Unmanned aerial vehicle hangar deployment method for electric power inspection

Abstract

The invention relates to the technical field of unmanned aerial vehicle electric power inspection, in particular to an unmanned aerial vehicle hangar deployment method for electric power inspection. According to the method, the positions and the number of the unmanned aerial vehicle hangars actually required by a region are planned and configured for all candidate point positions where the unmanned aerial vehicle fixed hangars can be deployed in the region. Specifically, one piece of power equipment is regarded as an inspection task, and each inspection task is reasonably allocated to a fixed hangar candidate point with a proper inspection range, so that the amount of inspection tasks which can be borne by an unmanned aerial vehicle stored at each fixed hangar candidate point in a region and the inspection duration borne each year are obtained; therefore, the redundant point locations in the fixed hangar candidate points are judged, the fixed hangar candidate points are optimized and updated according to the redundant point locations, an unmanned aerial vehicle fixed hangar deployment point set with accurate number and position is finally obtained, the deployment accuracy of the number and position of the unmanned aerial vehicle hangar is improved, and reasonable utilization of unmanned aerial vehicle resources is realized.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) power line inspection technology, and in particular to a method for deploying UAV hangars for power line inspection. Background Technology

[0002] Power line inspection is a crucial means of checking relevant power equipment and lines in the power transmission and distribution network to promptly identify and eliminate potential safety hazards. Substations, distribution towers, poles, and other power equipment sites, as well as related power transmission and distribution lines, all require routine inspection and maintenance. Traditional manual line inspection methods are not only labor-intensive, but also involve complex, rigorous, time-consuming, and dangerous processes, especially for transmission lines in mountainous areas, those crossing major rivers, or those traversing complex terrain, requiring significant manpower. Furthermore, manual line inspection methods are currently insufficient for certain special line areas and inspection projects.

[0003] With the continuous advancement of industrial automation and intelligent technologies, drones are increasingly being used in power line inspection. Power line inspection drones, thanks to their high degree of automation, can efficiently perform inspection tasks without human intervention. Hangars, as crucial infrastructure for drones, not only store and maintain them but also provide necessary energy replenishment. For power line inspection scenarios, drone hangars need to be built around the power transmission and distribution network. Drones depart from the hangars when performing inspection tasks and return to recharge after completing the task or running out of power. Therefore, how to rationally allocate the number of drone hangars to ensure efficient power line inspection has become one of the key factors affecting the completion rate of inspection tasks.

[0004] Currently, existing technologies have begun to address the resource allocation issues for drone inspections. However, these technologies only analyze historical inspection data and equipment operating status to optimize drone power inspection tasks and reduce unnecessary inspection and maintenance work. They do not consider the actual demand for drone hangars in the power transmission and distribution network, leading to either too few or too many hangars. This affects the smooth completion of power inspection tasks and increases unnecessary drone operating costs. Specifically, existing technologies only roughly estimate the number of hangars based on manual experience before construction and deployment. When the number of hangars is insufficient to complete the power inspection tasks, additional hangars and drones are added. This lack of reasonable construction planning easily leads to over-allocation of drone hangar resources, increasing unnecessary drone operating costs. Therefore, how to accurately allocate the number of drones and drone hangars according to the inspection needs within the power inspection area has become an urgent problem to be solved in this field. Summary of the Invention

[0005] This invention aims to provide a method for deploying drone hangars for power line inspection, thereby improving the accuracy of the deployment of the number and location of drone hangars, realizing the rational utilization of drone resources, and solving the technical problems of insufficient or excessive number of drone hangars for power line inspection in existing technologies.

[0006] To achieve the above objectives, the present invention provides a method for deploying unmanned aerial vehicle (UAV) hangars for power line inspection, comprising the following steps:

[0007] Obtain a set of candidate fixed hangars, and then obtain the inspection range of each candidate fixed hangar in the set of candidate fixed hangars;

[0008] Several inspection tasks are identified, and then the equipment location and equipment type for each inspection task are obtained;

[0009] Based on the inspection range of each of the fixed hangar candidate points and the equipment location of each of the inspection tasks, the equipment inspection quantity of each of the fixed hangar candidate points is obtained;

[0010] Based on the equipment inspection volume of each of the fixed hangar candidate points and the equipment type of each inspection task, the annual inspection duration of each of the fixed hangar candidate points is obtained.

[0011] The fixed hangar candidate point set is updated based on the annual inspection duration of each fixed hangar candidate point to obtain the fixed hangar deployment point set, and then the drone hangars are deployed according to the fixed hangar deployment point set.

[0012] The aforementioned method for deploying drone hangars for power line inspection plans and configures the actual required drone hangar locations and quantities for a given region, considering all candidate locations within a region suitable for deploying fixed drone hangars. Specifically, this invention treats a power equipment as an inspection task and rationally allocates each inspection task to a suitable candidate fixed hangar location within the inspection range. It obtains the inspection workload and annual inspection duration that drones at each candidate fixed hangar location can handle, identifies redundant locations among the candidate fixed hangars, and optimizes and updates these locations accordingly. Ultimately, it yields a precise set of drone fixed hangar deployment points in terms of both quantity and location, improving the accuracy of drone hangar deployment and achieving rational utilization of drone resources.

[0013] Further, the step of obtaining the equipment inspection quantity for each fixed hangar candidate point based on the inspection range of each fixed hangar candidate point and the equipment location of each inspection task includes:

[0014] Based on the equipment location of each inspection task, obtain the inspection distance between each inspection task and each fixed hangar candidate point;

[0015] For any of the inspection tasks, if the equipment location is outside the inspection range of all the fixed hangar candidate points, the inspection task is assigned to the mobile hangar inspection point set; otherwise, the inspection task is assigned to the fixed hangar candidate point whose inspection distance meets the preset distance condition.

[0016] For any of the fixed hangar candidate points, all the inspection tasks corresponding to the fixed hangar candidate point are taken as the equipment inspection quantity.

[0017] In this implementation, drone hangars are further divided into two categories: fixed hangars and mobile hangars. Fixed hangars are those that need to be stored in a fixed location, while mobile hangars do not need to be stored in a fixed location. Generally, during use, operators carry the mobile hangar and drone to a suitable takeoff location near the equipment to be inspected, and then take off and land on that spot. This implementation prioritizes the use of fixed hangars for inspection tasks, and tasks that cannot be inspected by fixed hangars due to their limited inspection range are then handled by mobile hangars, thus improving the precision of drone hangar deployment.

[0018] Further, the equipment type includes substation type and transmission and distribution type; for any inspection task, if the equipment location is outside the inspection range of all the fixed hangar candidate points, the inspection task is assigned to the mobile hangar inspection point set; otherwise, after assigning the inspection task to the fixed hangar candidate point whose corresponding inspection distance meets the preset distance condition, the method further includes:

[0019] All inspection tasks belonging to the substation type in the mobile hangar inspection point set are assigned as substation mobile inspection volume, and all inspection tasks belonging to the transmission and distribution type in the mobile hangar inspection point set are assigned as transmission and distribution mobile inspection volume.

[0020] The annual substation mobile inspection duration is obtained based on the substation mobile inspection volume.

[0021] The annual mobile inspection duration for power transmission and distribution is obtained based on the aforementioned mobile inspection volume.

[0022] The annual inspection duration of the mobile hangar is obtained based on the annual substation mobile inspection duration and the annual transmission and distribution mobile inspection duration.

[0023] The deployment volume of mobile hangars is obtained based on the annual inspection duration of the mobile hangars.

[0024] In this implementation, inspection tasks are divided into substation inspection scenarios and power transmission and distribution inspection scenarios for separate calculation. The annual inspection time of mobile hangars and the required number of hangars are calculated based on the inspection tasks of mobile hangars. Specifically, the total number of mobile hangars actually needed is equal to the total annual inspection time of mobile hangars divided by the maximum inspection time of a single mobile hangar in a year.

[0025] Further, the equipment types include substation type and transmission and distribution type; the step of obtaining the annual inspection duration of each fixed hangar candidate point based on the equipment inspection volume of each fixed hangar candidate point and the equipment type of each inspection task includes:

[0026] For any of the aforementioned fixed hangar candidate points:

[0027] All inspection tasks belonging to the substation type in the equipment inspection quantity are assigned as substation inspection quantity, and all inspection tasks belonging to the transmission and distribution type in the equipment inspection quantity are assigned as transmission and distribution inspection quantity;

[0028] The annual substation inspection duration is obtained based on the substation inspection volume.

[0029] The annual transmission and distribution inspection duration is obtained based on the transmission and distribution inspection volume.

[0030] The annual inspection duration is obtained based on the annual substation inspection duration and the annual transmission and distribution inspection duration.

[0031] In this implementation, the inspection task is divided into substation inspection scenario and power transmission and distribution inspection scenario for calculation. Then, the tasks and durations of substation and power transmission and distribution are combined into the total task and duration. The location and number of drone hangar deployment points are determined according to the differences in the specific power inspection task content, thereby improving the accuracy of drone hangar deployment.

[0032] Furthermore, obtaining the annual substation inspection duration based on the substation inspection volume includes:

[0033] For any of the inspection tasks in the substation inspection volume, obtain the substation inspection history data for that inspection task, and then obtain the substation's annual average inspection time based on the substation inspection history data.

[0034] The annual substation inspection time is obtained based on the annual average inspection time of all substations corresponding to all inspection tasks in the substation inspection volume.

[0035] Furthermore, obtaining the annual transmission and distribution inspection duration based on the transmission and distribution inspection volume includes:

[0036] Obtain the takeoff and landing speed of the drone and the inspection speed of the drone;

[0037] Based on the candidate fixed hangar point and the location of all equipment corresponding to all inspection tasks in the power transmission and distribution inspection volume, the power transmission inspection line and the power distribution inspection line are planned.

[0038] The annual power transmission inspection duration is obtained based on the take-off and landing speed of the UAV, the inspection speed of the UAV, and the power transmission line inspection line.

[0039] The annual power distribution inspection duration is obtained based on the drone's takeoff and landing speed, the drone's inspection speed, and the power distribution inspection line.

[0040] The annual transmission and distribution inspection duration is obtained based on the annual transmission inspection duration and the annual distribution inspection duration.

[0041] Furthermore, the step of obtaining the annual power transmission inspection duration based on the drone's takeoff and landing speed, the drone's inspection speed, and the power transmission line includes:

[0042] Obtain the inspection duration of the first tower for each inspection task in the power transmission line;

[0043] The inspection time of the power transmission channel and the refined inspection time of the power transmission are obtained based on the take-off and landing speed of the UAV, the inspection speed of the UAV, the power transmission line, and the inspection time of all the first towers.

[0044] The frequency of power transmission channel inspections for the duration of power transmission channel inspections is obtained, and the frequency of power transmission refined inspections for the duration of power transmission refined inspections is also obtained.

[0045] Based on the inspection duration and inspection frequency of the power transmission channel, the annual inspection duration of the power transmission channel is obtained;

[0046] Based on the refined power transmission inspection duration and the refined power transmission inspection frequency, the refined annual power transmission inspection duration is obtained.

[0047] The annual inspection duration of the power transmission channel and the annual inspection duration of the refined power transmission are taken as the annual power transmission inspection duration.

[0048] Furthermore, the step of obtaining the annual power distribution inspection duration based on the drone's takeoff and landing speed, the drone's inspection speed, and the power distribution inspection line includes:

[0049] Obtain the inspection duration of the second tower for each inspection task in the power distribution inspection line;

[0050] The inspection time of the power distribution channel and the refined inspection time of the power distribution are obtained based on the take-off and landing speed of the UAV, the inspection speed of the UAV, the power distribution inspection line, and the inspection time of all the second towers.

[0051] Obtain the frequency of power distribution channel inspections for the duration of power distribution channel inspections, and obtain the frequency of power distribution refined inspections for the duration of power distribution refined inspections;

[0052] Based on the inspection duration and inspection frequency of the power distribution channel, the annual inspection duration of the power distribution channel is obtained.

[0053] Based on the refined power distribution inspection duration and the refined power distribution inspection frequency, the refined annual power distribution inspection duration is obtained.

[0054] The annual inspection duration of the power distribution channel and the annual inspection duration of the refined power distribution are taken as the annual power distribution inspection duration.

[0055] Further, the step of updating the fixed hangar candidate point set based on the annual inspection duration of each of the fixed hangar candidate points to obtain a fixed hangar deployment point set, and then deploying UAV hangars according to the fixed hangar deployment point set, includes:

[0056] If the annual inspection duration of any of the fixed hangar candidate points does not meet the preset duration threshold, then the fixed hangar candidate point is removed from the fixed hangar candidate point set, and then the equipment inspection quantity and annual inspection duration of each fixed hangar candidate point are re-obtained to obtain the first set of fixed hangar points.

[0057] If all candidate fixed hangars in the first set of fixed hangars meet the duration threshold, then the first set of fixed hangars will be used as the fixed hangar deployment point set.

[0058] In this implementation, after obtaining the initial task allocation for each candidate fixed hangar, qualified candidate points are selected from the candidate fixed hangar set to form the fixed hangar deployment point set. The main approach is to sort the candidate fixed hangar points according to their annual inspection duration in ascending order, remove those with an annual inspection duration less than a preset minimum, and reassign their inspection tasks to the remaining candidate fixed hangar points. This process is repeated until the workload of all remaining candidate fixed hangar points meets the requirements, resulting in the final fixed hangar deployment point set.

[0059] It should be noted that the installation of fixed hangars and the operation and maintenance of drones require a lot of resources. Therefore, if the annual inspection time of a fixed hangar is too short, it means that the hangar is a redundant hangar. Its workload can be distributed to other fixed hangars, thereby optimizing the number of fixed hangars, avoiding too few or too many hangars, improving the utilization rate of drone resources and the accuracy of hangar deployment, and improving the cost-effectiveness of hangar configuration.

[0060] Further, the step of updating the fixed hangar candidate point set based on the annual inspection duration of each of the fixed hangar candidate points to obtain a fixed hangar deployment point set, and then deploying UAV hangars according to the fixed hangar deployment point set, includes:

[0061] All the aforementioned fixed hangar candidate sites are divided into several existing hangar deployment sites and several additional hangar candidate sites;

[0062] If the annual inspection duration of any of the candidate locations for adding a hangar does not meet the preset duration threshold, then the candidate location for adding a hangar is removed from the set of candidate locations for fixed hangars, and then the equipment inspection quantity and annual inspection duration of each candidate location for adding a hangar are re-acquired to obtain the second set of fixed hangars.

[0063] If all candidate locations for adding a hangar in the second set of fixed hangar locations meet the duration threshold, then the second set of fixed hangar locations will be used as the fixed hangar deployment point set.

[0064] In this implementation, the candidate locations for fixed hangars are further divided into existing hangar deployment locations and additional hangar candidate locations. Existing hangars are fixed hangars that have been deployed in the area in the past. Since it would take a lot of resources to dismantle the existing hangars, the candidate locations for existing hangars are directly retained as the deployment hangars in the set of fixed hangar deployment locations. An appropriate number of additional hangars are selected from the additional hangar candidate locations. Finally, the fixed hangar deployment locations that need to be added on the basis of existing hangars are obtained. This allows for real-time updates of UAV hangar deployment locations in coordination with power grid expansion, thereby improving the flexibility of UAV hangar deployment. Attached Figure Description

[0065] Figure 1 This is a flowchart illustrating a method for deploying unmanned aerial vehicle (UAV) hangars for power line inspection, as provided in an embodiment of the present invention. Detailed Implementation

[0066] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that the following detailed descriptions are exemplary and intended to provide further detailed explanation of the invention. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings are used to distinguish different objects, not to describe a particular order.

[0067] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0068] Given the ever-increasing demand for power equipment inspection, it is essential to develop a hangar requirement calculation algorithm suitable for power transmission, transformation, and distribution system inspection scenarios. This algorithm aims to accurately estimate the minimum number of hangars (drones) required to complete these inspection tasks by comprehensively considering the number of equipment to be inspected and the corresponding inspection frequency. This algorithm is of great significance for improving inspection efficiency, ensuring the timely and smooth completion of inspection tasks, and reducing operating costs.

[0069] Currently, some research has begun to focus on resource allocation for drone inspections, but these studies primarily focus on optimizing inspection tasks and analyzing historical inspection data and equipment operating status to reduce unnecessary inspections and maintenance. However, few studies have considered calculating hangar requirements. Currently, hangar requirements are mostly estimated manually before deployment based on experience, without comprehensively considering various factors. Additional hangars and drones are added only when insufficient capacity is found during field operations. There is still no comprehensive hangar requirement calculation algorithm that can fully consider factors such as the quantity, type, and distribution of equipment, inspection frequency, hangar location, and drone endurance. Therefore, existing technologies have the following problems:

[0070] 1) Lack of accuracy: Existing technologies often rely on experience or simple mathematical calculations when estimating the number of hangars and drones, failing to fully consider factors such as the specific distribution and type of equipment within the inspection area, the frequency of inspections, and the drone's endurance, resulting in inaccurate estimates. This inaccuracy may lead to insufficient resource allocation, affecting the smooth completion of inspection tasks, or excessive resource allocation, increasing unnecessary operating costs.

[0071] 2) Insufficient flexibility: Existing technical solutions typically lack dynamic adjustment capabilities, failing to flexibly adjust the number of hangars according to real-time changes in inspection tasks (such as adding inspection equipment or increasing inspection frequency). This may lead to inspection resources being unable to respond in a timely manner in certain emergency situations, affecting the safe operation of the power grid.

[0072] 3) Low cost-effectiveness: Due to the shortcomings of existing technologies in resource estimation and allocation, resources are often underutilized or excessively wasted, thereby increasing inspection costs.

[0073] 4) Low level of intelligence: The level of intelligence in calculating hangar demand is low, and there is a lack of intelligent algorithm support, which makes the resource scheduling and configuration process cumbersome and inefficient, and difficult to adapt to the needs of large-scale and high-frequency inspections.

[0074] To solve the above problem, see Figure 1 This invention provides a method for deploying unmanned aerial vehicle (UAV) hangars for power line inspection, comprising the following steps:

[0075] S101. Obtain a set of candidate fixed hangars, and then obtain the inspection range of each candidate fixed hangar in the set of candidate fixed hangars.

[0076] S102. Determine a number of inspection tasks, and then obtain the equipment location and equipment type for each inspection task;

[0077] S103. Based on the inspection range of each of the fixed hangar candidate points and the equipment location of each of the inspection tasks, obtain the equipment inspection quantity of each of the fixed hangar candidate points;

[0078] S104. Based on the equipment inspection volume of each of the fixed hangar candidate points and the equipment type of each inspection task, obtain the annual inspection duration of each of the fixed hangar candidate points.

[0079] S105. Update the fixed hangar candidate point set based on the annual inspection duration of each fixed hangar candidate point to obtain the fixed hangar deployment point set, and then deploy the UAV hangar according to the fixed hangar deployment point set.

[0080] The aforementioned method for deploying drone hangars for power line inspection plans and configures the actual required drone hangar locations and quantities for a given region, considering all candidate locations within a region suitable for deploying fixed drone hangars. Specifically, this invention treats a power equipment as an inspection task and rationally allocates each inspection task to a suitable candidate fixed hangar location within the inspection range. It obtains the inspection workload and annual inspection duration that drones at each candidate fixed hangar location can handle, identifies redundant locations among the candidate fixed hangars, and optimizes and updates these locations accordingly. Ultimately, it yields a precise set of drone fixed hangar deployment points in terms of both quantity and location, improving the accuracy of drone hangar deployment and achieving rational utilization of drone resources.

[0081] It should be noted that, to simplify the problem, this invention only considers the one-to-one scenario of hangars and drones, i.e., the number of drones and hangars is the same, with one drone per hangar. The calculated number of fixed hangar deployment points represents the drone demand. The demand calculation is based on a conversion of inspection workload.

[0082] Further, the step of obtaining the equipment inspection quantity for each fixed hangar candidate point based on the inspection range of each fixed hangar candidate point and the equipment location of each inspection task includes:

[0083] Based on the equipment location of each inspection task, obtain the inspection distance between each inspection task and each fixed hangar candidate point;

[0084] For any of the inspection tasks, if the equipment location is outside the inspection range of all the fixed hangar candidate points, the inspection task is assigned to the mobile hangar inspection point set; otherwise, the inspection task is assigned to the fixed hangar candidate point whose inspection distance meets the preset distance condition.

[0085] For any of the fixed hangar candidate points, all the inspection tasks corresponding to the fixed hangar candidate point are taken as the equipment inspection quantity.

[0086] Furthermore, for substation inspection tasks, first check if there are any fixed hangar candidate points within the substation. If so, the substation inspection task is directly assigned to a fixed hangar candidate point within the substation, as its inspection distance is closest to the substation. If there are no candidate points within the substation, the substation inspection task is assigned to the fixed hangar candidate point with the closest inspection distance. If the substation inspection task is outside the inspection range of all the aforementioned fixed hangar candidate points, the substation inspection task is directly assigned to a mobile hangar.

[0087] Furthermore, for transmission and distribution inspection tasks, it is calculated whether the transmission and distribution equipment is within the inspection range of the fixed hangar candidate points. If it is, the transmission and distribution inspection task is assigned to the fixed hangar candidate point with the closest inspection distance. If the transmission and distribution inspection task is outside the inspection range of all the fixed hangar candidate points, the transmission and distribution inspection task is directly assigned to the mobile hangar. Finally, all transmission and distribution line equipment in the area and their respective candidate points are obtained.

[0088] It should be noted that, based on the usage of hangars in inspection scenarios, hangars can be divided into two categories: fixed hangars and mobile hangars. Their usage methods and application scenarios differ; therefore, the deployment volume of the two types of hangars is calculated separately in this invention. The difference in calculating the inspection workload for the two types of hangars lies in the different methods used to calculate the drone's idle flight time.

[0089] The idle flight time refers to the idle flight time of the UAV while it is traveling to or from the inspection route or inspection equipment, but without performing any actual inspection tasks.

[0090] In this implementation, drone hangars are further divided into two categories: fixed hangars and mobile hangars. Fixed hangars are hangars that need to be stored in fixed locations, so candidate locations for deploying fixed hangars need to be determined in advance. In some possible embodiments, substations are usually selected as deployment points for fixed hangars, or locations near important power poles, power supply stations, or other places where fixed hangars can be stored. For fixed hangars, the flight time is directly calculated as the time from takeoff from the fixed hangar to the inspection route and back to the fixed hangar after the inspection.

[0091] Mobile hangars do not need to be stored in a fixed location. Typically, operators carry the mobile hangar and drones to a suitable takeoff point near the equipment to be inspected, where they take off and land. Therefore, unlike fixed hangars, mobile hangars cannot estimate flight time based on location. Instead, they must use the flight time rate, which is the percentage of total inspection time during a single drone inspection. Based on actual testing of mobile hangars, a flight time rate of 30% is optimal.

[0092] This approach prioritizes fixed hangars for inspection tasks. Tasks involving equipment that cannot be inspected due to the limited inspection range of fixed hangars are then handled by mobile hangars, thus improving the precision of drone hangar deployment.

[0093] Further, the equipment type includes substation type and transmission and distribution type; for any inspection task, if the equipment location is outside the inspection range of all the fixed hangar candidate points, the inspection task is assigned to the mobile hangar inspection point set; otherwise, after assigning the inspection task to the fixed hangar candidate point whose corresponding inspection distance meets the preset distance condition, the method further includes:

[0094] All inspection tasks belonging to the substation type in the mobile hangar inspection point set are assigned as substation mobile inspection volume, and all inspection tasks belonging to the transmission and distribution type in the mobile hangar inspection point set are assigned as transmission and distribution mobile inspection volume.

[0095] The annual substation mobile inspection duration is obtained based on the substation mobile inspection volume.

[0096] The annual mobile inspection duration for power transmission and distribution is obtained based on the aforementioned mobile inspection volume.

[0097] The annual inspection duration of the mobile hangar is obtained based on the annual substation mobile inspection duration and the annual transmission and distribution mobile inspection duration.

[0098] The deployment volume of mobile hangars is obtained based on the annual inspection duration of the mobile hangars.

[0099] In this implementation, inspection tasks are divided into substation inspection scenarios and power transmission and distribution inspection scenarios for separate calculation. The annual inspection time of mobile hangars and the required number of hangars are calculated based on the inspection tasks of mobile hangars. Specifically, the total number of mobile hangars actually needed is equal to the total annual inspection time of mobile hangars divided by the maximum inspection time of a single mobile hangar in a year.

[0100] Further, the equipment types include substation type and transmission and distribution type; the step of obtaining the annual inspection duration of each fixed hangar candidate point based on the equipment inspection volume of each fixed hangar candidate point and the equipment type of each inspection task includes:

[0101] For any of the aforementioned fixed hangar candidate points:

[0102] All inspection tasks belonging to the substation type in the equipment inspection quantity are assigned as substation inspection quantity, and all inspection tasks belonging to the transmission and distribution type in the equipment inspection quantity are assigned as transmission and distribution inspection quantity;

[0103] The annual substation inspection duration is obtained based on the substation inspection volume.

[0104] The annual transmission and distribution inspection duration is obtained based on the transmission and distribution inspection volume.

[0105] The annual inspection duration is obtained based on the annual substation inspection duration and the annual transmission and distribution inspection duration.

[0106] In this implementation, the inspection task is divided into substation inspection scenario and power transmission and distribution inspection scenario for calculation. Then, the tasks and durations of substation and power transmission and distribution are combined into the total task and duration. The location and number of drone hangar deployment points are determined according to the differences in the specific power inspection task content, thereby improving the accuracy of drone hangar deployment.

[0107] Furthermore, obtaining the annual substation inspection duration based on the substation inspection volume includes:

[0108] For any of the inspection tasks in the substation inspection volume, obtain the substation inspection history data for that inspection task, and then obtain the substation's annual average inspection time based on the substation inspection history data.

[0109] The annual substation inspection time is obtained based on the annual average inspection time of all substations corresponding to all inspection tasks in the substation inspection volume.

[0110] Specifically, the steps for calculating the substation inspection tasks corresponding to each substation in the substation inspection volume are as follows:

[0111] To determine if a substation has complete inspection data records, if so, use these records to estimate the substation inspection time. Specifically, divide the total recorded inspection time by the number of years the records were kept to obtain the average annual substation inspection time. If no old inspection data is available, use the average inspection time of substations at the same voltage level as the substation's inspection time.

[0112] For candidate points not located within a substation, an additional annual flight time needs to be added to the above-mentioned annual substation inspection time. The flight time refers to the time from takeoff from the hangar to the inspection route and back to the hangar after the inspection. If the candidate point is not within a substation, the round-trip time from the candidate point to the substation (i.e., the flight time) needs to be included in the inspection time.

[0113] The substation inspection tasks and inspection durations for each candidate point and mobile hangar are statistically analyzed, and this data is used as the output.

[0114] It should be understood that the inspection tasks in the substation inspection workload belong to the substation inspection tasks, that is, to inspect the substation.

[0115] In one possible embodiment, each substation typically has a fixed hangar candidate point, which is the fixed hangar candidate point with the closest inspection distance to the corresponding substation inspection task. Therefore, the substation inspection task will be assigned to the fixed hangar candidate point within the substation.

[0116] Furthermore, obtaining the annual transmission and distribution inspection duration based on the transmission and distribution inspection volume includes:

[0117] Obtain the takeoff and landing speed of the drone and the inspection speed of the drone;

[0118] Based on the candidate fixed hangar point and the location of all equipment corresponding to all inspection tasks in the power transmission and distribution inspection volume, the power transmission inspection line and the power distribution inspection line are planned.

[0119] The annual power transmission inspection duration is obtained based on the take-off and landing speed of the UAV, the inspection speed of the UAV, and the power transmission line inspection line.

[0120] The annual power distribution inspection duration is obtained based on the drone's takeoff and landing speed, the drone's inspection speed, and the power distribution inspection line.

[0121] The annual transmission and distribution inspection duration is obtained based on the annual transmission inspection duration and the annual distribution inspection duration.

[0122] Furthermore, the step of obtaining the annual power transmission inspection duration based on the drone's takeoff and landing speed, the drone's inspection speed, and the power transmission line includes:

[0123] Obtain the inspection duration of the first tower for each inspection task in the power transmission line;

[0124] The inspection time of the power transmission channel and the refined inspection time of the power transmission are obtained based on the take-off and landing speed of the UAV, the inspection speed of the UAV, the power transmission line, and the inspection time of all the first towers.

[0125] The frequency of power transmission channel inspections for the duration of power transmission channel inspections is obtained, and the frequency of power transmission refined inspections for the duration of power transmission refined inspections is also obtained.

[0126] Based on the inspection duration and inspection frequency of the power transmission channel, the annual inspection duration of the power transmission channel is obtained;

[0127] Based on the refined power transmission inspection duration and the refined power transmission inspection frequency, the refined annual power transmission inspection duration is obtained.

[0128] The annual inspection duration of the power transmission channel and the annual inspection duration of the refined power transmission are taken as the annual power transmission inspection duration.

[0129] Furthermore, the step of obtaining the annual power distribution inspection duration based on the drone's takeoff and landing speed, the drone's inspection speed, and the power distribution inspection line includes:

[0130] Obtain the inspection duration of the second tower for each inspection task in the power distribution inspection line;

[0131] The inspection time of the power distribution channel and the refined inspection time of the power distribution are obtained based on the take-off and landing speed of the UAV, the inspection speed of the UAV, the power distribution inspection line, and the inspection time of all the second towers.

[0132] Obtain the frequency of power distribution channel inspections for the duration of power distribution channel inspections, and obtain the frequency of power distribution refined inspections for the duration of power distribution refined inspections;

[0133] Based on the inspection duration and inspection frequency of the power distribution channel, the annual inspection duration of the power distribution channel is obtained.

[0134] Based on the refined power distribution inspection duration and the refined power distribution inspection frequency, the refined annual power distribution inspection duration is obtained.

[0135] The annual inspection duration of the power distribution channel and the annual inspection duration of the refined power distribution are taken as the annual power distribution inspection duration.

[0136] Specifically, the annual transmission and distribution inspection time for fixed hangar candidate sites needs to be calculated based on the inspection time for each of the four inspection methods within a year: transmission channel inspection, refined transmission channel inspection, distribution channel inspection, and refined distribution channel inspection. Transmission channel inspection refers to inspecting only the transmission lines, without inspecting every piece of equipment along the line; refined transmission channel inspection, on the other hand, inspects every piece of equipment along the line in addition to line inspection, thus requiring an acceleration of the tower inspection time for each inspection task. Distribution channel inspection refers to inspecting only the distribution lines, without inspecting every piece of equipment along the line; refined distribution channel inspection, on the other hand, inspects every piece of equipment along the line in addition to line inspection, thus requiring an acceleration of the tower inspection time for each inspection task.

[0137] In one specific embodiment, the annual power transmission inspection duration is obtained based on the drone's takeoff and landing speed, the drone's inspection speed, and the power transmission line. The specific steps for obtaining the annual power distribution inspection duration based on the drone's takeoff and landing speed, the drone's inspection speed, and the power distribution line are as follows:

[0138] Input all power transmission and distribution lines and equipment on the lines within the input area, as well as the candidate point IDs to which the equipment belongs. The candidate point A to calculate the inspection time is A. The drone take-off and landing speed (i.e., the speed at which it takes off from the hangar and lands in the hangar) and the drone inspection speed (the drone's flight speed during the inspection).

[0139] For any transmission or distribution inspection line, identify the equipment to be inspected at candidate point A along this line and arrange them in the original order to obtain the inspection equipment group [equipment 1, equipment 2, ..., equipment N].

[0140] The duration of a single inspection is calculated starting from device 1:

[0141] For each drone that departs from the fixed hangar for inspection, the time it takes to fly to equipment 1 is calculated based on the take-off and landing speed. Then, based on the drone's inspection speed, the time it takes for the drone to fly to the next piece of equipment in the inspection equipment group along the inspection route is calculated sequentially. Finally, the total single inspection time of the drone for the entire inspection route is obtained.

[0142] It should be noted that the time it takes for a drone to fly from the current device to the next device is equal to the distance between the current device and the next device divided by the drone's inspection speed.

[0143] If the drone runs out of power during the inspection process, reaching the maximum flight time for a single drone sortie, the time it takes for the drone to fly back from the current inspection equipment and land at the corresponding fixed hangar is calculated based on the drone's take-off and landing speed and inspection speed. The time it takes for the drone to be dispatched from the corresponding fixed hangar to fly back to the current inspection equipment and complete the remaining inspection route is also calculated. Finally, the total single inspection time for the drone to inspect the entire inspection route is obtained.

[0144] Furthermore, if the inspection is not a routine channel inspection but a more refined one, then each time the drone flies to the next inspection device, the corresponding tower inspection time needs to be increased. Specifically, the tower inspection time is configured differently based on the equipment type and tower voltage level: 40 seconds for distribution towers; 60 seconds for 35kV towers; 75 seconds for 110kV towers; 100 seconds for 220kV towers; and 240 seconds for 500kV towers.

[0145] After obtaining the inspection durations for four types of inspections, each is multiplied by its annual inspection frequency, and the results are summed to obtain the total time for fixed hangar candidate points across all transmission and distribution inspection tasks. Specifically: the annual inspection duration for transmission channels is obtained based on the transmission channel inspection duration and frequency; the refined annual inspection duration for transmission channels is obtained based on the refined transmission channel inspection duration and frequency; the annual inspection duration for distribution channels is obtained based on the refined distribution channel inspection duration and frequency; and the refined annual inspection duration for distribution channels is obtained based on the refined distribution channel inspection duration and frequency. The annual transmission and distribution inspection durations are then summed to obtain the total annual transmission and distribution inspection duration.

[0146] It should be noted that when calculating the substation inspection time, historical data from the past year or the average inspection time of substations at the same voltage level over a year is used directly as the substation inspection time; this data is directly for one year. When calculating the transmission and distribution inspection time, a simulated flight inspection method is used. Therefore, the calculated time is the time to inspect all equipment in a single inspection, and it needs to be multiplied by the annual inspection frequency to obtain the annual inspection time.

[0147] Further, the step of updating the fixed hangar candidate point set based on the annual inspection duration of each of the fixed hangar candidate points to obtain a fixed hangar deployment point set, and then deploying UAV hangars according to the fixed hangar deployment point set, includes:

[0148] If the annual inspection duration of any of the fixed hangar candidate points does not meet the preset duration threshold, then the fixed hangar candidate point is removed from the fixed hangar candidate point set, and then the equipment inspection quantity and annual inspection duration of each fixed hangar candidate point are re-obtained to obtain the first set of fixed hangar points.

[0149] If all candidate fixed hangars in the first set of fixed hangars meet the duration threshold, then the first set of fixed hangars will be used as the fixed hangar deployment point set.

[0150] In this implementation, after obtaining the initial task allocation for each candidate fixed hangar, qualified candidate points are selected from the candidate fixed hangar set to form the fixed hangar deployment point set. The main approach is to sort the candidate fixed hangar points according to their annual inspection duration in ascending order, remove those with an annual inspection duration less than a preset minimum, and reassign their inspection tasks to the remaining candidate fixed hangar points. This process is repeated until the workload of all remaining candidate fixed hangar points meets the requirements, resulting in the final fixed hangar deployment point set.

[0151] It should be noted that the installation of fixed hangars and the operation and maintenance of drones require a lot of resources. Therefore, if the annual inspection time of a fixed hangar is too short, it means that the hangar is a redundant hangar. Its workload can be distributed to other fixed hangars, thereby optimizing the number of fixed hangars, avoiding too few or too many hangars, improving the utilization rate of drone resources and the accuracy of hangar deployment, and improving the cost-effectiveness of hangar configuration.

[0152] Further, the step of updating the fixed hangar candidate point set based on the annual inspection duration of each of the fixed hangar candidate points to obtain a fixed hangar deployment point set, and then deploying UAV hangars according to the fixed hangar deployment point set, includes:

[0153] All the aforementioned fixed hangar candidate sites are divided into several existing hangar deployment sites and several additional hangar candidate sites;

[0154] If the annual inspection duration of any of the candidate locations for adding a hangar does not meet the preset duration threshold, then the candidate location for adding a hangar is removed from the set of candidate locations for fixed hangars, and then the equipment inspection quantity and annual inspection duration of each candidate location for adding a hangar are re-acquired to obtain the second set of fixed hangars.

[0155] If all candidate locations for adding a hangar in the second set of fixed hangar locations meet the duration threshold, then the second set of fixed hangar locations will be used as the fixed hangar deployment point set.

[0156] In this implementation, the candidate locations for fixed hangars are further divided into existing hangar deployment locations and additional hangar candidate locations. Existing hangars are fixed hangars that have been deployed in the area in the past. Since it would take a lot of resources to dismantle the existing hangars, the candidate locations for existing hangars are directly retained as the deployment hangars in the set of fixed hangar deployment locations. An appropriate number of additional hangars are selected from the additional hangar candidate locations. Finally, the fixed hangar deployment locations that need to be added on the basis of existing hangars are obtained. This allows for real-time updates of UAV hangar deployment locations in coordination with power grid expansion, thereby improving the flexibility of UAV hangar deployment.

[0157] Furthermore, in one possible embodiment, it is also necessary to determine the maximum number of fixed hangars that the power inspection area can accommodate. The final number of deployment points in the fixed hangar deployment point set cannot exceed the maximum number of fixed hangars. Inspection tasks that are not available due to the limitation on the number of fixed hangars are allocated to mobile hangars for completion, thereby updating the mobile hangar deployment quantity.

[0158] Specifically, in one possible embodiment, the steps of selecting suitable candidate points from fixed hangar candidate points as fixed deployment hangar locations and updating the inspection tasks for mobile hangars include:

[0159] Step 1: Input the inspection task equipment inspection volume and annual inspection duration corresponding to each fixed hangar candidate point.

[0160] Step 2: Retain Existing Hangers: Candidate fixed hangar locations are divided into existing hangar deployment points and additional hangar candidate points. Existing hangar locations are directly retained as fixed deployment hangar locations, and an appropriate number of additional hangars are selected from the additional hangar candidate points. Number of additional fixed hangars = Maximum number of fixed hangars - Number of existing hangars;

[0161] Step 3: Sort the candidate locations for adding hangars in ascending order of inspection duration, and take the candidate location with the shortest inspection duration for calculation;

[0162] Step 4: Determine whether to remove the current candidate points for adding a hangar: If the number of candidate points for adding a hangar is not greater than the number of hangars to be added and the inspection time of the current candidate point is not less than the minimum inspection time of the fixed hangar, then the candidate point does not need to be removed and proceed to step 7; otherwise, remove the candidate point.

[0163] Step 5: Reassign the removed hangar addition candidate point tasks to other hangar addition candidate points: Traverse the inspection equipment of the removed candidate points and determine whether the inspection equipment is within the inspection range of the existing candidate points. If the range of a candidate point can cover it, the inspection task of that equipment is assigned to the candidate point with the shortest inspection time after the equipment task is added, in order to balance the inspection time of each hangar; if the inspection range of no fixed hangar candidate point can cover it, the task is assigned to a mobile hangar.

[0164] Step 6: Update hangar tasks and inspection duration: After assigning tasks, recalculate the annual inspection duration for each fixed hangar candidate point assigned to the new inspection task. After calculation, skip to Step 3 to reorder the candidate points;

[0165] Step 7: Obtain the fixed hangar location results: The candidate hangar locations in the fixed hangar candidate point set meet the fixed hangar deployment requirements. Therefore, the selected and updated candidate hangar locations and the existing hangar deployment points are combined to obtain the fixed hangar deployment point set, which serves as the fixed hangar deployment result.

[0166] Step 8: Output the location and quantity of each fixed hangar deployment, as well as the inspection task and inspection duration corresponding to each fixed hangar deployment point, and then update the inspection task volume of the mobile hangar.

[0167] Further, the steps of obtaining the annual substation mobile inspection duration based on the substation mobile inspection volume; obtaining the annual transmission and distribution mobile inspection duration based on the transmission and distribution mobile inspection volume; obtaining the annual mobile hangar inspection duration based on the annual substation mobile inspection duration and the annual transmission and distribution mobile inspection duration; and obtaining the mobile hangar deployment volume based on the annual mobile hangar inspection duration include the following steps:

[0168] 1) Obtain the annual substation mobile inspection duration based on the aforementioned substation mobile inspection volume:

[0169] The overall substation inspection time calculation is similar to that of fixed and mobile hangars. It is determined whether the substation has complete inspection data records. If inspection records exist, they are used to estimate the substation inspection time. Specifically, the total recorded inspection time is divided by the number of years the records were kept, yielding the average annual substation inspection time. If no old inspection data is available, the average inspection time of substations at the same voltage level is used as the substation's inspection time.

[0170] Since mobile hangars do not need to be stored in a fixed location, when in use, the operators carry the mobile hangar and drone to a place near the substation to be inspected where they can take off and land on the spot. There is no idle flight time, so there is no need to increase the idle flight time from the fixed point to the substation.

[0171] 2) Obtain the annual mobile inspection duration of the transportation and distribution system from the aforementioned mobile inspection volume:

[0172] It should be understood that the algorithm for the transmission and distribution inspection time of mobile hangars is similar to that of the algorithm for the transmission and distribution inspection time of candidate points of fixed hangars. The difference is that: for fixed hangars, each candidate point is calculated separately, while for mobile hangars, it is calculated as a whole; for fixed hangars, the empty flight time from the candidate point of the fixed hangar to the pole of the inspection equipment needs to be included, while for mobile hangars, the empty flight rate is used to calculate the empty flight time.

[0173] Input all power transmission and distribution lines and equipment belonging to the mobile hangar inspection area, and the inspection speed (the flight speed of the drone during the inspection).

[0174] Unlike fixed hangars, mobile hangars cannot estimate flight time based on location. Therefore, they must use the flight time rate, which is the percentage of total drone inspection time during a single inspection. Based on actual testing of mobile hangars, a flight time rate of 30% is the preferred value.

[0175] For any transmission or distribution inspection line, identify the equipment to be inspected at candidate point A along this line and arrange them in the original order to obtain the inspection equipment group [equipment 1, equipment 2, ..., equipment N].

[0176] The operators carry a mobile hangar and a drone to the vicinity of equipment 1. They take off from equipment 1 to conduct inspections. Then, based on the drone's inspection speed, they calculate the time it takes for the drone to fly along the inspection route to the next piece of equipment in the inspection group. Finally, they obtain the total single inspection time for the drone to inspect the entire inspection route.

[0177] It should be noted that the time it takes for a drone to fly from the current device to the next device is equal to the distance between the current device and the next device divided by the drone's inspection speed.

[0178] If a drone reaches its maximum effective inspection time during the inspection process, the drone will land on the spot in a mobile hangar and take off again from the mobile hangar to continue the inspection. The time for the next drone to complete the remaining inspection route will be calculated, and the total single inspection time of the drone for the entire inspection route will be obtained.

[0179] Specifically, for drones in mobile hangars, the maximum effective inspection time for a single drone sortie is equal to the maximum flight time of a single drone sortie multiplied by the empty flight rate.

[0180] Furthermore, if the inspection is not a routine channel inspection but a more refined one, then each time the drone flies to the next inspection device, the corresponding tower inspection time needs to be increased. Specifically, the tower inspection time is configured differently based on the equipment type and tower voltage level: 40 seconds for distribution towers; 60 seconds for 35kV towers; 75 seconds for 110kV towers; 100 seconds for 220kV towers; and 240 seconds for 500kV towers.

[0181] After determining the inspection duration for the four types of inspections, each was multiplied by its annual inspection frequency and summed to obtain the total time for the mobile hangar in all transmission and distribution inspection tasks.

[0182] 3) Sum the annual substation mobile inspection time and the annual transmission and distribution mobile inspection time to obtain the annual mobile hangar inspection time.

[0183] 4) Obtain the mobile hangar deployment quantity based on the annual inspection time of the mobile hangar: The mobile hangar deployment quantity is equal to the annual inspection time of the mobile hangar divided by the maximum inspection time of a single mobile hangar in a year.

[0184] In one possible embodiment, similar to fixed hangars, the number of mobile hangars to be added is determined by subtracting the number of existing mobile hangars from the number of mobile hangars deployed in the local power inspection area.

[0185] The method for deploying unmanned aerial vehicle (UAV) hangars for power line inspection provided by the present invention has at least the following advantages compared to the prior art:

[0186] (1) High accuracy in the location and quantity of UAV hangar deployment: This invention comprehensively considers multiple factors such as the quantity, type, distribution, inspection frequency, and endurance of equipment in the inspection area. Through accurate resource estimation, it achieves optimized allocation of deployment resources for fixed and mobile UAV hangars, thereby improving inspection efficiency.

[0187] (2) High flexibility: This invention has dynamic adjustment capabilities, and can flexibly adjust the number of equipment racks according to real-time changes in regional substation inspection tasks and transmission and distribution inspection tasks, such as adding inspection equipment or increasing inspection frequency. This dynamic adjustment strategy enables inspection resources to respond promptly to emergency needs and ensure the safe operation of the power grid.

[0188] (3) Cost reduction: This invention avoids over-deployment and configuration of drone hangars by accurately estimating and dynamically adjusting drone hangar deployment resources, thereby achieving full utilization of resources and avoiding excessive waste. This not only reduces the cost of drone inspections but also improves the efficiency of power resource operation and maintenance.

[0189] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0190] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described; however, any combination of these technical features that does not contradict each other should be considered within the scope of this specification.

[0191] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various improvements and substitutions without departing from the concept of this application, and these improvements and substitutions should also be considered within the scope of protection of this invention. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A method for deploying unmanned aerial vehicle (UAV) hangars for power line inspection, characterized in that, include: Obtain a set of candidate fixed hangars, and then obtain the inspection range of each candidate fixed hangar in the set of candidate fixed hangars; Several inspection tasks are identified, and then the equipment location and equipment type for each inspection task are obtained; Based on the inspection range of each of the fixed hangar candidate points and the equipment location of each of the inspection tasks, the equipment inspection quantity of each of the fixed hangar candidate points is obtained; Based on the equipment inspection volume of each of the fixed hangar candidate points and the equipment type of each inspection task, the annual inspection duration of each of the fixed hangar candidate points is obtained. The fixed hangar candidate point set is updated based on the annual inspection duration of each fixed hangar candidate point to obtain the fixed hangar deployment point set, and then the drone hangars are deployed according to the fixed hangar deployment point set.

2. The method for deploying unmanned aerial vehicle (UAV) hangars for power line inspection according to claim 1, characterized in that, The process of obtaining the equipment inspection volume for each fixed hangar candidate point based on the inspection range of each fixed hangar candidate point and the equipment location of each inspection task includes: Based on the equipment location of each inspection task, obtain the inspection distance between each inspection task and each fixed hangar candidate point; For any of the inspection tasks, if the equipment location is outside the inspection range of all the fixed hangar candidate points, the inspection task is assigned to the mobile hangar inspection point set; otherwise, the inspection task is assigned to the fixed hangar candidate point whose inspection distance meets the preset distance condition. For any of the fixed hangar candidate points, all the inspection tasks corresponding to the fixed hangar candidate point are taken as the equipment inspection quantity.

3. The method for deploying unmanned aerial vehicle (UAV) hangars for power line inspection according to claim 2, characterized in that, The equipment types include substation type and transmission and distribution type; for any inspection task, if the equipment location is outside the inspection range of all the fixed hangar candidate points, the inspection task is assigned to the mobile hangar inspection point set; otherwise, after assigning the inspection task to the fixed hangar candidate point whose corresponding inspection distance meets the preset distance condition, the method further includes: All inspection tasks belonging to the substation type in the mobile hangar inspection point set are assigned as substation mobile inspection volume, and all inspection tasks belonging to the transmission and distribution type in the mobile hangar inspection point set are assigned as transmission and distribution mobile inspection volume. The annual substation mobile inspection duration is obtained based on the substation mobile inspection volume. The annual mobile inspection duration for power transmission and distribution is obtained based on the aforementioned mobile inspection volume. The annual inspection duration of the mobile hangar is obtained based on the annual substation mobile inspection duration and the annual transmission and distribution mobile inspection duration. The deployment volume of mobile hangars is obtained based on the annual inspection duration of the mobile hangars.

4. A method for deploying unmanned aerial vehicle (UAV) hangars for power line inspection according to claim 2, characterized in that, The equipment types include substation type and transmission and distribution type; the method of obtaining the annual inspection duration of each fixed hangar candidate point based on the equipment inspection volume of each fixed hangar candidate point and the equipment type of each inspection task includes: For any of the aforementioned fixed hangar candidate points: All inspection tasks belonging to the substation type in the equipment inspection quantity are assigned as substation inspection quantity, and all inspection tasks belonging to the transmission and distribution type in the equipment inspection quantity are assigned as transmission and distribution inspection quantity; The annual substation inspection duration is obtained based on the substation inspection volume. The annual transmission and distribution inspection duration is obtained based on the transmission and distribution inspection volume. The annual inspection duration is obtained based on the annual substation inspection duration and the annual transmission and distribution inspection duration.

5. A method for deploying unmanned aerial vehicle (UAV) hangars for power line inspection according to claim 4, characterized in that, The process of obtaining the annual substation inspection duration based on the substation inspection volume includes: For any of the inspection tasks in the substation inspection volume, obtain the substation inspection history data for that inspection task, and then obtain the substation's annual average inspection time based on the substation inspection history data. The annual substation inspection time is obtained based on the annual average inspection time of all substations corresponding to all inspection tasks in the substation inspection volume.

6. A method for deploying unmanned aerial vehicle (UAV) hangars for power line inspection according to claim 4, characterized in that, The process of obtaining the annual transmission and distribution inspection duration based on the transmission and distribution inspection volume includes: Obtain the takeoff and landing speed of the drone and the inspection speed of the drone; Based on the candidate fixed hangar point and the location of all equipment corresponding to all inspection tasks in the power transmission and distribution inspection volume, the power transmission inspection line and the power distribution inspection line are planned. The annual power transmission inspection duration is obtained based on the take-off and landing speed of the UAV, the inspection speed of the UAV, and the power transmission line inspection line. The annual power distribution inspection duration is obtained based on the drone's takeoff and landing speed, the drone's inspection speed, and the power distribution inspection line. The annual transmission and distribution inspection duration is obtained based on the annual transmission inspection duration and the annual distribution inspection duration.

7. A method for deploying unmanned aerial vehicle (UAV) hangars for power line inspection according to claim 6, characterized in that, The method of obtaining the annual power transmission inspection duration based on the take-off and landing speed of the UAV, the inspection speed of the UAV, and the power transmission line includes: Obtain the inspection duration of the first tower for each inspection task in the power transmission line; Based on the take-off and landing speed of the UAV, the inspection speed of the UAV, the inspection time of the power transmission line and all the first towers, the inspection time of the power transmission channel and the refined inspection time of the power transmission are obtained. The frequency of power transmission channel inspections for the duration of power transmission channel inspections is obtained, and the frequency of power transmission refined inspections for the duration of power transmission refined inspections is also obtained. Based on the inspection duration and inspection frequency of the power transmission channel, the annual inspection duration of the power transmission channel is obtained; Based on the refined power transmission inspection duration and the refined power transmission inspection frequency, the refined annual power transmission inspection duration is obtained. The annual inspection duration of the power transmission channel and the annual inspection duration of the refined power transmission are taken as the annual power transmission inspection duration.

8. A method for deploying unmanned aerial vehicle (UAV) hangars for power line inspection according to claim 6, characterized in that, The method of obtaining the annual power distribution inspection duration based on the drone's takeoff and landing speed, the drone's inspection speed, and the power distribution inspection line includes: Obtain the inspection duration of the second tower for each inspection task in the power distribution inspection line; Based on the take-off and landing speed of the UAV, the inspection speed of the UAV, the inspection time of the power distribution line and all the inspection times of the second tower, the inspection time of the power distribution channel and the refined inspection time of the power distribution are obtained. Obtain the frequency of power distribution channel inspections for the duration of power distribution channel inspections, and obtain the frequency of power distribution refined inspections for the duration of power distribution refined inspections; Based on the inspection duration and inspection frequency of the power distribution channel, the annual inspection duration of the power distribution channel is obtained. Based on the refined power distribution inspection duration and the refined power distribution inspection frequency, the refined annual power distribution inspection duration is obtained. The annual inspection duration of the power distribution channel and the annual inspection duration of the refined power distribution are taken as the annual power distribution inspection duration.

9. A method for deploying unmanned aerial vehicle (UAV) hangars for power line inspection according to claim 2, characterized in that, The process of updating the fixed hangar candidate point set based on the annual inspection duration of each of the fixed hangar candidate points to obtain a fixed hangar deployment point set, and then deploying UAV hangars according to the fixed hangar deployment point set, includes: If the annual inspection duration of any of the fixed hangar candidate points does not meet the preset duration threshold, then the fixed hangar candidate point is removed from the fixed hangar candidate point set, and then the equipment inspection quantity and annual inspection duration of each fixed hangar candidate point are re-obtained to obtain the first set of fixed hangar points. If all candidate fixed hangars in the first set of fixed hangars meet the duration threshold, then the first set of fixed hangars will be used as the fixed hangar deployment point set.

10. A method for deploying unmanned aerial vehicle (UAV) hangars for power line inspection according to claim 2, characterized in that, The process of updating the fixed hangar candidate point set based on the annual inspection duration of each of the fixed hangar candidate points to obtain a fixed hangar deployment point set, and then deploying UAV hangars according to the fixed hangar deployment point set, includes: All the aforementioned fixed hangar candidate sites are divided into several existing hangar deployment sites and several additional hangar candidate sites; If the annual inspection duration of any of the candidate locations for adding a hangar does not meet the preset duration threshold, then the candidate location for adding a hangar is removed from the set of candidate locations for fixed hangars, and then the equipment inspection quantity and annual inspection duration of each candidate location for adding a hangar are re-acquired to obtain the second set of fixed hangars. If all candidate locations for adding a hangar in the second set of fixed hangar locations meet the duration threshold, then the second set of fixed hangar locations will be used as the fixed hangar deployment point set.

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