Keeping Workers Safe in Electric Working: A Robot System for High-Voltage Live Operation ^*

摘要

In conventional high-voltage live work, operators are required to work near high-voltage cables, which poses risks such as falling and getting an electric shock. To promise the worker's safety, regional breakout of power is one of the common methods that the power sector would deploy. However, with the development of society, a lot of trouble will be brought about due to the economic loss and social impact caused by regional power outages, which pose higher requirements for the power sector. Hence, it is demanding to carry out a safe and effective method for high-voltage live work without power failure. In such a context, we have developed a dual-arm collaborative robotic system for high-voltage live work. The system includes a human-computer interaction interface and a pair of Omega handles, which allow workers to operate remotely at the control center. In laboratory experiments, the system can accurately complete stripping, trimming, and wiring operations. Also, some actions are pre-programmed inside the control system to realize simple operations automatically. This dual-arm robot collaboration system with a teleoperation function can greatly reduce the labor intensity of workers and ensure their safety.