Design of a teleoperated and mixed reality-based electric power live line working robot

Abstract

This paper presents a novel teleoperation force feedback approach combining graphic and haptic feedback for enhanced telepresence. Visual force feedback is modeled through a fitting process, with the force direction established through coordinate transformations. To construct operational environments, a new scene recognition and reconstruction technique is proposed, based on the principles of binocular stereovision. This method is primarily designed for live-line work scenarios, focusing on power line wires. It involves image preprocessing, target image recognition and extraction, binocular stereo measurements, generating depth point clouds, and ultimately reconstructing three-dimensional models of the target objects. Ultimately, a novel electric power live line working robot system with a strong sense of telepresence is achieved, based on teleoperation and mixed reality.