带电作业机器人的数字孪生技术及试验研究
Research on Digital Twin Technology and Experimental Study of Live Working Robots
谭钧 1纳智敏 1石利荣 1罗艺 1张伟军2
作者信息
- 1. 云南电网有限责任公司 曲靖供电局,云南 曲靖 655000
- 2. 上海交通大学 机械与动力工程学院,上海 200240
- 折叠
摘要
机器人配网带电作业面临的主要问题之一是操作者无法全面、立体地感知作业现场的事态.配网线路架空线高度通常约10 m,操作人员在地面难以观察作业的状况.通过视频画面等方式缺乏深度方向的距离感,操作者无法判断机器人与作业目标或障碍之间的距离.针对这一问题,文中开展了面向高压带电作业场景的数字孪生技术研究.通过视觉方式获取环境信息,构建数字孪生模型.通过混合显示技术显示模型,对作业安全性进行检查并观察作业现场态势.实验和现场作业表明,该方法能够有效提高作业的安全性和效率.
Abstract
One of the main problems faced by the live work distribution network is that the operator cannot fully and three-dimensionally perceive the situation on the job site.The height of the overhead line of the distribution network line is usually about 10 m,and it is difficult for the operator to observe the operation status from the ground.Due to the lack of depth perception through video screens,the operator cannot judge the distance between the robot and the targets or obstacles.In response to this problem,this paper conducts research on digital twin technology for high-voltage live work scenarios.Environmental information is obtained through visual means to build a digital twin model.The model is displayed through themixed reality technology to check the safety of the operation and observe the situation of the operation site.Experiments and field operations show that this method can effectively improve the safety and efficiency of operations.
关键词
带电作业/机器人/视觉识别定位/数字孪生Key words
living work/robot/visual recognition localization/digital twin引用本文复制引用
出版年
2024
NETL
NSTL
万方数据