CN109242337B - Substation inspection robot resource allocation method for provincial power grid - Google Patents
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Abstract
The invention relates to the technical field of dispatching of transformer substation inspection robots, in particular to a transformer substation inspection robot resource dispatching method for a provincial power grid, which can effectively avoid the waste of manpower, material resources and time cost when an inspection robot is transported and used among different inspection centers and transformer substations, and greatly improve the use efficiency of the inspection robot; the cross-regional allocation of the inspection robot resources among different inspection centers is realized, the outstanding contradiction between the increasing growth of transformer substations and the shortage of inspection personnel is overcome, and the method has a large-range engineering application value; the inspection robot based on the multi-agent system is provided with an efficient and economic use scheme, the outstanding contradictions of high price, limited quantity and numerous quantities of substations to be inspected of the inspection robot are overcome, and the utilization value of the inspection robot is remarkably improved.
Description
Technical Field
The invention relates to the technical field of dispatching of transformer substation inspection robots, in particular to a transformer substation inspection robot resource dispatching method for a provincial power grid.
Background
The transformer substation is a core junction of a power grid, and routine inspection of equipment in the substation is a basic means for ensuring safe operation of the power grid. Along with the requirement of power system stability constantly improves, there are shortcomings such as intensity of labour big, the equipment dispersion of examining, bad weather interference influence in the manual inspection mode, and manual inspection also shows its objectively not enough gradually and the sign that is not suitable for smart power grids development trend.
For the above situation, in 2002, the project of "substation equipment inspection robot" is listed as the national 863 plan; in 2013, the transformer substation inspection robot starts to be put into inspection application of national power grid companies comprehensively; in 2016, a power grid company in south duly puts forward new requirements for pushing machine patrol and people patrol and exploring application intelligent operation, and aims to realize all-weather uninterrupted monitoring on power transmission and transformation equipment by researching an intelligent robot flexibly carrying various high-performance and high-precision sensors, push conversion and upgrade to equipment intellectualization and intelligent operation, solve the outstanding contradiction of structural shortage, and improve production and operation quality and equipment health level.
In a power grid enterprise, the number of substations and inspection robots governed by each power supply bureau and each inspection center is different, the substation inspection robots are exposed in the practical application for decentralized management, the robot resources are not uniformly managed, and cross-regional allocation and use are not performed according to inspection task requirements, so that the sustainable working characteristics are difficult to fully exert; in addition, the current transformer substation inspection robot has high investment cost, and the input-output ratio of the transformer substation inspection robot is bound to be reduced when the transformer substation inspection robot is fixed in a certain transformer substation. In view of this, it is necessary to implement cross-regional (maintenance center) allocation and use of the inspection robot between the power supply bureau and the maintenance center under the provincial power grid.
An agent is the key research content in the field of artificial intelligence, and the agent refers to software or hardware capable of autonomous activity and an entity capable of interacting with the environment. A multi-agent system (MAS) is a collection of multiple agents with the goal of building large and complex systems into small, easily managed distributed systems that communicate and coordinate with each other.
On the one hand, although the optimized transformer substation inspection robot transfer path can reduce the labor and physical costs, the research for developing the transfer mode and the optimization algorithm is very limited, and the transfer work efficiency is low. On the other hand, multi-agent technology has been successfully applied. In view of this, it is necessary to research a substation inspection robot resource allocation method for a provincial power grid based on a multi-agent technology, so that the substation inspection robot can be efficiently transported and used among different substations, the substation inspection robot can break the outstanding contradiction of structural shortage of workers, and the quality level of production and operation is ensured to be improved.
Disclosure of Invention
The invention aims to solve the outstanding contradiction between the small number of the inspection robots and the large number of the transformer substations. The invention provides a substation inspection robot resource allocation method based on MAS (Multi-agent System), which is characterized in that inspection robots distributed in substations of a provincial power grid are regarded as intelligent body prototypes, an intelligent body adaptation technical model and a layered control framework of the inspection robots are established, the unified transfer of cross-regions (a power supply bureau and an inspection and maintenance center) is realized aiming at the intelligent bodies, and technical support is provided for establishing a provincial power grid production monitoring command center. In order to achieve the purpose, the specific technical scheme is as follows:
a transformer substation inspection robot resource allocation method for a provincial power grid comprises the following steps:
(1) inputting the number of the transformer substation and the inspection center, setting the iteration number to be N and the maximum value of the iteration number to be Nmax(ii) a Wherein the number of the inspection centers is A;
(2) uniformly configuring A different inspection centers for m intelligent agents at random, and initializing substation site set C inspected by intelligent agent kkAnd a set of sites to be inspected
Initially setting the number l of agents which finish the routing inspection task to be 0;
(3) when the current electric quantity of the intelligent agent k at least meets the requirement of polling one target substation, the intelligent agent k is transferred to a target substation j, and a substation site set C polled by the intelligent agent k is updatedkAnd a set of sites to be inspected
(4) If the station set to be inspected
If the task quantity of at least one station to be inspected meets the current electric quantity of the intelligent agent k, turning to the step (3); otherwise, turning to the step (5);
(5) if the station set to be inspected
If the current electric quantity of the intelligent agent k does not meet the task quantity of the remaining to-be-inspected station, charging the current station to recover sufficient electric quantity, and turning to the step (3); otherwise, turning to the step (6);
(6) if the station set to be inspected
If the current last remaining patrol station of the agent k is not the station of the patrol and maintenance center department, returning the agent k to the nearest patrol and maintenance center; if the number of the agents completing the routing inspection task is less than the total number of the agents, namely l is less than m, turning to the step (3); otherwise, turning to the step (7);
(7) after all the agents complete the set inspection task, updating the information elements;
(8) collecting C by the inspected substation siteskObtaining a set of paths L ═ { L ═ L of m agents1,L2,…,LmCalculating and recording an optimal path set obtained by the iteration according to the steps (3) to (6), and updating a global optimal solution;
(9) iterative computation, if the same optimal solution continuously appears m times, turning to the step 10, otherwise, turning to the step 11;
(10) changing the content of the information elements of the transfer path scheme, and outputting the schemes to m intelligent agents respectively;
(11) if the number of iterations reaches NmaxIf the optimal solution does not occur m times continuously, the iterative counting is stoppedAnd (4) calculating and sending manual configuration suggestions to an administrator.
Preferably, the step (2) further comprises setting a maximum value A of the number of maintenance centersmaxSetting a minimum value m of the total number of agentsminWherein, each patrol and maintain center is configured with 1-3 agents, namely mmin≥Amax。
Preferably, m intelligent agents in the step (3) randomly select a transformer substation as a starting point, an intelligent agent k starts from a transformer substation node i to a next target transformer substation node j, and the intelligent agent k has a transfer probability
Selecting a transfer path; the transit probability is calculated as follows:
wherein,
the method is characterized in that the method refers to a substation site set which can be patrolled by an intelligent agent; tau isijThe distance length of the routing inspection path with the side (i, j); etaijRefers to the tour path distance length visibility with edge (i, j), generally expressed as the inverse of the path length; mu.sijRefers to the round-trip time saving value with the edge (i, j), i.e. uij＝hib+hbj-hij，hibThe distance from a node a of the inspection and maintenance center to a node i of the transformer substation is measured; h isbjIs the distance h from the node a of the inspection center to the node j of the transformer substationijThe distance between a transformer substation node i and a transformer substation node j is defined, and a belongs to a maintenance center set A; the larger the numerical value for saving the road distance is, the larger the numerical value is, the larger the greater the distance is, the larger the numerical value is, the greater the numerical value is, the greater the numerical value is, the greater the distance is, the greater the distance is, the greater the distance is, the distance is, the greater the numerical value is, the greater the numerical value is, the greater the distance is, the greater the distance is, the greater the distance is, the; alpha, beta and gamma are respectively tauij、ηij、μijThe specific numerical value of the priority level is an integer between 1 and 10, and the power supply bureau operation and maintenance personnel make a decision according to specific conditions.
Preferably, the update information element of step (7) is specifically as follows:
after all agents complete one iteration of the repeated transfer calculation, the information element strength on each edge is updated by the following formula:
τij＝(1-ρ)τij+Δτij；
where ρ is a volatilization factor in the information element, Δ τijRefers to the amount of change in information elements on edge (i, j); delta tauij kRefers to the amount of information elements released by the kth agent on edge (i, j); q is the total amount of information elements released by the agent to finish one transfer; l iskIs the distance of the path traversed by the agent.
The invention has the beneficial effects that: the invention can effectively avoid the waste of manpower, material resources and time cost when the inspection robot is transported and used among different inspection centers and transformer substations, and greatly improves the use efficiency of the inspection robot; the cross-regional allocation of the inspection robot resources among different inspection centers is realized, the outstanding contradiction between the increasing growth of transformer substations and the shortage of inspection personnel is overcome, and the method has a large-range engineering application value; the MAS-based single inspection robot efficient and economic use scheme is provided, the outstanding contradictions of high price, limited number and numerous transformer substations to be inspected of the inspection robot are overcome, and the utilization value of the inspection robot is remarkably improved.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
For a better understanding of the present invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings in which:
the problem of the resource centralized transfer process of the substation inspection robot facing the provincial power grid can be described as follows: the m inspection robots respectively go to the transformer substation inspection equipment from the inspection center where the inspection robots are located, and return to the inspection center under the conditions that the transformer substation is not repeatedly inspected, the working time (charging, inspection, on-way data transmission and data return) is not wasted, and the way is minimum. The data of the customer site, the position coordinates of the distribution center, and the demand are shown in table 1.
Table 1 details of the specific elements of the maintenance patrol centre and the substation site
| Node numbering | Position coordinates | Inspection time window |
| B1 | (19，0) | [74，244] |
| B2 | (46，23) | [58，228] |
| B3 | (44，86) | [15，228] |
| B4 | (75，27) | [96，266] |
| B5 | (71，64) | [17，217] |
| B6 | (86，67) | [85，255] |
| B7 | (10，69) | [21，191] |
| B8 | (10，52) | [9，179] |
| B9 | (46，67) | [37，207] |
| B10 | (35，53) | [21，221] |
| B11 | (0，73) | [74，274] |
| B12 | (2，24) | [58，258] |
| B13 | (16，24) | [15，225] |
| B14 | (40，97) | [56，256] |
| B15 | (70，18) | [87，287] |
| B16 | (16，90) | [0，200] |
| B17 | (58，43) | [10，210] |
| B18 | (59，74) | [30，230] |
| B19 | (77，80) | [21，221] |
| B20 | (77，80) | [74，274] |
| B21 | (25，16) | [58，258] |
| B22 | (0，50) | [15，225] |
| B23 | (29，64) | [56，256] |
| B24 | (61，0) | [87，287] |
| A1 | (33，77) | － |
| A2 | (26，30) | － |
| A3 | (79，39) | － |
B1-B24 are set as substation node codes, and A1-A3 are set as patrol center node codes. The transformer substations comprise 220 KV transformer substations and 110 KV transformer substations, 3 inspection centers can be used for allocating 7 inspection robots at present, and transfer vehicles are sufficient. Working time t for loading and fixing robot for transfer vehicle in transformer substation0Not exceeding 20 minutes. The cruising time of the robot after being fully charged is not less than 8 hours. Specific elements of inspection center and substation site and inspection working time window of substation nodei,ui]As shown in table 1:
suppose the patrol inspection working time window of the substation station i is [ l ]i,ui]The timeliness of the time window for early or late arrival must be calculated, with the timeliness time window in the effective time range being l'i,u′i]When the vehicle exceeds the limited interval and reaches the substation station i according to the set performance coefficient, namely if the patrol intelligent agent k reaches the substation station i earlier than the timeliness time window, the system must wait until the earliest service starting time li' routing inspection can be performed; if patrol agent k arrives at substation site i later than the timeliness time window, it must begin to wear at the latestService time ui' before arrival to patrol. A transformer substation inspection robot resource allocation method for a provincial power grid comprises the following steps: (1) inputting the number of the transformer substation and the inspection center, setting the iteration number to be N and the maximum value of the iteration number to be Nmax(ii) a Wherein the number of the inspection centers is A; maximum number of iterations Nmax550; the maximum iteration number is determined according to the number of 110-220 KV substations which need to transfer the application agent.
(2) Uniformly configuring A different inspection centers for m intelligent agents at random, and initializing substation site set C inspected by intelligent agent kkAnd a set of sites to be inspected
Initially setting the number l of agents which finish the routing inspection task to be 0; setting the maximum value A of the inspection center numbermaxSetting a minimum value m of the total number of agentsminWherein, each patrol and maintain center is configured with 1-3 agents, namely mmin≥Amax. For example, AmaxM which is 79, namely 79 is the actual maximum value of the patrol center, can be setminIs 79.
(3) When the current electric quantity of the intelligent agent k at least meets the requirement of polling one target substation, the intelligent agent k is transferred to a target substation j, and a substation site set C polled by the intelligent agent k is updatedkAnd a set of sites to be inspected
m intelligent agents randomly select a transformer substation as a starting point, an intelligent agent k starts from a transformer substation node i to a next target transformer substation node j, and the intelligent agent k has a transfer probability
Selecting a transfer path; the transit probability is calculated as follows:
wherein,
the method is characterized in that the method refers to a substation site set which can be patrolled by an intelligent agent; tau isijThe distance length of the routing inspection path with the side (i, j); etaijRefers to the tour path distance length visibility with edge (i, j), generally expressed as the inverse of the path length; mu.sijRefers to the round-trip time saving value with the edge (i, j), i.e. uij＝hib+hbj-hij，hibThe distance from a node a of the inspection and maintenance center to a node i of the transformer substation is measured; h isbjIs the distance h from the node a of the inspection center to the node j of the transformer substationijThe distance between a transformer substation node i and a transformer substation node j is defined, and a belongs to a maintenance center set A; the larger the numerical value for saving the road distance is, the larger the numerical value is, the larger the greater the distance is, the larger the numerical value is, the greater the numerical value is, the greater the numerical value is, the greater the distance is, the greater the distance is, the greater the distance is, the distance is, the greater the numerical value is, the greater the numerical value is, the greater the distance is, the greater the distance is, the greater the distance is, the; alpha, beta and gamma are respectively tauij、ηij、μijThe specific numerical value of the priority level of (1) is an integer between 1 and 10, and is determined by operation and maintenance personnel according to specific conditions.
(4) If the station set to be inspected
If the task quantity of at least one station to be inspected meets the current electric quantity of the intelligent agent k, turning to the step (3); otherwise, turning to the step (5); in the formula,
represents an empty set, i.e. refers to a set that does not already contain any elements.
(5) If the station set to be inspected
If the current electric quantity of the intelligent agent k does not meet the task quantity of the remaining to-be-inspected station, charging the current station to recover sufficient electric quantity, and turning to the step (3); otherwise, go to step (6).
(6) If the station set to be inspected
If the current last remaining patrol station of the agent k is not the station of the patrol and maintenance center department, returning the agent k to the nearest patrol and maintenance center; if the number of the agents completing the routing inspection task is less than the total number of the agents, namely l is less than m, turning to the step (3); otherwise, go to step (7).
(7) After all agents complete the established polling task, the information elements are updated as follows:
after all agents complete one-time repeated transfer calculation iteration, the information element strength on each edge is updated by the following formula:
τij＝(1-ρ)τij+Δτij； (2)
where ρ is a volatilization factor in the information element, Δ τijRefers to the amount of change in information elements on edge (i, j); delta tauij kRefers to the amount of information elements released by the kth agent on edge (i, j); q is the total amount of information elements released by the agent to finish one transfer; l iskIs the distance of the path traversed by the agent.
(8) Collecting C by the inspected substation siteskObtaining a set of paths L ═ { L ═ L of m agents1,L2,…,LmAnd (4) calculating and recording the optimal path set obtained by the iteration according to the steps (3) to (6), and updating the global optimal solution.
(9) And (5) performing iterative calculation, and if the same optimal solution continuously occurs m times, turning to the step 10, otherwise, turning to the step 11.
(10) And changing the content of the information elements of the transfer path scheme, and outputting the schemes to the m intelligent agents respectively.
(11) If the number of iterations reaches NmaxBut still not continuously outAnd stopping iterative calculation and sending a manual configuration suggestion to an administrator when the optimal solution is obtained for m times.
According to the above information requirement, the calculated optimal solution of the transfer route is as follows,
agent 1: a1 → B16 → B11 → B8 → B22 → B7 → A1;
the intelligent agent 2: a1 → B14 → B3 → B18 → B23 → A1;
agent 3: a1 → B9 → B5 → A1;
the agent 4: a3 → B20 → B6 → B19 → A3;
and the intelligent agent 5: a3 → B4 → B15 → B24 → B17 → A3:
and the intelligent agent 6: a3 → B2 → B10 → B21 → A2;
the agent 7: a2 → B13 → B12 → B1 → A2
Aiming at the problems, the invention can solve the optimal scheme that the inspection robot finishes the inspection of each substation site in a cross-region mode (inspection center), and achieves the aim of minimizing the cost (manpower, material resources and time cost) of the inspection process.
The present invention is not limited to the above-described embodiments, which are merely preferred embodiments of the present invention, and the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A transformer substation inspection robot resource allocation method for a provincial power grid is characterized by comprising the following steps: the method comprises the following steps:
(1) inputting the number of the transformer substation and the inspection center, setting the iteration number to be N and the maximum value of the iteration number to be Nmax(ii) a Wherein the number of the inspection centers is A;
(2) uniformly configuring A different inspection centers for m intelligent agents at random, and initializing substation site set C inspected by intelligent agent kkAnd a set of sites to be inspected
Initially setting completed polling taskThe number of agents l is 0;
(3) when the current electric quantity of the intelligent agent k at least meets the requirement of polling one target substation, the intelligent agent k is transferred to a target substation j, and a substation site set C polled by the intelligent agent k is updatedkAnd a set of sites to be inspected
m intelligent agents randomly select a transformer substation as a starting point, an intelligent agent k starts from a transformer substation node i to a next target transformer substation node j, and the intelligent agent k has a transfer probability
Selecting a transfer path; the transit probability is calculated as follows:
wherein,
the method is characterized in that the method refers to a substation site set which can be patrolled by an intelligent agent; tau isijThe distance length of the routing inspection path with the side (i, j); etaijRefers to the tour path distance length visibility with edge (i, j), expressed as the inverse of the path length; mu.sijRefers to the round-trip time saving value with the edge (i, j), i.e. uij＝hib+hbj-hij，hibThe distance from a node a of the inspection and maintenance center to a node i of the transformer substation is measured; h isbjIs the distance h from the node a of the inspection center to the node j of the transformer substationijThe distance between a transformer substation node i and a transformer substation node j is defined, and a belongs to a maintenance center set A; the larger the numerical value for saving the road distance is, the larger the numerical value is, the larger the greater the distance is, the larger the numerical value is, the greater the numerical value is, the greater the numerical value is, the greater the distance is, the greater the distance is, the greater the distance is, the distance is, the greater the numerical value is, the greater the numerical value is, the greater the distance is, the greater the distance is, the greater the distance is, the; alpha, beta and gamma are respectively tauij、ηij、μijThe specific numerical value of the priority level of (1) is an integer between 1 and 10;
(4) if the station set to be inspected
If the task quantity of at least one station to be inspected meets the current electric quantity of the intelligent agent k, turning to the step (3); otherwise, turning to the step (5);
(5) if the station set to be inspected
If the current electric quantity of the intelligent agent k does not meet the task quantity of the remaining to-be-inspected station, charging the current station to recover sufficient electric quantity, and turning to the step (3); otherwise, turning to the step (6);
(6) if the station set to be inspected
If the current last remaining patrol station of the agent k is not the station of the patrol and maintenance center department, returning the agent k to the nearest patrol and maintenance center; if the number of the agents completing the routing inspection task is less than the total number of the agents, namely l is less than m, turning to the step (3); otherwise, turning to the step (7);
(7) after all the agents complete the set inspection task, updating the information elements; the update information elements are specifically as follows:
after all agents complete one iteration of the repeated transfer calculation, the information element strength on each edge is updated by the following formula:
τij＝(1-ρ)τij+Δτij；(2)
where ρ is a volatilization factor in the information element, Δ τijRefers to the amount of change in information elements on edge (i, j); delta tauij kMeaning that the kth agent is on the side (i,j) amount of information elements released; q is the total amount of information elements released by the agent to finish one transfer; l iskThe distance of the path traversed by the agent;
(8) collecting C by the inspected substation siteskObtaining a set of paths L ═ { L ═ L of m agents1,L2,…,LmCalculating and recording an optimal path set obtained by the iteration according to the steps (3) to (6), and updating a global optimal solution;
(9) iterative computation, if the same optimal solution continuously appears m times, turning to the step 10, otherwise, turning to the step 11;
(10) changing the content of the information elements of the transfer path scheme, and outputting the schemes to m intelligent agents respectively;
(11) if the number of iterations reaches NmaxBut the optimal solution does not continuously appear m times, the iterative calculation is stopped, and manual configuration suggestions are sent to an administrator.
2. The provincial power grid-oriented substation inspection robot resource allocation method according to claim 1, wherein the provincial power grid-oriented substation inspection robot resource allocation method comprises the following steps: the step (2) further comprises the step of setting the maximum value A of the number of the maintenance centersmaxSetting a minimum value m of the total number of agentsminWherein, each patrol and maintain center is configured with 1-3 agents, namely mmin≥Amax。
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