面向高压带电作业的机器人三维遥操作技术  

Study of Online Auxiliary Strategy for High Voltage Live Working

作　　者：陈柏希 高晓科 王斐宏 沈澄 郭宁波 张伟军[2] CHEN Boxi;GAO Xiaoke;WANG Feihong;SHEN Cheng;GUO Ningbo;ZHANG Wejun(Kunming Power Supply Bureau of Yunnan Power Grid co.LTD,Kunming 650000,China;School of Mechanical and Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]云南电网有限责任公司昆明供电局,昆明650000 [2]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械设计与研究》2022年第5期11-16,共6页Machine Design And Research

基　　金：配网带电作业智能机械臂关键技术及应用研究(050100KK52170012)。

摘　　要：高压带电作业危险性和复杂性的特点,传统的机器人遥控作业模式难以满足作业需求。面向高压带电作业任务,开展三维遥操作技术研究,提高机器人遥控作业的安全性和便捷性。研究中利用三维建模和机器人反馈数据构建虚拟作业场景,直观反馈作业现场的位置和运动。以三维模型为基础,研究作业过程的防碰撞技术和操作的自动化。实验表明,该技术能够有效的提高作业的安全性和作业效率。The traditional robot remote control operation mode is difficult to meet the requirements due to the danger and complexity of high voltage live work.In this paper,the on-line auxiliary strategy research is carried out to improve the safety and convenience of robot remote control operation.In this study,the 3D modeling and robot feedback data are used to construct a virtual job scene,and the position and movement of the job site are directly fed back.Based on the 3D model,anti-collision technology and automation of operation are studied.The experiment shows that the technology can effectively improve the safety and efficiency of the operation.

关 键 词：机器人 三维仿真 遥操作 带电作业 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]