Multiple inspection robot cooperative operation method for substation sequence control system

Abstract

The invention discloses a multiple inspection robot cooperative operation method for a substation sequence control system. When the closed-loop control and the state visualization of the intelligent substation sequence control system are implemented, the executing and checking time of the sequence control system can be effectively saved by adopting the method. The invention provides the multiple inspection robot cooperative operation method which comprises the following steps: modeling by adopting a topological method on the basis of the substation environment, forming a topological network chart and a communication relation matrix according to walking routes of inspection robots, and carrying out search and traversal of paths to output a discharge matrix and a shortest path matrix; in the single-step sequence control process, determining a shortest communication path sequence of each inspection robot from a current position to a target point according to the distance matrix and the shortest path matrix; carrying out excellence selection of single-step sequence control, i.e. selecting the inspection robot with the optimal performance under the condition of considering comprehensive indexes of journey, time, safety and maneuverability; determining an operation path sequence of each inspection robot and a corresponding activation event; and carrying out on-line monitoring, wherein if the environment is changed, the on-line monitoring takes charge of debugging and recovering operation.

Description

technical field [0001] The invention relates to a multi-inspection robot cooperative operation method used in a substation sequential control system, belonging to the field of substation automation control. Background technique [0002] Substation sequential control (hereinafter referred to as sequential control) is one of the basic functions that smart substations must have. Sequential control is also called programmed operation, which means that under the premise of the original standardized operation of the substation, the substation automation system automatically executes the operation tasks related to the change of the operation mode in the order specified in the operation ticket, and automatically completes the operation of multiple control steps at one time . [0003] The substation intelligent inspection robot is a mobile robot carrying infrared and visible light imaging equipment. Under all-weather conditions, it conducts inspections of substation equipment in a f...

AI Technical Summary

Problems solved by technology

[0014] 1. The "intelligent video system" or "standard inspection system" used in the "visualized and interactive substation sequence control system" is more based on conventional security video systems, and the layout in the substation is insufficient to achieve full coverage of equipment

[0015] 2. "A mobile robot-based fully automatic substation switching sequence operation sequence control method" has many targets and takes a long time when responding to the sequence control, and does not involve the collaborative operation method of multiple inspection robots

[0016] 3. The "Graph Theory-Based Intelligent Tracing Scheme for Electric Power Inspection Robots" does not involve the intelligent tracing of sequential control tasks, and it is judged that it does not involve the coordinated operation of multiple inspection robots according to its attached "Fork Road Intersection Addressing Process"

[0017] 4. The grid map environment established in "Research on the Shortest Path Planning of Mobile Robots Based on Floyd Algorithm" and the vertical line method used are mostly for the study of Floyd Algorithm in the simulation environment, and do not involve substations and sequential control systems and other application fields

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