The invention discloses a collaborative
inspection method and device based on heterogeneous multi-
machine combination,
terminal equipment and a storage medium, and the method comprises the steps: constructing an undirected connected graph of an inspection region according to a collection point and a supply point, constructing a plurality of
ant colonies according to the number of robots, initial positions and initial resources, and carrying out the construction of a plurality of
ant colonies according to the undirected connected graph; and performing a plurality of
population exploration operations on the
ant colonies to enable each
ant colony to generate a plurality of path sets, determining a target path set from the plurality of path sets, and finally determining the inspection task of each inspection
robot according to the target path set. Therefore, the problem of endurance of the
robot is solved by constructing the undirected connected graph together with the supply points and the collection points, and the calculation efficiency of the
algorithm is improved by constructing a plurality of ant colonies to perform
population exploration operation together in a concurrent mode, so that the problem that when large-scale inspection is performed in
current electric power intelligent inspection, the
algorithm is difficult to carry out is solved. And the defects of insufficient computing power and insufficient endurance of the
robot are overcome.