Hydropower plant multimodal collaborative inspection and operation and maintenance system, method, device and medium

Abstract

This invention discloses a multimodal collaborative inspection and maintenance system, method, equipment, and medium for hydropower plants, relating to the fields of digital operation and maintenance and augmented reality technology for hydropower stations. The system includes a head-mounted terminal, an edge computing and recognition layer deployed within the head-mounted terminal, and a backend industrial internet collaboration layer. The head-mounted terminal is used for information display, image data acquisition, audio data acquisition, voice interaction, and positioning. The edge computing and recognition layer is used to identify instruments, equipment status, and inspection locations in the hydropower plant based on image data acquired by the head-mounted terminal. The backend industrial internet collaboration layer is used to provide inspection operation prompts and equipment information display through the head-mounted terminal, and to upload the data acquired by the head-mounted terminal to a database. This application can effectively realize the inspection and maintenance of hydropower plants.

Description

Technical Field

[0001] This application relates to the field of digital operation and maintenance and augmented reality technology for hydropower stations, specifically to a multimodal collaborative inspection and maintenance system, method, equipment and medium for hydropower plants. Background Technology

[0002] Hydropower plant inspection and maintenance mainly involves a multi-level inspection mechanism, including daily, regular, special, and emergency inspections, covering hydraulic, electromechanical, electrical, and automation systems. This is used to ensure safe and stable power generation, extend equipment life, and reduce unplanned outage rates.

[0003] However, the existing hydropower plant inspection and maintenance systems have the following problems: (1) Inspections rely on handheld terminals, which are prone to omissions and cannot verify in real time whether personnel have entered the correct interval, posing a risk of misoperation; (2) The monitoring system or industrial internet platform can only collect traditional data of equipment such as voltage, current, active power, reactive power, pressure, flow, temperature, vibration, and swing. For example, unstructured data such as abnormal noise, local overheating, abnormal appearance, and three leaks cannot be collected, resulting in incomplete data of the industrial internet platform and simple alarm logic settings. (3) When on-site fault inspection and handling require remote guidance from experts, on-site personnel need to use mobile phones or walkie-talkies to describe the faults, or transmit on-site equipment information through photos, videos, etc., which limits their field of vision and is inefficient, making it impossible to achieve first-person perspective collaboration.

[0004] Therefore, how to effectively carry out inspections and maintenance of hydropower plants has become an urgent problem to be solved. Summary of the Invention

[0005] This application provides a multimodal collaborative inspection and maintenance system, method, equipment, and medium for hydropower plants, which can effectively realize the inspection and maintenance of hydropower plants.

[0006] In a first aspect, embodiments of this application provide a multimodal collaborative inspection and maintenance system for hydropower plants, the system comprising: Head-mounted terminals are used for information display, image data acquisition, audio data acquisition, voice interaction, and positioning. The edge computing and recognition layer deployed in the head-mounted terminal is used to perform instrument recognition, valve recognition, equipment status recognition, and inspection location detection in hydropower plants based on image data collected by the head-mounted terminal. The back-end industrial internet collaboration layer is used to provide inspection operation prompts and equipment information display through head-mounted terminals, as well as to upload the data collected by the head-mounted terminals to the database.

[0007] In conjunction with the first aspect, in one embodiment, the head-mounted terminal is an AR headband, and the head-mounted terminal is detachably connected to the safety helmet via a universal adjustable bracket.

[0008] In conjunction with the first aspect, in one implementation method, The head-mounted terminal includes a display module, a data acquisition module, an audio module, and a positioning module; The display module is a display screen used for displaying information; The acquisition module is a camera used for acquiring image data; The audio module includes bone conduction headphones and a noise-canceling microphone to enable voice interaction; The positioning module includes a WiFi identification module for indoor positioning.

[0009] In conjunction with the first aspect, in one implementation method, The edge computing and recognition layer includes an AI image recognition unit, an instrument recognition unit, a brow recognition unit, a device status recognition unit, a positioning and error prevention unit, and a voice interaction unit; The AI ​​image recognition unit includes a lightweight neural network model for recognition processing based on image data collected by the head-mounted terminal. The instrument identification unit is used to identify pointer-type instrument readings and digital instruments; The eyebrow recognition unit is used for text recognition of the dual name number of the device; The device status recognition unit is used to identify the indicator light color and switch open / closed position of the device; The positioning and error prevention unit is used to obtain the current location by identifying the pan eyebrow or WiFi signal, so that when the inspection personnel enter the non-inspection area or non-work area, a warning prompt is displayed through the head-mounted terminal; The voice interaction unit is used to wake up the head-mounted terminal's functions.

[0010] In conjunction with the first aspect, in one implementation method, The back-end industrial internet collaboration layer includes a task fusion and synchronization module and a data bidirectional empowerment module. The task fusion and synchronization module is used to receive inspection tasks and synchronize the equipment status to the head-mounted terminal so that when the inspection personnel arrive at the corresponding equipment, they can provide equipment status prompts or key inspection prompts. The bidirectional data empowerment module is used to acquire device information and push it to the head-mounted terminal for display, as well as to upload the data collected by the head-mounted terminal to the database.

[0011] In conjunction with the first aspect, in one implementation, the equipment information includes historical fault information, technical drawings, and maintenance records.

[0012] In conjunction with the first aspect, in one implementation method, The hydropower plant multimodal collaborative inspection and maintenance system also includes a remote collaboration layer; The remote collaboration layer is used to push the image and audio data collected by the head-mounted terminal to the background display terminal in real time, and to send the inspected and marked image back to the head-mounted terminal for display.

[0013] Secondly, embodiments of this application provide a multimodal collaborative inspection and maintenance method for hydropower plants, implemented based on the aforementioned multimodal collaborative inspection and maintenance system for hydropower plants. The multimodal collaborative inspection and maintenance method for hydropower plants includes: Once the head-mounted terminal is activated via voice, it acquires the inspection task and performs real-time device identification. Based on the equipment identification results, the system reminds and guides the inspection personnel to move to the equipment to be inspected corresponding to the inspection task, and to collect data and report defects.

[0014] Thirdly, embodiments of this application provide a multimodal collaborative inspection and maintenance device for hydropower plants. The multimodal collaborative inspection and maintenance device for hydropower plants includes a processor, a memory, and a multimodal collaborative inspection and maintenance program for hydropower plants stored in the memory and executable by the processor. When the multimodal collaborative inspection and maintenance program for hydropower plants is executed by the processor, it implements the steps of the multimodal collaborative inspection and maintenance method for hydropower plants described above.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a multimodal collaborative inspection and maintenance program for a hydropower plant. When the multimodal collaborative inspection and maintenance program for a hydropower plant is executed by a processor, it implements the steps of the aforementioned multimodal collaborative inspection and maintenance method for a hydropower plant.

[0016] The beneficial effects of the technical solutions provided in this application include: It can effectively prevent accidental operation by combining physical locks and AR visual anti-misoperation methods to achieve double protection and prevent accidental entry into live areas; it can digitize experience by transforming the experience of identifying abnormal sounds and vibrations that previously required professional personnel into transferable digital guidance through AR; and it can ensure data integrity by filling the data blind spots of the industrial Internet platform and realizing full-state perception of equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the multimodal collaborative inspection and maintenance system for hydropower plants in this application; Figure 2 This is a flowchart illustrating the multimodal collaborative inspection and maintenance method for hydropower plants proposed in this application. Figure 3 This is a schematic diagram of the hardware structure of the multimodal collaborative inspection and maintenance equipment for hydropower plants in this application. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0020] In the first aspect, the embodiments of this application provide a multimodal collaborative inspection and maintenance system for hydropower plants, which uses an AR (Augmented Reality) headband to realize the linkage of inspection and operation tickets and the two-way data empowerment, in order to solve the problems of insufficient inspection error prevention capabilities, incomplete data collection, and unintuitive remote collaboration.

[0021] In one embodiment, reference is made to Figure 1 , Figure 1 This is a schematic diagram of the multimodal collaborative inspection and maintenance system for hydropower plants proposed in this application. Figure 1 As shown, the hydropower plant multimodal collaborative inspection and maintenance system includes: a head-mounted terminal, an edge computing and identification layer deployed in the head-mounted terminal, a back-end industrial internet collaboration layer, and a remote collaboration layer.

[0022] The head-mounted terminal is used for information display, image data acquisition, audio data acquisition, voice interaction, and positioning. The edge computing and recognition layer is used to identify instruments, equipment status, and inspection locations in hydropower plants based on the image data acquired by the head-mounted terminal. The back-end industrial internet collaboration layer is used to provide inspection operation prompts and equipment information display through the head-mounted terminal, and to upload the data acquired by the head-mounted terminal to the database.

[0023] In this application, the head-mounted terminal is an AR headband, and the headband is detachably connected to the safety helmet via a universal adjustable bracket. Specifically, it is a modular AR headband that can be adapted to a standard safety helmet, and is detachably connected to the safety helmet via a universal adjustable bracket that is integrated with the standard safety helmet, without damaging the safety helmet structure.

[0024] The head-mounted terminal includes a display module, a data acquisition module, an audio module, and a positioning module. The display module is a miniature OLED screen used for information display, located in the lower right corner of the wearer's field of vision, without obstructing their main line of sight. The data acquisition module is a camera used for image data acquisition, specifically a 4K high-definition camera, used to capture images of equipment, instruments, and objects. The audio module includes bone conduction headphones and a noise-canceling microphone for voice interaction, specifically supporting voice interaction in noisy environments. The positioning module includes a WiFi identification module for indoor positioning, i.e., assisted indoor positioning.

[0025] In this application, the edge computing and recognition layer is deployed locally on the AR headband. The edge computing and recognition layer includes an AI image recognition unit, an instrument recognition unit, a facial recognition unit, a device status recognition unit, a positioning and error prevention unit, and a voice interaction unit.

[0026] The AI ​​image recognition unit includes a lightweight neural network model for processing image data collected by the head-mounted terminal; that is, it has a built-in lightweight neural network model. The instrument recognition unit is used to recognize pointer-type and digital instrument readings; the device identification unit is used to recognize the text of the device's dual name and serial number; and the device status recognition unit is used to recognize the indicator light colors and switch positions of the device.

[0027] The positioning and error prevention unit is used to obtain the current location by recognizing the indicator or WiFi signal. When the inspector enters a non-inspection area or non-work area, a warning prompt is displayed on the head-mounted terminal. Specifically, the positioning and error prevention unit obtains the current location by recognizing the indicator or WiFi signal and links with the back-end operation ticket system in real time. When the inspector enters a non-inspection area, a red warning pops up in the window of the head-mounted terminal and the display is locked, prohibiting further operation.

[0028] The voice interaction unit is used to wake up the functions of the head-mounted terminal, such as supporting voice wake-up of functions like "work assistant", "remote expert", and "one-click SOS".

[0029] In this application, the back-end industrial internet collaboration layer includes a task fusion and synchronization module and a data bidirectional empowerment module.

[0030] The task fusion and synchronization module receives inspection tasks and synchronizes the equipment status to the head-mounted terminal. This allows for status alerts or priority inspection prompts when inspection personnel arrive at the corresponding equipment. For example, upon receiving an inspection task, it synchronizes the equipment's recorded defect data to the headband. Before personnel arrive at the equipment, it automatically prompts, "There is a defect (XXX) here; please check carefully."

[0031] The bidirectional data enablement module is used to acquire device information and push it to the head-mounted display for display, as well as to upload data collected by the head-mounted display to the database. Device information includes historical fault information, technical drawings, and maintenance records.

[0032] Specifically, the data bidirectional empowerment module includes a downlink channel and an uplink channel. The downlink channel is used to retrieve historical fault information, technical drawings, maintenance records, etc. of the equipment and push them to the AR headband window. The uplink channel is used to automatically populate the platform database with data not covered by the industrial internet platform, such as images collected by the AR headband, infrared temperature measurement data, vibration recordings, and personnel observation descriptions, and associate them with the equipment record ledger.

[0033] In this application, the remote collaboration layer is used to push the image and audio data collected by the head-mounted terminal to the background display terminal in real time, and to send the inspected and marked image back to the head-mounted terminal for display.

[0034] Specifically, a remote expert system is used to support the real-time push of the AR headband's first-person view video stream to the expert's end. The expert can mark arrows and circles on the video screen via PC or mobile device and transmit them back to the AR headband window in real time.

[0035] The hydropower plant multimodal collaborative inspection and maintenance system of this application embodiment can effectively prevent misoperation by combining physical locks and AR visual anti-misoperation to achieve double protection and prevent accidental entry into energized areas; it can digitize experience by transforming the experience of identifying abnormal sounds, vibrations, etc., which previously required professional personnel, into inheritable digital guidance through AR; and it can ensure data integrity by filling the data blind spots of the industrial Internet platform and realizing full-state perception of equipment.

[0036] Secondly, this application also provides a method for multimodal collaborative inspection and maintenance of hydropower plants, which is implemented based on the aforementioned multimodal collaborative inspection and maintenance system for hydropower plants.

[0037] In one embodiment, reference is made to Figure 2 , Figure 2 This is a flowchart illustrating the multimodal collaborative inspection and maintenance method for hydropower plants proposed in this application. Figure 2 As shown, the multimodal collaborative inspection and maintenance method for hydropower plants includes: S1: After the head-mounted terminal is activated by voice, it acquires the inspection task and performs real-time device identification; S2: Based on the equipment identification results, remind and guide the inspection personnel to move to the equipment to be inspected corresponding to the inspection task, and collect data and report defects.

[0038] The following section provides a detailed explanation of the multimodal collaborative inspection and maintenance method for hydropower plants proposed in this application, using an inspection scenario as an example.

[0039] Step 101 is task reception: The operator wears an AR headband and wakes up the "Work Assistant" by voice. The system automatically downloads the inspection tasks for the day. Step 102 is location verification: When the inspection personnel arrive at the 500kV switch station, the AI ​​identifies the panel header as "II busbar control cabinet". The system compares the operation ticket and finds that "II busbar side circuit breaker cabinet" should be inspected. The AR head panoramic window immediately flashes red warning: "Current equipment does not match the operation ticket, please check!" and subsequent operations are blocked. Step 103 is in the correct position: The inspection personnel move to the "II bus side circuit breaker cabinet", the identification is successful, and the window displays the inspection steps: "Please check the SF6 pressure of the circuit breaker"; Step 104 is data acquisition: the inspector looks at the pressure gauge, the AR headband automatically recognizes the reading "0.5MPa", and after voice confirmation, it is automatically entered into the report; Step 105 is defect reporting: When the inspection personnel hear a slight abnormal noise from the equipment, they can enter "intermittent abnormal noise exists" in their voice. The AR headband will automatically record 10 seconds of audio, add the time, equipment ID, and personnel tag, and upload it to the platform's defect database.

[0040] Step 106 is remote collaboration: If a difficult defect is encountered, the inspection personnel can wake up the "remote expert" by voice. The expert will see a first-person view and circle the suspected problem points on the screen. The AR head surround window will display the annotations in real time to guide the on-site inspection.

[0041] It should be noted that the AR headband does not only display the inspection steps, but also requires the AR headband to recognize the inspector's position in front of the correct equipment and to confirm that the inspector matches the operation ticket before proceeding to the next step; otherwise, a visual / auditory alarm will be triggered and the system will be locked. Simultaneously, it retrieves defect data from the platform to assist in inspections, and automatically records the inspector's perceived data (abnormal noises, odors, and temporary discoveries) into the platform, forming a data loop.

[0042] Thirdly, embodiments of this application provide a multimodal collaborative inspection and maintenance device for hydropower plants. This device can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities.

[0043] Reference Figure 3 , Figure 3 This is a schematic diagram of the hardware structure of the multimodal collaborative inspection and maintenance equipment for hydropower plants involved in the embodiments of this application. In the embodiments of this application, the multimodal collaborative inspection and maintenance equipment for hydropower plants may include a processor, a memory, a communication interface, and a communication bus.

[0044] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0045] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces. These interfaces enable interconnection of devices within the multimodal collaborative inspection and maintenance equipment of the hydropower plant, and also enable interconnection between the equipment and other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0046] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0047] The processor can be a general-purpose processor, which can call the hydropower plant multimodal collaborative inspection and maintenance program stored in the memory and execute the hydropower plant multimodal collaborative inspection and maintenance method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the hydropower plant multimodal collaborative inspection and maintenance program is called can be referred to the various embodiments of the hydropower plant multimodal collaborative inspection and maintenance method of this application, and will not be repeated here.

[0048] Those skilled in the art will understand that Figure 3 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0049] Fourthly, embodiments of this application also provide a computer-readable storage medium.

[0050] The present application stores a multimodal collaborative inspection and maintenance program for hydropower plants on a computer-readable storage medium, wherein when the multimodal collaborative inspection and maintenance program for hydropower plants is executed by a processor, it implements the steps of the multimodal collaborative inspection and maintenance method for hydropower plants as described above.

[0051] The method implemented when the multimodal collaborative inspection and maintenance procedure of the hydropower plant is executed can be referred to in the various embodiments of the multimodal collaborative inspection and maintenance method of the hydropower plant in this application, and will not be repeated here.

[0052] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0053] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0054] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0055] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0056] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0057] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A multimodal collaborative inspection and maintenance system for hydropower plants, characterized in that, The hydropower plant multimodal collaborative inspection and maintenance system includes: Head-mounted terminals are used for information display, image data acquisition, audio data acquisition, voice interaction, and positioning. The edge computing and recognition layer deployed in the head-mounted terminal is used to perform instrument recognition, valve recognition, equipment status recognition, and inspection location detection in hydropower plants based on image data collected by the head-mounted terminal. The back-end industrial internet collaboration layer is used to provide inspection operation prompts and equipment information display through head-mounted terminals, as well as to upload the data collected by the head-mounted terminals to the database.

2. The multimodal collaborative inspection and maintenance system for hydropower plants as described in claim 1, characterized in that: The head-mounted terminal is an AR headband, and the head-mounted terminal is detachably connected to the safety helmet via a universal adjustable bracket.

3. The multimodal collaborative inspection and maintenance system for hydropower plants as described in claim 1, characterized in that: The head-mounted terminal includes a display module, a data acquisition module, an audio module, and a positioning module; The display module is a display screen used for displaying information; The acquisition module is a camera used for acquiring image data; The audio module includes bone conduction headphones and a noise-canceling microphone to enable voice interaction; The positioning module includes a WiFi identification module for indoor positioning.

4. The multimodal collaborative inspection and maintenance system for hydropower plants as described in claim 1, characterized in that: The edge computing and recognition layer includes an AI image recognition unit, an instrument recognition unit, a brow recognition unit, a device status recognition unit, a positioning and error prevention unit, and a voice interaction unit; The AI ​​image recognition unit includes a lightweight neural network model for recognition processing based on image data collected by the head-mounted terminal. The instrument identification unit is used to identify pointer-type instrument readings and digital instruments; The eyebrow recognition unit is used for text recognition of the dual name number of the device; The device status recognition unit is used to identify the indicator light color and switch open / closed position of the device; The positioning and error prevention unit is used to obtain the current location by identifying the pan eyebrow or WiFi signal, so that when the inspection personnel enter the non-inspection area or non-work area, a warning prompt is displayed through the head-mounted terminal; The voice interaction unit is used to wake up the head-mounted terminal's functions.

5. The multimodal collaborative inspection and maintenance system for hydropower plants as described in claim 1, characterized in that: The back-end industrial internet collaboration layer includes a task fusion and synchronization module and a data bidirectional empowerment module. The task fusion and synchronization module is used to receive inspection tasks and synchronize the equipment status to the head-mounted terminal so that when the inspection personnel arrive at the corresponding equipment, they can provide equipment status prompts or key inspection prompts. The bidirectional data empowerment module is used to acquire device information and push it to the head-mounted terminal for display, as well as to upload the data collected by the head-mounted terminal to the database.

6. The multimodal collaborative inspection and maintenance system for hydropower plants as described in claim 5, characterized in that: The equipment information includes historical fault information, technical drawings, and maintenance records.

7. The multimodal collaborative inspection and maintenance system for hydropower plants as described in claim 1, characterized in that: The hydropower plant multimodal collaborative inspection and maintenance system also includes a remote collaboration layer; The remote collaboration layer is used to push the image and audio data collected by the head-mounted terminal to the background display terminal in real time, and to send the inspected and marked image back to the head-mounted terminal for display.

8. A method for multimodal collaborative inspection and maintenance of a hydropower plant, implemented based on the multimodal collaborative inspection and maintenance system for hydropower plants as described in any one of claims 1 to 7, characterized in that, The multimodal collaborative inspection and maintenance method for hydropower plants includes: Once the head-mounted terminal is activated via voice, it acquires the inspection task and performs real-time device identification. Based on the equipment identification results, the system reminds and guides the inspection personnel to move to the equipment to be inspected corresponding to the inspection task, and to collect data and report defects.

9. A multimodal collaborative inspection and maintenance equipment for hydropower plants, characterized in that, The hydropower plant multimodal collaborative inspection and maintenance equipment includes a processor, a memory, and a hydropower plant multimodal collaborative inspection and maintenance program stored in the memory and executable by the processor. When the hydropower plant multimodal collaborative inspection and maintenance program is executed by the processor, it implements the steps of the hydropower plant multimodal collaborative inspection and maintenance method as described in claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a multimodal collaborative inspection and maintenance program for a hydropower plant, wherein when the multimodal collaborative inspection and maintenance program for a hydropower plant is executed by a processor, it implements the steps of the multimodal collaborative inspection and maintenance method for a hydropower plant as described in claim 8.

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