配网带电作业机器人安全遥操作的辅助控制策略  

Auxiliary Control Strategy for Safe Teleoperation of Live Working Robot in Distribution Network

作　　者：唐旭明 陈宇涛 单晓峰 韩先国 刘年国 王亚豪 董二宝 甄武东 郭祥 Tang Xuming

机构地区：[1]国网安徽省电力有限公司淮南供电公司,安徽淮南232007 [2]中国科学技术大学工程科学学院,安徽合肥230026

出　　处：《工业控制计算机》2022年第3期74-76,79,共4页Industrial Control Computer

基　　金：国网安徽省电力有限公司科技项目《面向配电网作业的双臂协作机器人系统研究》(5212F018008R)支持。

摘　　要：针对配网带电作业遥操作中遥操作人员的不正确操作以及作业空间复杂所导致的潜在安全问题,提出了建立交互式虚拟夹具辅助遥操作的控制策略。该策略在机械臂末端增加了多维力传感器,使得遥操作人员在操作时能获得机械臂和环境接触时的力感觉,便于进行轴孔装配类作业。同时,采用双目立体相机扫描作业场景构成环境三维模型,生成引导机械臂运动的虚拟夹具来产生相应约束力辅助约束/引导遥操作人员完成精细化的作业任务。Aiming at the potential safety problems caused by incorrect operation of teleoperators and complex workspace in live working teleoperation in distribution network,a control strategy of establishing interactive virtual fixture assistedteleoperation is proposed in this paper.In this strategy,a multi-dimensional force sensor is added at the end of the manipulator,so that the teleoperator can obtain the force feeling when the manipulator is in contact with the environment,which is convenient for shaft hole assembly.At the same time,the binocular stereo camera is used to scan the work scene to form the three-dimensional model of the environment,and the virtual fixture guiding the movement of the manipulator is generated to generate the corresponding binding force to assist the constraint/guide the teleoperator to complete the fine work task.

关 键 词：带电作业机器人 遥操作 立体视觉 虚拟夹具 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TM84[自动化与计算机技术—控制科学与工程]