Method and system for optimizing distribution and traversal of inspection tasks of multiple inspection robots of transformer substation

• Main Authors: WANG ZHIJUN, CHEN HAO, WANG DONG, XU HONGHUA, FANG GUOQUAN, XU CHAO, ZHU YANHUA, QIAN QILONG
• Format: Patent
• Language: Chinese; English
• Published: 23.06.2023
• Subjects: CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; COUNTING; DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FORADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORYOR FORECASTING PURPOSES; PHYSICS; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE,COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTINGPURPOSES, NOT OTHERWISE PROVIDED FOR

The invention discloses a substation multi-inspection-robot inspection task allocation and traversal optimization method and system. The method comprises the steps that a target model for multi-robot inspection task allocation and traversal optimization is established by means of moving energy consumption and moving time of inspection robots; each inspection robot traverses task points according to a set sequence and accumulates energy consumption; all the task points with the accumulated energy consumption not larger than the maximum charging amount are arranged according to a set sequence to obtain task point sub-chains of all the inspection robots, and after all the task points are traversed, the task point sub-chains of all the inspection robots form a chromosome individual; performing iterative operation to obtain an initial population; the fitness of each chromosome individual is calculated based on the target model, the individual with the highest fitness does not participate in crossover and variation