Power equipment inspection method and system based on intelligent navigation technology
Through the integration of intelligent navigation technology and multi-source information, the flexibility of path planning and fault response problems during power equipment inspection are solved, efficient and accurate power equipment inspection is achieved, and operation and maintenance costs are reduced.
Patent Information
- Application Number
- CN202510357109.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-25
- Publication Date
- 2025-09-02
AI Technical Summary
The existing power equipment inspection technology has problems such as lack of flexibility in the inspection path, insufficient priority scheduling, and untimely fault response.
Using intelligent navigation technology, the inspection task database is established by obtaining the geographical location, inspection route and requirement information of power equipment, and using intelligent navigation algorithms to perform path planning to generate the optimal inspection order and travel route. Combining multi-source information fusion and dynamic optimization, the inspection order and equipment positioning are adjusted in real time.
It improves the flexibility and accuracy of inspections, reduces repeated inspections and missed inspections, responds to emergency tasks in a timely manner, reduces labor costs and operation and maintenance risks, and improves the efficiency and safety of power equipment inspections.
Smart Images
Figure CN120582003A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of power equipment inspection, and in particular to a power equipment inspection method and system based on intelligent navigation technology. Background Art
[0002] With the continued expansion of the power industry and the increasing complexity of power grid architecture, the importance of power equipment inspection has become increasingly prominent. Early inspection models largely relied on manual, scheduled, and fixed-point inspections. Inspectors collected equipment operating data through visual observation and simple instrumentation. While this approach was somewhat feasible, it struggled to meet the dual requirements of efficiency and accuracy in large-scale power systems or distributed power networks. In recent years, to improve inspection efficiency and safety, various automation and intelligent technologies have been applied to power operations and maintenance (O&M). These include remote monitoring systems based on image recognition, autonomous inspection platforms powered by robots or drones, and big data-assisted equipment failure prediction models. These advances have opened up new opportunities for 24 / 7, high-density monitoring of power equipment, and have, to a certain extent, addressed the shortcomings of traditional manual inspection models, such as high labor costs and limited timeliness. Furthermore, to address the complex distribution of power lines and the diverse levels of power equipment in power grids, intelligent navigation technology has been gradually integrated into inspection systems. This helps inspectors or power inspection robots more efficiently locate target equipment and enables dynamic scheduling and real-time path planning. It can be seen that power inspection has gradually moved from the initial "manpower + simple tools" stage to the comprehensive solution stage integrating big data, artificial intelligence and automatic navigation.
[0003] However, existing technologies still face multiple bottlenecks in dealing with complex power equipment layouts, identifying abnormal operating conditions, and optimizing inspection routes. First, although many automatic inspection systems can collect equipment parameters in real time, their path planning methods lack flexibility and are unable to take into account the dynamic coordinated scheduling between multiple points, high-priority equipment, and temporary fault points, resulting in repeated inspections or missed inspections during operation. Secondly, some inspection schemes based on fixed navigation or traditional shortest path algorithms often only focus on the shortest route distance, but ignore the equipment priority, inspection window, and the need for timely response to emergencies, making it difficult to make comprehensive trade-offs in the multi-dimensional information of complex power systems. Based on this, if intelligent navigation technology can be combined with multi-source data fusion, hierarchical management of inspection needs, and real-time decision optimization in the inspection method, the reliability and accuracy of the inspection can be significantly improved, the risk of false detection and missed detection can be effectively avoided, and the inspection efficiency and operation and maintenance safety can be improved.
[0004] Existing power equipment inspection technology still has problems such as lack of flexibility in inspection routes, insufficient priority scheduling, and untimely fault response. The present invention solves the problem by applying intelligent navigation technology to power equipment inspection, overcoming the shortcomings of existing technology through multi-source information fusion and dynamic optimization path planning. Summary of the Invention
[0005] In view of the above-mentioned problems, the present invention is proposed.
[0006] Therefore, the problem to be solved by the present invention is: how to solve the problems of the existing power equipment inspection technology, such as lack of flexibility in inspection paths, insufficient priority scheduling, and untimely fault response.
[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a method for inspecting power equipment based on intelligent navigation technology, comprising: obtaining geographical location information, inspection route information and inspection requirement information of the power equipment, pre-processing the information, and forming an inspection task database; based on the inspection task database, planning the inspection path using an intelligent navigation algorithm, and generating inspection planning data including the optimal inspection sequence, travel route and inspection duration arrangement; performing inspection operations, generating inspection results, and updating the inspection task database according to the inspection results.
[0008] As a preferred solution of the power equipment inspection method based on intelligent navigation technology described in the present invention, the geographic location information includes obtaining the coordinate information of each power equipment, including latitude and longitude, altitude, indoor and outdoor location distribution, and synchronously collecting the operating status of the power equipment; the inspection route information refers to the existing historical inspection route information and the conventional inspection path information defined in the company's internal standard operating procedures, including road information, terrain information and traffic conditions; the inspection requirement information includes inspection frequency, time requirements, equipment priority and safety compliance requirements; the safety compliance requirements include inspection specifications, inspection item lists and data collection standards stipulated within the company; the preprocessing includes cleaning and verification, formatting and standardization, establishing a unique identifier for each power equipment, and associating other information; the relational database MySQL is used for storage, and the table structure is designed according to the inspection business needs, including equipment information table, route information table, inspection requirement table and inspection result table.
[0009] As a preferred solution of the power equipment inspection method based on intelligent navigation technology described in the present invention, the planning of the inspection path includes obtaining the shortest time from one device to another device based on the acquired data and storing it in a matrix, which is expressed as:
[0010]
[0011] Where n is the total number of devices to be inspected, D(1,2) is the shortest time from the first device to be inspected to the second device to be inspected; the overall objective function is expressed as:
[0012]
[0013] Among them, F is the objective function value, and a smaller value indicates a better inspection route. k is the kth device to be inspected. For device p k To device p k+1 The shortest time, p k is the kth device to be inspected in the inspection order, α is the weight coefficient for adjusting the importance of priority penalty in the objective function, is the device priority penalty function, T pk The expected arrival equipment p in the plan k time point, For device p k The priority value, β is the weight coefficient for adjusting the importance of time window penalty in the objective function, is the time window penalty function;
[0014]
[0015] in, is the delay factor;
[0016]
[0017] Among them, ω is the early penalty coefficient, γ is the late penalty coefficient, For device p k After algorithm optimization, the optimal access sequence of device nodes [p1, p2, ..., p n ].
[0018] As a preferred solution of the power equipment inspection method based on intelligent navigation technology described in the present invention, the inspection operation includes real-time positioning of inspection personnel or power inspection robots during the inspection operation, and collecting surrounding environment information and power equipment operating status data through sensors or monitoring devices; during the inspection operation, fusion positioning technology is used to provide real-time positioning function for inspection personnel or power inspection robots.
[0019] As a preferred solution of the power equipment inspection method based on intelligent navigation technology described in the present invention, the inspection operation also includes comparing the current position of the inspection personnel or the power inspection robot with the planned route based on the inspection planning data and real-time positioning information. If it deviates from the established node, the inspection instructions are updated in real time, and the generated navigation information is used in the form of voice or text prompts to guide the inspection personnel or the power inspection robot to accurately execute the inspection route and tasks; if the established node is reached, the inspection personnel or the power inspection robot is guided to accurately execute the inspection task for the inspection equipment by voice or text prompts; if the established node is not reached, the inspection personnel or the power inspection robot is guided to continue to reach the inspection equipment along the inspection route by voice or text prompts.
[0020] As a preferred solution of the power equipment inspection method based on intelligent navigation technology described in the present invention, the inspection results include taking photos of the equipment appearance and surrounding environment at each equipment to be inspected, combining with the equipped temperature measuring instrument, vibration sensor or other special detection device to collect the temperature, vibration amplitude and other operating parameters of the equipment body and key components, and record the equipment operating status information, and transmit the inspection results to the inspection task database in real time.
[0021] As a preferred solution of the power equipment inspection method based on intelligent navigation technology described in the present invention, the method includes: updating the inspection task database according to the inspection results includes comparing the inspection result data with the historical data to determine whether there are abnormalities and faults; if a certain device to be inspected is detected to have abnormalities and faults, it is repaired, the inspection priority is increased, the interval between the next inspection is shortened, and the inspection task database is updated; if a temporary fault is detected in the device to be inspected, the path is re-planned to solve the fault problem first. If there are multiple faults in the device to be inspected, the inspection path is re-planned according to the priority of the faulty device to be inspected; if existing equipment is temporarily shut down or relocated, the equipment is marked in the inspection task database to suspend inspection or the coordinates and status information are updated.
[0022] Another object of the present invention is to provide a system for an electric power equipment inspection method based on intelligent navigation technology, which can solve the problem of electric power equipment inspection based on intelligent navigation technology by constructing an electric power equipment inspection system based on intelligent navigation technology.
[0023] In order to solve the above technical problems, the present invention provides the following technical solutions: an electric power equipment inspection system based on intelligent navigation technology, comprising a data acquisition module, an inspection planning module and an inspection module; the data acquisition module is used to obtain the geographical location information, inspection route information and inspection requirement information of the electric power equipment, pre-process the information, and form an inspection task database; the inspection planning module is used to plan the inspection path based on the inspection task database using an intelligent navigation algorithm, and generate inspection planning data including the optimal inspection sequence, travel route and inspection duration arrangement; the inspection module is used to perform inspection operations, generate inspection results, and update the inspection task database according to the inspection results.
[0024] A computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the above-mentioned power equipment inspection method based on intelligent navigation technology are implemented.
[0025] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned power equipment inspection method based on intelligent navigation technology.
[0026] The beneficial effects of the present invention are as follows: The power equipment inspection method based on intelligent navigation technology provided by the present invention achieves multi-dimensional dynamic optimization and real-time tracking of the inspection path by introducing intelligent navigation technology into the power equipment inspection, significantly improving the inspection efficiency and accuracy. On the one hand, by establishing an inspection task database and using a comprehensive algorithm to comprehensively consider factors such as equipment priority, fault alarms, and route conditions, it ensures that multi-node and multi-level inspection needs can be flexibly connected, reducing the occurrence of repeated inspections and missed inspections. On the other hand, by integrating positioning technology to locate inspection personnel or power inspection robots in real time, high-precision navigation can be maintained in a geographically complex power grid environment, the inspection sequence can be adjusted in a timely manner, and emergency tasks or abnormal situations can be quickly responded to. In addition, the environmental monitoring and equipment data collection links of the present invention can synchronously obtain equipment operating status and surrounding safety information during the inspection process, providing a sufficient basis for subsequent fault diagnosis and maintenance decisions. With the help of the above-mentioned multi-link linkage and real-time data updating, the present invention significantly reduces labor costs and operation and maintenance risks while improving inspection coverage, and has high practical value and promotion significance. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0028] Figure 1 The present invention provides a flowchart of a method for inspecting electric power equipment based on intelligent navigation technology according to the first embodiment of the present invention.
[0029] Figure 2 This is a structural diagram of a power equipment inspection system based on intelligent navigation technology provided by the second embodiment of the present invention. DETAILED DESCRIPTION
[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.
[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. 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.
[0032] Example 1, with reference to Figure 1 , which is the first embodiment of the present invention, provides a power equipment inspection method based on intelligent navigation technology, including: obtaining the geographical location information, inspection route information and inspection requirement information of the power equipment, pre-processing the information, and forming an inspection task database; based on the inspection task database, using the intelligent navigation algorithm to plan the inspection path, and generate inspection planning data including the optimal inspection sequence, travel route and inspection time arrangement; performing inspection operations, generating inspection results, and updating the inspection task database according to the inspection results.
[0033] S1. Obtain the geographical location information, inspection route information and inspection requirement information of the power equipment, pre-process the information, and form an inspection task database.
[0034] Geographic location information includes the coordinate information of each power equipment obtained through GIS (geographic information system), GPS / Beidou positioning system or the enterprise's internal equipment management system, including latitude and longitude, altitude, indoor and outdoor location distribution, and simultaneous collection of the operating status of the power equipment (equipment type, equipment number, line to which it belongs, installation date and maintenance records, etc.) so that it can be distinguished and called in subsequent analysis.
[0035] Inspection route information refers to the existing historical inspection route information and the regular inspection path information defined in the company's internal standard operating procedures, including road information such as highways, urban roads, internal factory passages, etc., terrain information such as mountains, rivers, tunnels, etc., and traffic conditions such as congested sections and restricted areas.
[0036] Inspection requirement information includes inspection frequency, including routine inspections, special inspections, emergency inspections, etc., time requirements, including inspections during peak hours, nighttime or specific periods, equipment priority, including core equipment, prone to failure equipment, and safety compliance requirements.
[0037] Safety compliance requirements include internal company-specified inspection specifications, inspection item lists, and data collection standards, including the need to collect temperature, vibration, sound, and images.
[0038] Preprocessing includes cleaning and verification, formatting and standardization, establishing a unique identifier for each power device and associating it with other information.
[0039] Cleaning and verification: removing or correcting outliers in geographic locations, such as coordinate points that are clearly outside a reasonable range); ensuring that inspection route data and geographic location data match each other, such as removing or updating unrecorded or obsolete equipment information in the route; verifying duplicate or conflicting equipment records, and merging or deleting redundant information.
[0040] Formatting and standardization: converting data from different sources into a unified data format or structured form, including a unified coordinate system, a unified timestamp format, a unified device number naming rule, etc.; segmenting or disassembling route information so that subsequent path planning algorithms can accurately identify, calculate, and calibrate the mileage, speed, or other environmental restrictions of each segment.
[0041] A unique identifier is established for each power equipment, which is associated with its geographical location, historical inspection records, technical parameters and position in the inspection route.
[0042] The relational database MySQL is used for storage, and the table structure is designed according to the inspection business needs, including equipment information table, route information table, inspection requirement table and inspection result table.
[0043] The main fields of the device information table include device ID, device name, device type, geographic coordinates, device operating status, historical maintenance records, etc.
[0044] The main fields of the route information table include route ID, starting point and end point, waypoints (latitude and longitude), historical travel time, traffic conditions, terrain characteristics, etc.
[0045] The main fields of the inspection requirement table include inspection task ID, equipment ID, inspection frequency, inspection time requirements, safety regulations, inspection task priority, etc.
[0046] The main fields of the inspection result table include inspection record ID, equipment ID, inspection time, inspection personnel, equipment operating status (temperature, vibration, sound, etc.), inspection photos or videos, abnormal records, etc.
[0047] S2. Based on the inspection task database, the inspection path is planned using the intelligent navigation algorithm to generate inspection planning data including the optimal inspection sequence, travel route and inspection duration arrangement.
[0048] The shortest time from one device to another is obtained based on the acquired data. Based on the graph modeling of the inspection environment and the time consumption assigned to each traversable edge (i.e., road segment), the shortest time consumption between different paths between two points is obtained through a search algorithm and stored in a matrix, which is expressed as:
[0049]
[0050] Where n is the total number of devices to be inspected, and D(1,2) is the shortest time from the first device to be inspected to the second device to be inspected.
[0051] The overall objective function is constructed as:
[0052]
[0053] Among them, F is the objective function value, and a smaller value indicates a better inspection route. k is the kth device to be inspected. For device p k To device p k+1 The shortest time, p k is the kth device to be inspected in the inspection order, α is the weight coefficient for adjusting the importance of priority penalty in the objective function, is the device priority penalty function, The expected arrival equipment p in the plan k The time point is obtained by accumulating the travel time of each section and the inspection time, Pr(p k ) is the device p k The priority value, β is the weight coefficient for adjusting the importance of time window penalty in the objective function, is the time window penalty function, if the planned arrival device p k The time is not within the allowed range If the value is within the range of , the penalty will be increased. The weight coefficient is determined based on historical data.
[0054]
[0055] in, is the delay factor, which can be changed by the arrival time The later it arrives, the The larger the value, the higher the penalty.
[0056]
[0057] Among them, ω is the early penalty coefficient, γ is the late penalty coefficient, γ is greater than ω, For device p k The weight coefficient is determined based on historical data.
[0058] After algorithm optimization, the optimal access sequence of device nodes [p1, p2, ..., p n ].
[0059] By establishing an inspection task database and using comprehensive algorithms to comprehensively consider factors such as equipment priority, fault alarms, and route conditions, we ensure that multi-node and multi-level inspection needs can be flexibly connected, reducing the occurrence of duplicate inspections and missed inspections.
[0060] S3. Perform inspection operations, generate inspection results, and update the inspection task database based on the inspection results.
[0061] During the inspection process, the inspection personnel or power inspection robots are located in real time, and the surrounding environment information and power equipment operating status data are collected through sensors or monitoring devices.
[0062] During the inspection process, fusion positioning technology is used to provide real-time positioning functions for inspection personnel or power inspection robots.
[0063] Fusion positioning involves first obtaining a wide-area absolute position reference outdoors using GPS / Beidou. Once inside buildings or signal-blocking areas, the system switches to UWB base station ranging to obtain relative position coordinates. Simultaneously, real-time acceleration and angular velocity data from the IMU (accelerometer and gyroscope) are used to predict or provide short-term corrections to each positioning result. A filter integrates the outputs of each sensor within each sampling period to dynamically estimate and update the position and attitude (position and attitude) of the inspected object, maintaining high accuracy and stability even during weak satellite signal or brief interruptions. Once the satellite signal is restored, the Kalman filter performs a differential correction between the absolute GPS / Beidou position and the previous inertial dead reckoning to eliminate accumulated drift. This multi-source fusion approach enables continuous and accurate inspection positioning in most indoor and outdoor conditions, combining the advantages of wide outdoor coverage with indoor anti-obstruction capabilities. This makes it highly adaptable and reliable for power equipment inspection.
[0064] Based on the inspection planning data and real-time positioning information, the current position of the inspection personnel or power inspection robot is compared with the planned route. If it deviates from the established node, the inspection instructions are updated in real time, and the generated navigation information is provided in the form of voice or text prompts to guide the inspection personnel or power inspection robot to accurately execute the inspection route and tasks.
[0065] If the designated node is reached, the inspection personnel or power inspection robots will be guided to accurately perform inspection tasks on the inspection equipment through voice or text prompts.
[0066] If the designated node is not reached, the inspection personnel or power inspection robot will be guided to continue along the inspection route to reach the inspection equipment through voice or text prompts.
[0067] At each device to be inspected, take photos of the device's appearance and surrounding environment. Combined with the equipped temperature measuring instrument, vibration sensor or other special detection devices, collect the temperature, vibration amplitude and other operating parameters of the device body and key components, and record the equipment operating status information. The inspection results are transmitted to the inspection task database in real time.
[0068] Compare the inspection result data with historical data to determine whether there are any abnormalities or faults.
[0069] If a device to be inspected is detected to have an abnormality or fault, it will be repaired, the inspection priority will be increased, the interval for the next inspection will be shortened, and the inspection task database will be updated.
[0070] If a temporary fault is detected in the equipment to be inspected, the route will be replanned to prioritize resolving the fault. If multiple equipment to be inspected fail, the inspection route will be replanned based on the priority of the faulty equipment to be inspected.
[0071] If an equipment has been temporarily shut down or relocated, the equipment will be marked as temporarily shut down in the inspection task database or its coordinates and status information will be updated.
[0072] By integrating positioning technology to locate patrol personnel or power inspection robots in real time, high-precision navigation can be maintained in a geographically complex power grid environment, the inspection sequence can be adjusted in a timely manner, and emergency tasks or abnormal situations can be quickly responded to. In addition, the environmental monitoring and equipment data collection links of the present invention can synchronously obtain equipment operating status and surrounding safety information during the inspection process, providing a sufficient basis for subsequent fault diagnosis and maintenance decisions. With the help of the above-mentioned multi-link linkage and real-time data updating, the present invention significantly reduces labor costs and operation and maintenance risks while improving inspection coverage, and has high practical value and promotion significance.
[0073] Example 2, reference Figure 2 , which is the second embodiment of the present invention, is different from the previous embodiment in that it provides an electric power equipment inspection system based on intelligent navigation technology, including: a data acquisition module 100, an inspection planning module 200 and an inspection module 300.
[0074] The data acquisition module 100 is used to obtain the geographical location information, inspection route information and inspection requirement information of the power equipment, pre-process the information, and form an inspection task database.
[0075] The inspection planning module 200 is used to plan the inspection path based on the inspection task database using an intelligent navigation algorithm, and generate inspection planning data including the optimal inspection sequence, travel route and inspection duration arrangement.
[0076] The inspection module 300 is used to perform inspection operations, generate inspection results, and update the inspection task database according to the inspection results.
[0077] 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 and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
[0078] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.
[0079] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be 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 processing in another suitable manner as necessary, and then stored in a computer memory.
[0080] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.
[0081] 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 power equipment inspection method based on intelligent navigation technology, characterized by: include, Obtain geographical location information, inspection route information, and inspection requirement information of power equipment, pre-process the information, and form an inspection task database; Based on the inspection task database, the inspection route is planned using intelligent navigation algorithms to generate inspection planning data including the optimal inspection sequence, route, and inspection duration. Perform inspection operations, generate inspection results, and update the inspection task database based on the inspection results.
2. The power equipment inspection method based on intelligent navigation technology according to claim 1, characterized in that: The geographic location information includes obtaining the coordinate information of each power device, including latitude and longitude, altitude, indoor and outdoor location distribution, and synchronously collecting the operating status of the power equipment; The inspection route information refers to the existing historical inspection route information and the regular inspection route information defined in the enterprise's internal standard operating procedures, including road information, terrain information and traffic conditions; The inspection requirement information includes inspection frequency, time requirements, equipment priority, and safety compliance requirements; The safety compliance requirements include the inspection specifications, inspection item lists, and data collection standards stipulated within the enterprise; The pre-processing includes cleaning and verification, formatting and standardization, establishing a unique identification for each power device and associating other information; The relational database MySQL is used for storage, and the table structure is designed according to the inspection business needs, including equipment information table, route information table, inspection requirement table and inspection result table.
3. The power equipment inspection method based on intelligent navigation technology according to claim 2, characterized in that: The inspection path planning includes obtaining the shortest time from one device to another according to the acquired data and storing it in a matrix, which is expressed as: Where n is the total number of devices to be inspected, and D(1,2) is the shortest time from the first device to be inspected to the second device to be inspected; The overall objective function is constructed as: Among them, F is the objective function value, a small value indicates that the inspection route is good, k is the kth device to be inspected, D(p k ,p k+1 ) is the device p k To device p k+1 The shortest time, p k is the kth device to be inspected in the inspection order, α is the weight coefficient for adjusting the importance of priority penalty in the objective function, is the device priority penalty function, The expected arrival equipment p in the plan k At the time point, Pr(p k ) is the device p k The priority value, β is the weight coefficient for adjusting the importance of time window penalty in the objective function, is the time window penalty function; in, is the delay factor; Among them, ω is the early penalty coefficient, γ is the late penalty coefficient, For device p k Inspection time window; After algorithm optimization, the optimal access sequence of device nodes [p1, p2, ..., p n ].
4. The power equipment inspection method based on intelligent navigation technology according to claim 3, characterized in that: The inspection operation includes real-time positioning of inspection personnel or power inspection robots during the inspection operation, and collecting surrounding environment information and power equipment operating status data through sensors or monitoring devices; During the inspection process, fusion positioning technology is used to provide real-time positioning functions for inspection personnel or power inspection robots.
5. The power equipment inspection method based on intelligent navigation technology according to claim 4, characterized in that: The inspection operation also includes comparing the current position of the inspection personnel or power inspection robot with the planned route based on the inspection planning data and real-time positioning information. If there is a deviation from the established node, the inspection instructions are updated in real time. The generated navigation information is provided in the form of voice or text prompts to guide the inspection personnel or power inspection robot to accurately execute the inspection route and tasks. If a predetermined node is reached, the patrol personnel or power patrol robot will be guided to accurately perform the patrol task on the patrol equipment through voice or text prompts. If the designated node is not reached, the inspection personnel or power inspection robot will be guided to continue along the inspection route to reach the inspection equipment through voice or text prompts.
6. The power equipment inspection method based on intelligent navigation technology according to claim 5, characterized in that: The inspection results include taking photos of the equipment appearance and surrounding environment at each device to be inspected, collecting the temperature, vibration amplitude and other operating parameters of the equipment body and key components in combination with the equipped temperature measuring instrument, vibration sensor or other special detection device, and recording the equipment operating status information, and transmitting the inspection results to the inspection task database in real time.
7. The power equipment inspection method based on intelligent navigation technology according to claim 6, characterized in that: The updating of the inspection task database according to the inspection results includes comparing the inspection result data with the historical data to determine whether there are abnormalities and faults; If an abnormality or fault is detected in a device to be inspected, repair it, increase the inspection priority, shorten the interval for the next inspection, and update the inspection task database; If a temporary fault is detected in the equipment to be inspected, the route will be replanned to prioritize resolving the fault. If multiple equipment to be inspected have faults, the inspection route will be replanned based on the priority of the faulty equipment to be inspected. If an equipment has been temporarily shut down or relocated, the equipment will be marked as temporarily shut down in the inspection task database or its coordinates and status information will be updated.
8. A system using the power equipment inspection method based on intelligent navigation technology as claimed in any one of claims 1 to 7, characterized in that: It includes a data acquisition module (100), an inspection planning module (200) and an inspection module (300); The data acquisition module (100) is used to obtain geographical location information, inspection route information and inspection requirement information of the power equipment, pre-process the information and form an inspection task database; The inspection planning module (200) is used to plan the inspection path based on the inspection task database using an intelligent navigation algorithm, and generate inspection planning data including an optimal inspection sequence, a travel route, and an inspection duration arrangement; The inspection module (300) is used to perform inspection operations, generate inspection results, and update the inspection task database according to the inspection results.
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 the power equipment inspection method based on intelligent navigation technology described in 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 the power equipment inspection method based on intelligent navigation technology described in any one of claims 1 to 7 are implemented.