Semi-autonomous Teleoperated Robot System For Power Grid Operations

The power supply and the daily maintenance of the power grid greatly affect the production and development of modern society.At present,power grid operations rely heavily on manual labor,and the labor-intensive and dangerous maintenance tasks test the physical and psychological quality of workers.The rise of power grid robots can help solve the problem of labor shortages caused by workers in harsh operating environments and an aging population.However,the environment of the power grid is complex and changeable,and the current level of artificial intelligence technology is not enough to support robots to perform various power grid maintenance tasks autonomously.In view of the high altitude,live and dangerous characteristics of the power grid operation itself,it is a reasonable solution to perform maintenance tasks by means of remote operation combined with autonomous operation.Comparing the characteristics of the two operation modes,this paper designs and develops a set of semi-autonomous remote-operated power grid operation robot system.The main contents of this theies include:The overall scheme of the semi-autonomous teleoperated robot power grid operation system is designed.By analyzing the characteristics of the power grid environment,taking the two tasks of screwing nuts and inserting cotter pins as examples,the functional requirements of the semi-autonomous teleoperated robot system are summarized,and the overall control framework is designed,including the two modes of teleoperation and autonomous operation and their switching.mechanism.At the same time,the modular concept is used to complete the construction of the master-slave teleoperated robot system.The pose detection and correction algorithm of end effector and bolt based on binocular vision is realized.In this paper,an industrial camera is used to take two frames of bolt pictures at different positions to obtain the center point of the bolt and the corner points of the nut.Then,based on the principle of triangulation visual positioning,the three-dimensional coordinates of the feature points are solved,and the pose estimation algorithm is used to calculate the bolt pose.,to achieve the pose alignment between the end effector of the robotic arm and the bolt.A working contact force control model based on proportional-differential control is designed.The force between the tool and the job target during the two grid operations of screwing the nut and inserting the cotter pin is analyzed,and the proportional differential force controller and the motion algorithm of the manipulator based on force feedback are designed to compensate the gravity of the end effector and the effect of gravity compensation is verified by the experiment.Organizational experiments verify the feasibility of the semi-autonomous teleoperated robotic system.A simulated power grid environment was built,and two power grid operation tasks of screwing nuts and inserting cotter pins were performed,and the experimental results were analyzed from the aspects of experimental process,operation time,operation effect,and failure reasons.The research results of this theies propose a solution for the semi-autonomous teleoperated robot system to perform operations for power grid maintenance tasks,which is expected to be applied to power grid operations and other hazardous work situations.