基于姿态估计的输电线路带电作业的人体数字孪生研究  

Research on Human Digital Twins for Live Working on Transmission Lines Based on Attitude Estimation

作　　者：马爱清 张成武 徐进帅 汪威 MA Aiqing;ZHANG Chengwu;XU Jinshuai;WANG Wei(School of Electrical Engineering,Shanghai University of Electric Power,Shanghai 200090,China)

机构地区：[1]上海电力大学电气工程学院,上海200090

出　　处：《高压电器》2024年第10期21-32,53,共13页High Voltage Apparatus

基　　金：上海市自然科学基金资助项目(19ZR1420600);上海绿色能源并网工程技术研究中心科技项目(13DZ2251900)。

摘　　要：带电作业是保证电网安全可靠运行的重要内容,而带电作业又充满危险。为了能够对人体面临的风险进行评估,可以将数字孪生理念引入输电线路带电作业中,构建人体数字孪生体对人体进行风险评估,在虚拟空间中完成对现实世界的映射。采用姿态估计、模型重构和模拟仿真构建高压输电线路带电作业人体数字孪生体,能够对危险状况进行预警,评估人身安全。首先运用POSIT算法得到现实世界和图像坐标系的转换矩阵,结合二维三维转换技术将后续的二维坐标点转换为三维坐标点,即能得到人体的姿态数据。然后利用人体姿态数据进行人体的模型重构论述和现场仿真进行风险评估,并且通过实时工作指南规则进行人员的潜在风险评估。该研究实现了三维模型随着姿态数据的改变而模型重构,继而随着人体模型的改变,系统将在仿真中自动计算电场,并利用风险评估显示危险。此技术能够为现场作业人员安全评估提供一种新的思路,为数字化电网发展提供基础。Live working is an important part of ensuring safe and reliable operation of power grid.However,the live working is full of danger.In order to assess the risks faced by the human body,the concept of digital twins can be in⁃troduced into live working on transmission lines,and a human digital twin can be constructed to conduct risk assess⁃ment on the human body,completing the mapping of the real world in virtual space.The attitude estimation,model re⁃construction and simulation are used to construct a digital twin of the human body for live working on high⁃voltage transmission lines,which can provide early warning of dangerous situations and assess personal safety.Firstly,the POSIT algorithm is used to obtain the transformation matrix between the real world and image coordinate systems.Combined with two⁃dimensional and three⁃dimensional transformation technology,the subsequent two⁃dimensional coordinate points are converted into three⁃dimensional coordinate points,which can obtain the posture data of the hu⁃man body.Then,the human posture data is used for model reconstruction and on⁃site simulation for risk assessment,and potential risk assessment of personnel is performed through real⁃time work guidelines and rules.This research achieves model reconstruction of three⁃dimensional models with variation in posture data,and then with variation in the human body model,the system will automatically calculate the electric field in simulation and use risk assess⁃ment to display hazards.This technology can provide a new idea for safety assessment of on⁃site workers and lay the foundation for the development of digital power grid.

关 键 词：数字孪生 输电线路 姿态估计 姿态数据 模型重构 带电作业 场景验证 风险评估 

分 类 号：TM75[电气工程—电力系统及自动化] TM84