Space-space-ground integrated three-dimensional inspection method based on multi-agent volume element reinforcement learning

The invention belongs to the technical field of three-dimensional inspection methods, and particularly relates to a space-air-ground integrated three-dimensional inspection method based on multi-agent volume element reinforcement learning, which comprises the following steps: (S1) modeling a transformer substation three-dimensional inspection system; (S2) calculating an operation pitch angle, a yaw angle and a rotation angle of the ground mobile inspection equipment for subsequent calibration; (S3) calculating an operation pitch angle, a yaw angle and a rotation angle of the air mobile inspection equipment for subsequent calibration; (S4) explaining a communication mechanism among the ground mobile inspection equipment, the air mobile inspection equipment and the ground fixed inspection equipment; and (S5) optimizing the performance of the ground mobile inspection equipment and the air mobile inspection equipment by using a multi-agent volume element reinforcement learning algorithm to realize the digitalizat