all the equipment to be inspected by following the fault inspection route, and the inspection equipment is not disturbed or damaged during the inspection process, then the fault inspection route meets the requirements, otherwise it does not meet the requirements;

[0086] If the fault inspection route does not meet the requirements, the fault inspection route is adjusted according to the monitoring results and the model data of the three-dimensional model until the fault inspection route meets the requirements.

[0087] The inspection unit 203 is also used for:

[0088] Based on the three-dimensional model, a regular inspection route for the power transmission equipment is formulated, and based on the regular inspection route, regular inspections are carried out on the remaining equipment in the power transmission equipment except the equipment to be inspected.

[0089] Among them, inspection equipment includes: inspection drones and inspection robots.

[0090] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for intelligent inspection of power transmission equipment based on three-dimensional modeling, characterized in that: include, Acquire operation data and topological data of the power transmission equipment, perform three-dimensional modeling based on the pre-established three-dimensional modeling model according to the topological data and equipment data, and obtain a three-dimensional model of the power transmission equipment; Based on the three-dimensional model, a fault inspection route is formulated for the equipment to be inspected, and the fault inspection route is verified to see whether it meets the requirements; When the fault inspection route meets the requirements, the inspection equipment is controlled to inspect the equipment to be inspected according to the inspection route.

2. The intelligent inspection method for power transmission equipment based on three-dimensional modeling according to claim 1, characterized in that: The pre-established three-dimensional modeling includes obtaining topological data of power transmission equipment of various topological types and corresponding three-dimensional models, extracting device feature data from the topological data of power transmission equipment of various topological types, and extracting model feature data of the three-dimensional model corresponding to the feature data; The device feature data is used as the input data for model training, and the model feature data is used as the output data to train the preset network. Through the trained preset network, the process of establishing a three-dimensional scene model according to the output data is learned to generate a three-dimensional modeling model.

3. The intelligent inspection method for power transmission equipment based on three-dimensional modeling as claimed in claim 2, characterized in that: The topology data includes extracting characteristic data from the topology data and filtering out abnormal operation data from the device data; Based on the feature data, a three-dimensional scene model of the power transmission equipment is established according to the three-dimensional modeling model; Based on the abnormal operation data, the abnormal operation points in the power transmission equipment are determined, and at the positions corresponding to the abnormal operation points in the three-dimensional scene model, labels to be inspected are added to generate a three-dimensional model.

4. The intelligent inspection method for power transmission equipment based on three-dimensional modeling as claimed in claim 3, characterized in that: The three-dimensional model of the power transmission equipment includes obtaining topological data of power transmission equipment of various topological types and corresponding three-dimensional models, extracting device feature data from the topological data of power transmission equipment of various topological types, and extracting model feature data of the three-dimensional model corresponding to the feature data; The device feature data is used as the input data for model training, and the model feature data is used as the output data to train the preset network. Through the trained preset network, the process of establishing a three-dimensional scene model according to the output data is learned to generate a three-dimensional modeling model.

5. The intelligent inspection method for power transmission equipment based on three-dimensional modeling as claimed in claim 4, characterized in that: The equipment to be inspected includes equipment corresponding to abnormal operating points in the power transmission equipment as the equipment to be inspected; The fault inspection route includes determining the three-dimensional coordinates of the tags to be inspected in the three-dimensional model, and formulating the fault inspection route according to the three-dimensional coordinates.

6. The intelligent inspection method for power transmission equipment based on three-dimensional modeling as claimed in claim 5, characterized in that: Verifying that the fault inspection route meets the requirements includes performing a simulated inspection on the fault inspection route in a three-dimensional model, monitoring the simulated inspection process, and obtaining monitoring results; If, according to the monitoring results, it is determined that the inspection is carried out according to the fault inspection route, and all the equipment to be inspected is inspected, and the inspection equipment is not disturbed or damaged during the inspection process, then the fault inspection route meets the requirements, otherwise it does not meet the requirements; If the fault inspection route does not meet the requirements, the fault inspection route is adjusted according to the monitoring results and the model data of the three-dimensional model until the fault inspection route meets the requirements.

7. The intelligent inspection method for power transmission equipment based on three-dimensional modeling according to claim 6, characterized in that: The inspection route includes formulating a conventional inspection route for the power transmission equipment based on the three-dimensional model, and performing conventional inspections on the remaining equipment in the power transmission equipment excluding the equipment to be inspected based on the conventional inspection route; The inspection equipment includes inspection drones and inspection robots.

8. A system using a power transmission equipment intelligent inspection method based on three-dimensional modeling as claimed in any one of claims 1 to 7, characterized in that: It includes an initial unit, an inspection route determination unit, and an inspection unit; The initialization unit is used to obtain operation data and topological data of the power transmission equipment, and perform three-dimensional modeling based on the pre-established three-dimensional modeling model according to the topological data and equipment data to obtain a three-dimensional model of the power transmission equipment; The inspection route determination unit is used to formulate a fault inspection route for the equipment to be inspected based on the three-dimensional model, and verify whether the fault inspection route meets the requirements; The inspection unit is used to control the inspection equipment when the fault inspection route meets the requirements, and inspect the equipment to be inspected according to the inspection route.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of a three-dimensional modeling-based intelligent inspection method for power transmission equipment according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a three-dimensional modeling-based intelligent inspection method for power transmission equipment according to any one of claims 1 to 7 are implemented.

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