Power equipment inspection method and system based on unmanned aerial vehicle

Abstract

The invention provides a power equipment inspection method and system based on an unmanned aerial vehicle, and belongs to the technical field of intelligent inspection of power equipment. The method comprises the following steps: determining an evaluation value of each power device according to a normalized wind speed, a normalized wind direction and the temperature and the voltage of each power device; arranging the evaluation values of all the power equipment according to a descending order to serve as a current inspection sequence of all the power equipment in the target area; determining the time for completing the inspection of all power equipment according to the current inspection sequence in the target area; determining a fitness value according to the time for completing inspection of all the power equipment in the target area, the electric quantity of all the unmanned aerial vehicles before inspection and the electric quantity after inspection; and determining the power equipment to be inspected by each unmanned aerial vehicle according to the fitness value. According to the method, the dynamic influence of some real-time data, such as meteorological information, on the inspection process is considered, so that the inspection process is dynamically optimized, and a more accurate inspection strategy is formulated.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent inspection of electric power equipment, and in particular relates to an electric power equipment inspection method and system based on a drone. Background Art

[0002] With the large-scale development and utilization of renewable energy, the installed capacity and power generation of renewable energy continue to grow, and the operation and maintenance management of new energy sites has become more difficult. Therefore, it is particularly important to use visual intelligent inspection technology to monitor the operating conditions of equipment.

[0003] Existing inspection methods for renewable energy stations generally employ rule-based scheduling, prioritizing inspections based on factors such as the importance of equipment within the station, regional characteristics, and geographic location. However, these methods fail to consider the dynamic impact of real-time data (such as weather information and abnormal equipment) on the inspection process. Therefore, an inspection method is urgently needed that integrates these factors to dynamically optimize the inspection process, develop more accurate inspection strategies, and achieve effective operation and maintenance management of renewable energy stations. Summary of the Invention

[0004] The present invention provides a power equipment inspection method and system based on drones to solve the problem that the existing technology does not consider the dynamic impact of some real-time data (such as meteorological information, abnormal equipment, etc.) on the inspection process.

[0005] In a first aspect, the present invention provides a method for inspecting power equipment using a drone, comprising:

[0006] Obtain the current wind speed, wind direction, and temperature and voltage of each power device in the target area and perform normalization processing;

[0007] determining an evaluation value of each power device based on the normalized wind speed, wind direction, and the temperature and voltage of each power device;

[0008] Arrange the evaluation values ​​of all power equipment in descending order as the current inspection order of all power equipment in the target area;

[0009] Determine the time to complete all power equipment inspections in the target area according to the current inspection sequence;

[0010] Get the battery level of all drones before and after the inspection;

[0011] The fitness value is determined based on the time it takes to complete the inspection of all power equipment in the target area, the power of all drones before the inspection, and the power after the inspection.

[0012] The electrical equipment that each drone needs to inspect is determined based on the fitness value.

[0013] Optionally, determining the evaluation value of each power device according to the normalized wind speed, wind direction, and the temperature and voltage of each power device includes:

[0014] Calculate the assessment value of each electrical equipment according to the following formula:

[0015]

[0016] Among them, F i is the evaluation value of power equipment i; a is the first preset coefficient; is the normalized wind speed; is the normalized wind direction; b is the second preset coefficient; T i is the normalized temperature of the power equipment i; c is the third preset coefficient; U i is the normalized voltage of power device i.

[0017] Optionally, determining the time for completing inspections of all power equipment in the target area according to the current inspection order includes:

[0018] The time T required to complete the inspection of all power equipment in the current inspection order is calculated using the following formula:

[0019]

[0020] Where m is the total number of power equipment in the target area; t ij is the flight time of the UAV from power equipment i to power equipment j; e i is the time it takes for the UAV to complete the inspection of power equipment i; v is the flight speed of the UAV; d ij The distance from power equipment i to power equipment j; is the normalized wind speed; is the normalized wind direction.

[0021] Optionally, determining the fitness value based on the time taken to complete inspections of all power equipment in the target area, the power levels of all drones before the inspections, and the power levels after the inspections include:

[0022] The fitness value δ is calculated according to the following formula:

[0023]

[0024] Wherein, w1 is the fourth preset coefficient; T is the time to complete the inspection of all power equipment in the current inspection order; w2 is the fifth preset coefficient; Q st The power of all drones before inspection; Q end The power level of all drones after completing the inspection.

[0025] Optionally, determining the power equipment that each drone needs to inspect based on the fitness value includes:

[0026] Randomly select a drone and a power device to form a first combination (n', m'), traverse all drones and power devices to obtain multiple first combinations; where n' is the drone number; n' = 1, 2, ..., n; n is the total number of drones participating in the inspection; m' is the power device number, m' = 1, 2, ..., m; m is the total number of power devices in the target area;

[0027] When all power equipment inspections can be completed, some first combinations are selected from all first combinations to obtain second combinations;

[0028] Traverse all first combinations to obtain multiple second combinations;

[0029] Determine the fitness value corresponding to each second combination, and select the second combination corresponding to the maximum fitness value as the final combination to determine the power equipment that each drone needs to inspect.

[0030] In a second aspect, the present invention provides a power equipment inspection system based on a drone, comprising:

[0031] The first acquisition module is used to obtain the current wind speed and direction as well as the temperature and voltage of each power device in the target area and perform normalization processing;

[0032] A first determining module is configured to determine an evaluation value of each electrical device based on the normalized wind speed, wind direction, and the temperature and voltage of each electrical device;

[0033] A sorting module is used to arrange the evaluation values ​​of all power equipment in descending order as the current inspection order of all power equipment in the target area;

[0034] The second determination module is used to determine the time to complete the inspection of all power equipment in the target area according to the current inspection order;

[0035] The second acquisition module is used to obtain the power of all drones before and after the inspection;

[0036] The third determination module is used to determine the fitness value based on the time to complete the inspection of all power equipment in the target area, the power of all drones before the inspection, and the power after the inspection is completed;

[0037] The fourth determination module is used to determine the power equipment that each drone needs to inspect based on the fitness value.

[0038] Optionally, the first determining module includes:

[0039] The first calculation unit is configured to calculate the evaluation value of each power device according to the following formula:

[0040]

[0041] Among them, F i is the evaluation value of power equipment i; a is the first preset coefficient; is the normalized wind speed; is the normalized wind direction; b is the second preset coefficient; T i is the normalized temperature of the power equipment i; c is the third preset coefficient; U i is the normalized voltage of power device i.

[0042] Optionally, the second determining module includes:

[0043] The second calculation unit is used to calculate the time T required to complete the inspection of all power equipment in the current inspection order according to the following formula:

[0044]

[0045] Where m is the total number of power equipment in the target area; t ij is the flight time of the UAV from power equipment i to power equipment j; e i is the time it takes for the UAV to complete the inspection of power equipment i; v is the flight speed of the UAV; d ij The distance from power equipment i to power equipment j; is the normalized wind speed; is the normalized wind direction.

[0046] Optionally, the third determining module includes:

[0047] The third calculation unit is used to calculate the fitness value δ according to the following formula:

[0048]

[0049] Wherein, w1 is the fourth preset coefficient; T is the time to complete the inspection of all power equipment in the current inspection order; w2 is the fifth preset coefficient; Q st The power of all drones before inspection; Q end The power level of all drones after completing the inspection.

[0050] Optionally, the fourth determining module includes:

[0051] A first selection unit is configured to arbitrarily select a drone and a power device to form a first combination (n', m'), and traverse all drones and power devices to obtain multiple first combinations; n' is the drone number; n'=1, 2, ..., n; n is the total number of drones participating in the inspection; m' is the power device number; m'=1, 2, ..., m; m is the total number of power devices in the target area;

[0052] A second selection unit is configured to select part of the first combinations from all the first combinations to obtain a second combination when inspections of all the power equipment can be completed;

[0053] A traversal unit, used for traversing all first combinations to obtain multiple second combinations;

[0054] The determination unit is used to determine the fitness value corresponding to each second combination, and select the second combination corresponding to the maximum fitness value as the final combination to determine the power equipment that each drone needs to inspect.

[0055] The present invention provides a method and system for inspecting electric equipment based on a drone. The method collects meteorological data (wind speed and direction) and operating status data (temperature and voltage) of the electric equipment during the inspection period, establishes an evaluation index system, constructs a comprehensive evaluation model, and adjusts the order of planned inspections of electric equipment in real time to overcome the dynamic influence of meteorological data and operating status data of electric equipment on the inspection process. Fitness values ​​are calculated for each combination of an initial inspection plan and a plan adjusted in real time, and the results are continuously updated with larger fitness values ​​to dynamically optimize the inspection process and formulate more accurate inspection strategies. After the maximum fitness value is selected as the final result, the current combination is output as the optimal inspection strategy. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0057] Figure 1 A schematic diagram of a flow chart of a method for inspecting power equipment using a drone provided by an embodiment of the present invention;

[0058] Figure 2 A schematic diagram of the visual display process of inspection results provided in an embodiment of the present invention.

[0059] Figure 3 A schematic diagram of the structure of a power equipment inspection system based on a drone provided by an embodiment of the present invention; DETAILED DESCRIPTION

[0060] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0061] Example 1

[0062] like Figure 1 As shown, an embodiment of the present invention provides a power equipment inspection method based on a drone, comprising:

[0063] Step 101: obtain the current wind speed, wind direction, and temperature and voltage of each power device in the target area, and perform normalization processing.

[0064] The current wind speed, wind direction, temperature and voltage of each power equipment in the target area are obtained by removing missing values, and then normalizing them to unify different types of data into the [0,1] interval.

[0065] Step 102 : determining an evaluation value of each power device according to the normalized wind speed, wind direction, and the temperature and voltage of each power device.

[0066] For example, the evaluation value of each electrical device is calculated according to the following formula:

[0067]

[0068] Among them, F i is the evaluation value of power equipment i; a is the first preset coefficient; is the normalized wind speed; is the normalized wind direction; b is the second preset coefficient; T i is the normalized temperature of the power equipment i; c is the third preset coefficient; U i is the normalized voltage of power device i; the weight coefficient is determined according to the actual situation of each power device. If the temperature of the power device has a great influence on the operation, then the value of b is set higher; if the voltage of the power device has a great influence on the operation, then the value of c is set higher, ensuring that a+b+c=1.

[0069] Step 103 : Arrange the evaluation values ​​of all the power equipment in descending order to serve as the current inspection order of all the power equipment in the target area.

[0070] The larger the evaluation value, the higher the inspection priority, and the order of power equipment inspection is adjusted in real time.

[0071] Step 104: Determine the time required to complete inspection of all power equipment in the target area according to the current inspection sequence.

[0072] In this embodiment, the Euclidean distance analysis method can be used to solve the distance between each two power devices. Taking the distance between power devices i and j as an example, the coordinates of power device i are (x i ,y i ), the coordinates of power equipment j are (x j ,y j ), the distance d between power equipment i and power equipment j ij , the formula is:

[0073]

[0074] Similarly, calculate the distance between all electrical equipment.

[0075] For example, the time T required to complete the inspection of all power equipment in the current inspection order is calculated according to the following formula:

[0076]

[0077] Where m is the total number of power equipment in the target area; t ij is the flight time of the UAV from power equipment i to power equipment j; e i is the time it takes for the UAV to complete the inspection of power equipment i; v is the flight speed of the UAV; d ij The distance from power equipment i to power equipment j; is the normalized wind speed; is the normalized wind direction.

[0078] Step 105: Obtain the power levels of all drones before and after the inspection.

[0079] Step 106 , determining the fitness value based on the time taken to complete the inspection of all power equipment in the target area, the power levels of all drones before the inspection, and the power levels after the inspection.

[0080] For example, with the minimum inspection time as the goal, the fitness value δ is calculated according to the following formula:

[0081]

[0082] Wherein, w1 is the fourth preset coefficient; T is the time to complete the inspection of all power equipment in the current inspection order; w2 is the fifth preset coefficient; Q st The power of all drones before inspection; Q end=The power consumption of all drones after the inspection is completed. Because the total inspection time factor is more important, in this embodiment, the fourth preset coefficient (weight coefficient) w1 = 0.7 and the fifth preset coefficient (weight coefficient) w2 = 0.3 are set.

[0083] Step 107: Determine the power equipment that each drone needs to inspect based on the fitness value.

[0084] Exemplarily, this step includes:

[0085] Randomly select a drone and a power equipment to form a first combination (n', m'), traverse all drones and power equipment to obtain multiple first combinations; where n' is the drone number; n' = 1, 2, ..., n; n is the total number of drones participating in the inspection; m' is the power equipment number, m' = 1, 2, ..., m; m is the total number of power equipment in the target area.

[0086] When the inspection of all electric power equipment can be completed, some first combinations are selected from all first combinations to obtain second combinations.

[0087] Traverse all first combinations to obtain multiple second combinations.

[0088] Determine the fitness value corresponding to each second combination, and select the second combination corresponding to the maximum fitness value as the final combination to determine the power equipment that each drone needs to inspect.

[0089] After obtaining the optimal inspection strategy, the inspection result visualization process is as follows: Figure 2As shown, the intelligent inspection system first calls upon the drone module and task module according to the optimal inspection strategy. The drone module primarily includes the drone's number, name, battery level, and drone status, including idle, working, charging, and faulty. The task module includes the planned drone's mission start and end points, inspection route, and execution time. Based on the combination of the optimal inspection strategy, a drone with the corresponding number and battery level is selected and the inspection task is executed along the inspection route. Then, during the inspection process, the inspection module in the intelligent inspection system is called upon to record the inspection time, device number, device name, and real-time device status for the corresponding point. Finally, these inspection results are displayed in real time on a multi-platform visual interface. The visual interface is designed using a convenient drag-and-drop designer. The interface designer includes a component selection area for displaying components to be configured, such as a time selection box, transformer, and transmission line; a design area for designing the specific display page; and a component property setting area for configuring the properties of the selected component. By dragging the relevant equipment for the inspection task from the component selection area to the design area, you can configure the component name, component style, component data source, etc. After clicking "Save", the design area will be generated and used as the final interface. When the drone inspects the corresponding point, the inspection module will find the corresponding component in the interface through the linkage relationship bound to the data source and display the real-time inspection results on the interface.

[0090] In summary, the drone-based power equipment inspection method provided in this embodiment collects meteorological data (wind speed and direction) and power equipment operating status data (temperature and voltage) during the inspection period, establishes an evaluation index system, constructs a comprehensive evaluation model, and adjusts the order of planned power equipment inspections in real time, overcoming the dynamic impact of meteorological data and power equipment operating status data on the inspection process. The fitness value is calculated for each combination of the initial inspection plan and the real-time adjusted plan, and the results are continuously updated with the larger fitness value until the maximum fitness value is selected as the final result. The current combination is then output as the optimal inspection strategy.

[0091] Example 2

[0092] Based on the same inventive concept as Example 1, this embodiment also provides a drone-based power equipment inspection system. Since the principle of solving the problem of this system is similar to the aforementioned drone-based power equipment inspection method, the implementation of this system can refer to the implementation of the drone-based power equipment inspection method.

[0093] like Figure 3 As shown in the figure, the UAV-based power equipment inspection system includes:

[0094] The first acquisition module 10 is used to acquire the current wind speed, wind direction, and temperature and voltage of each power device in the target area and perform normalization processing.

[0095] The first determining module 20 is configured to determine an evaluation value of each electrical device according to the normalized wind speed, wind direction, and the temperature and voltage of each electrical device.

[0096] The sorting module 30 is used to arrange the evaluation values ​​of all the power equipment in descending order as the current inspection order of all the power equipment in the target area.

[0097] The second determining module 40 is used to determine the time to complete the inspection of all power equipment in the target area according to the current inspection order;

[0098] The second acquisition module 50 is used to obtain the power levels of all drones before and after the inspection.

[0099] The third determination module 60 is used to determine the fitness value according to the time taken to complete the inspection of all power equipment in the target area, the power of all drones before the inspection, and the power after the inspection.

[0100] The fourth determining module 70 is used to determine the power equipment that each drone needs to inspect based on the fitness value.

[0101] Exemplarily, the first determining module includes:

[0102] The first calculation unit is configured to calculate the evaluation value of each power device according to the following formula:

[0103]

[0104] Among them, F i is the evaluation value of power equipment i; a is the first preset coefficient; is the normalized wind speed; is the normalized wind direction; b is the second preset coefficient; T i is the normalized temperature of the power equipment i; c is the third preset coefficient; U i is the normalized voltage of power device i.

[0105] Exemplarily, the second determining module includes:

[0106] The second calculation unit is used to calculate the time T required to complete the inspection of all power equipment in the current inspection order according to the following formula:

[0107]

[0108] Where m is the total number of power equipment in the target area; t ijis the flight time of the UAV from power equipment i to power equipment j; e i is the time it takes for the UAV to complete the inspection of power equipment i; v is the flight speed of the UAV; d ij The distance from power equipment i to power equipment j; is the normalized wind speed; is the normalized wind direction.

[0109] Exemplarily, the third determining module includes:

[0110] The third calculation unit is used to calculate the fitness value δ according to the following formula:

[0111]

[0112] Wherein, w1 is the fourth preset coefficient; T is the time to complete the inspection of all power equipment in the current inspection order; w2 is the fifth preset coefficient; Q st The power of all drones before inspection; Q end The power level of all drones after completing the inspection.

[0113] Exemplarily, the fourth determining module includes:

[0114] The first selection unit is used to arbitrarily select a drone and a power equipment to form a first combination (n', m'), traverse all drones and power equipment to obtain multiple first combinations; where n' is the drone number; n'=1, 2, ..., n; n is the total number of drones participating in the inspection; m' is the power equipment number, m'=1, 2, ..., m; m is the total number of power equipment in the target area.

[0115] The second selection unit is used to select part of the first combinations from all the first combinations to obtain the second combination when the inspection of all the power equipment can be completed.

[0116] The traversal unit is used to traverse all first combinations to obtain multiple second combinations.

[0117] The determination unit is used to determine the fitness value corresponding to each second combination, and select the second combination corresponding to the maximum fitness value as the final combination to determine the power equipment that each drone needs to inspect.

[0118] For more specific working processes of the above modules, please refer to the corresponding content disclosed in Example 1, which will not be repeated here.

[0119] Example 3

[0120] This embodiment provides a computer device, including a processor and a memory; wherein, when the processor executes the computer program stored in the memory, the steps of the drone-based power equipment inspection method described in Example 1 are implemented.

[0121] For more specific details about the above method, please refer to the corresponding content disclosed in Example 1, which will not be repeated here.

[0122] Example 4

[0123] This embodiment provides a computer-readable storage medium for storing a computer program; when the computer program is executed by a processor, the steps of the drone-based power equipment inspection method described in Example 1 are implemented.

[0124] For more specific details about the above method, please refer to the corresponding content disclosed in Example 1, which will not be repeated here.

[0125] Example 5

[0126] This embodiment provides a computer program product, including computer-executable instructions or a computer program. When the computer-executable instructions or the computer program are executed by a processor, the steps of the drone-based power equipment inspection method described in Example 1 are implemented.

[0127] For more specific details about the above method, please refer to the corresponding content disclosed in Example 1, which will not be repeated here.

[0128] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. References to the same or similar parts between the various embodiments will be sufficient. The systems, devices, storage media, and computer program products disclosed in the embodiments correspond to the methods disclosed in the embodiments, so their descriptions are relatively simplified. For relevant details, refer to the method descriptions.

[0129] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus a necessary general-purpose hardware platform. Based on this understanding, the technical solutions in the embodiments of the present invention, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention or certain portions of the embodiments.

[0130] In some embodiments, computer-executable instructions may be in the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0131] As an example, computer-executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinating files (e.g., files storing one or more modules, subroutines, or code portions).

[0132] By way of example, computer-executable instructions may be deployed to be executed on one electronic device, or on multiple electronic devices located at one site, or on multiple electronic devices distributed across multiple sites and interconnected by a communication network.

[0133] The present invention has been described in detail above with reference to specific embodiments and exemplary examples. However, these descriptions should not be construed as limiting the present invention. Those skilled in the art will appreciate that various equivalent substitutions, modifications, or improvements may be made to the technical solutions and implementations of the present invention without departing from the spirit and scope of the present invention, all of which fall within the scope of the present invention. The scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A power equipment inspection method based on drone, characterized in that: include: Obtain the current wind speed, wind direction, and temperature and voltage of each power device in the target area and perform normalization processing; determining an evaluation value of each power device based on the normalized wind speed, wind direction, and the temperature and voltage of each power device; Arrange the evaluation values ​​of all power equipment in descending order as the current inspection order of all power equipment in the target area; Determine the time to complete inspections of all power equipment in the target area according to the current inspection sequence; Get the battery level of all drones before and after the inspection; The fitness value is determined based on the time it takes to complete the inspection of all power equipment in the target area, the power of all drones before the inspection, and the power after the inspection. The electrical equipment that each drone needs to inspect is determined based on the fitness value.

2. The power equipment inspection method according to claim 1, characterized in that: Determining the evaluation value of each power device according to the normalized wind speed, wind direction, and the temperature and voltage of each power device includes: Calculate the assessment value of each electrical equipment according to the following formula: Among them, F i is the evaluation value of power equipment i; a is the first preset coefficient; is the normalized wind speed; is the normalized wind direction; b is the second preset coefficient; T i is the normalized temperature of the power equipment i; c is the third preset coefficient; U i is the normalized voltage of power device i.

3. The power equipment inspection method according to claim 1, characterized in that: Determining the time to complete inspection of all power equipment in the target area according to the current inspection order includes: The time T required to complete the inspection of all power equipment in the current inspection order is calculated using the following formula: Where m is the total number of power equipment in the target area; t ij is the flight time of the UAV from power equipment i to power equipment j; e i is the time it takes for the UAV to complete the inspection of power equipment i; v is the flight speed of the UAV; d ij The distance from power equipment i to power equipment j; is the normalized wind speed; is the normalized wind direction.

4. The power equipment inspection method according to claim 1, characterized in that: The fitness value is determined based on the time it takes to complete the inspection of all power equipment in the target area, the power of all drones before the inspection, and the power after the inspection, including: The fitness value δ is calculated according to the following formula: Wherein, w1 is the fourth preset coefficient; T is the time to complete the inspection of all power equipment in the current inspection order; w2 is the fifth preset coefficient; Q st The power of all drones before inspection; Q end The power level of all drones after completing the inspection.

5. The power equipment inspection method according to claim 1, characterized in that: The step of determining the electrical equipment that each drone needs to inspect based on the fitness value includes: Randomly select a drone and a power device to form a first combination (n', m'), traverse all drones and power devices to obtain multiple first combinations; where n' is the drone number; n' = 1, 2, ..., n; n is the total number of drones participating in the inspection; m' is the power device number, m' = 1, 2, ..., m; m is the total number of power devices in the target area; When all power equipment inspections can be completed, some first combinations are selected from all first combinations to obtain second combinations; Traverse all first combinations to obtain multiple second combinations; Determine the fitness value corresponding to each second combination, and select the second combination corresponding to the maximum fitness value as the final combination to determine the power equipment that each drone needs to inspect.

6. A power equipment inspection system based on drones, characterized in that: include: The first acquisition module is used to obtain the current wind speed and direction as well as the temperature and voltage of each power device in the target area and perform normalization processing; A first determining module is configured to determine an evaluation value of each power device based on the normalized wind speed, wind direction, and the temperature and voltage of each power device; A sorting module is used to arrange the evaluation values ​​of all power equipment in descending order as the current inspection order of all power equipment in the target area; The second determination module is used to determine the time to complete the inspection of all power equipment in the target area according to the current inspection order; The second acquisition module is used to obtain the power of all drones before and after the inspection; The third determination module is used to determine the fitness value based on the time to complete the inspection of all power equipment in the target area, the power of all drones before the inspection, and the power after the inspection is completed; The fourth determination module is used to determine the power equipment that each drone needs to inspect based on the fitness value.

7. The power equipment inspection system according to claim 6, characterized in that: The first determining module includes: The first calculation unit is configured to calculate the evaluation value of each power device according to the following formula: Among them, F i is the evaluation value of power equipment i; a is the first preset coefficient; is the normalized wind speed; is the normalized wind direction; b is the second preset coefficient; T i is the normalized temperature of the power equipment i; c is the third preset coefficient; U i is the normalized voltage of power device i.

8. The power equipment inspection system according to claim 6, characterized in that: The second determining module includes: The second calculation unit is used to calculate the time T required to complete the inspection of all power equipment in the current inspection order according to the following formula: Where m is the total number of power equipment in the target area; t ij is the flight time of the UAV from power equipment i to power equipment j; e i is the time it takes for the UAV to complete the inspection of power equipment i; v is the flight speed of the UAV; d ij The distance from power equipment i to power equipment j; is the normalized wind speed; is the normalized wind direction.

9. The power equipment inspection system according to claim 6, characterized in that: The third determining module includes: The third calculation unit is used to calculate the fitness value δ according to the following formula: Wherein, w1 is the fourth preset coefficient; T is the time to complete the inspection of all power equipment in the current inspection order; w2 is the fifth preset coefficient; Q st The power of all drones before inspection; Q end The power level of all drones after completing the inspection.

10. The power equipment inspection system according to claim 6, characterized in that: The fourth determining module includes: A first selection unit is configured to arbitrarily select a drone and a power device to form a first combination (n', m'), and traverse all drones and power devices to obtain multiple first combinations; n' is the drone number; n'=1, 2, ..., n; n is the total number of drones participating in the inspection; m' is the power device number; m'=1, 2, ..., m; m is the total number of power devices in the target area; A second selection unit is configured to select part of the first combinations from all the first combinations to obtain a second combination when inspections of all the power equipment can be completed; A traversal unit, used for traversing all first combinations to obtain multiple second combinations; The determination unit is used to determine the fitness value corresponding to each second combination, and select the second combination corresponding to the maximum fitness value as the final combination to determine the power equipment that each drone needs to inspect.

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