6-DOF Bilateral Teleoperation Hybrid Control System for Power Distribution Live-Line Operation Robot

Chen, Yutao; Wang, Yahao; Tang, Xiaoxue; Wu, Kai; Wu, Shaolei; Guo, Rui; Zhao, Yuliang; Dong, Erbao

doi:10.3390/machines11010002

Cited by 4 publications

(3 citation statements)

References 31 publications

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“…Further in a PDLOR autonomous operating system is implemented through TC-Planner to perform distribution network maintenance work in real overhead lines. The semi-autonomous operating system (Chen et al, 2023) is also compared to explore whether the TC-Planner helps PDLOR completes power-line connection tasks in a fully autonomous manner.…”

Section: Experiments On Overhead Linementioning

confidence: 99%

An efficient constraint method for solving planning problems under end-effector constraints

Wang,

Li,

et al. 2024

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Purpose In response to the challenge of reduced efficiency or failure of robot motion planning algorithms when faced with end-effector constraints, this study aims to propose a new constraint method to improve the performance of the sampling-based planner. Design/methodology/approach In this work, a constraint method (TC method) based on the idea of cross-sampling is proposed. This method uses the tangent space in the workspace to approximate the constrained manifold pattern and projects the entire sampling process into the workspace for constraint correction. This method avoids the need for extensive computational work involving multiple iterations of the Jacobi inverse matrix in the configuration space and retains the sampling properties of the sampling-based algorithm. Findings Simulation results demonstrate that the performance of the planner when using the TC method under the end-effector constraint surpasses that of other methods. Physical experiments further confirm that the TC-Planner does not cause excessive constraint errors that might lead to task failure. Moreover, field tests conducted on robots underscore the effectiveness of the TC-Planner, and its excellent performance, thereby advancing the autonomy of robots in power-line connection tasks. Originality/value This paper proposes a new constraint method combined with the rapid-exploring random trees algorithm to generate collision-free trajectories that satisfy the constraints for a high-dimensional robotic system under end-effector constraints. In a series of simulation and experimental tests, the planner using the TC method under end-effector constraints efficiently performs. Tests on a power distribution live-line operation robot also show that the TC method can greatly aid the robot in completing operation tasks with end-effector constraints. This helps robots to perform tasks with complex end-effector constraints such as grinding and welding more efficiently and autonomously.

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Section: Experiments On Overhead Linementioning

confidence: 99%

An efficient constraint method for solving planning problems under end-effector constraints

Wang,

Li,

et al. 2024

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“…The specific partition process is shown in Figure 6 (the picture is quoted in Mesh Generation). , i j g indicates whether there are some clouds in the j subgrid of the i spatial grid [20]. For the i spatial grid, if there is a cloud in the cell, , 1 i j g  , otherwise , 0 i j g  , then the density descriptor i  is represented by:…”

Section: Line Tower Point Cloud Segmentation Based On Density Descrip...mentioning

confidence: 99%

Study on Real-Time Spatial Distance Acquisition Method of Transmission Line Based on Laser Point Cloud and Image Monitoring

Feiran Wang, Geng Han, Zilong Hou, Xinyang Guo

2024

jes

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This paper introduces the principle of safety distance diagnosis of transmission lines by using airborne LiDAR detection technology. This project intends to realize the effective segmentation of ground objects and non-ground objects through the point cloud automatic filtering technology considering the surface fluctuation characteristics. Then, this paper realizes the initial recognition of ground objects based on spatial dimension information. Then this paper extracts the ground object information based on the image data with high precision. The 3D nodes of transmission lines are obtained by Hough transform and block centroid algorithm, and the floor features are extracted by area growth algorithm. The plant feature is extracted by using plant vertex and boundary point. The distance between the power line and the surrounding objects can be measured, and the elevation of the wire and the surrounding environment can be judged accordingly. The algorithm is tested by using the observation data of unmanned airborne LiDAR, and the simulation results show that the proposed method is feasible. Through the identification of buildings, plants and other objects along the line, the harm degree of them on the power line is judged and the effective treatment is carried out. This ensures the safe operation of transmission lines.

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“…Since 2000, a great deal of research has been carried out in target recognition, positioning and attitude estimation (Feng and Zhang, 2021; Yan et al , 2020; Zhao et al , 2022; Wu et al , 2021; Naceri et al , 2021). The performance of live-line operation robot system has been greatly improved, even as the operation mode develops from pure teleoperation to automatic control (Zhu et al , 2019; Tani et al , 2015; Kato et al , 2016; Ito et al , 2010; Chen et al , 2023).…”

Section: Introductionmentioning

confidence: 99%

DARLOS: a lightweight dual-arm robotic live-line operation system for autonomous high-voltage distribution grid maintenance

Wang

2024

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Purpose This paper aims to present a novel lightweight distribution grid operating robot system with focus on lightweight and multi-functionality, aiming for autonomous and live-line maintenance operations. Design/methodology/approach A ground-up redesign of the dual-arm robotic system with 12-DoF is applied for substantial weight reduction; a dual-mode operating control framework is proposed, with vision-guided autonomous operation embedded with real-time manual teleoperation controlling both manipulators simultaneously; a quick-swap tooling system is developed to conduct multi-functional operation tasks. A prototype robotic system is constructed and validated in a series of operational experiments in an emulated environment both indoors and outdoors. Findings The overall weight of the system is successfully brought down to under 150 kg, making it suitable for the majority of vehicle-mounted aerial work platforms, and it can be flexibly and quickly deployed in population dense areas with narrow streets. The system equips with two dexterous robotic manipulators and up to six interchangeable tools, and a vision system for AI-based autonomous operations. A quick-change tooling system ensures the robot to change tools on-the-go without human intervention. Originality/value The resulting dual-arm robotic live-line operation system robotic system could be compact and lightweight enough to be deployed on a wide range of available aerial working platforms with high mobility and efficiency. The robot could both conduct routine operation tasks fully autonomously without human direct operation and be manually operated when required. The quick-swap tooling system enables lightweight and durable interchangeability of multiple end-effector tools, enabling future expansion of operating capabilities across different tasks and operating scenarios.

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6-DOF Bilateral Teleoperation Hybrid Control System for Power Distribution Live-Line Operation Robot

Cited by 4 publications

References 31 publications

An efficient constraint method for solving planning problems under end-effector constraints

An efficient constraint method for solving planning problems under end-effector constraints

Study on Real-Time Spatial Distance Acquisition Method of Transmission Line Based on Laser Point Cloud and Image Monitoring

DARLOS: a lightweight dual-arm robotic live-line operation system for autonomous high-voltage distribution grid maintenance

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