Multiple inspection robot cooperative operation method for substation sequence control system

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.