Digital Twin 3D System for Power Maintenance Vehicles Based on UWB and Deep Learning

Mingju Chen, Tingting Liu, Jinsong Zhang, Xingzhong Xiong, Feng Liu

To address the issue of the insufficient safety monitoring of power maintenance vehicles during power operations, this study proposes a vehicle monitoring scheme based on ultra wideband (UWB) and deep learning. The UWB localization algorithm employs Chaotic Particle Swarm Optimization (CSPO) to optimize the Time Difference of Arrival (TDOA)/Angle of Arrival (AOA) locating scheme in order to overcome the adverse effects of the non-visual distance and multipath effects in substations and significantly improve the positioning accuracy of vehicles. To solve the problem of the a large aspect ratio and the angle in the process of power maintenance vehicle operation situational awareness in the mechanical arm of the maintenance vehicle, the arm recognition network is based on the You Only Look Once version 5 (YOLOv5) and modified by Convolutional Block Attention Module (CBAM). The long-edge definition method with circular smoothing label, SIoU loss function, and HardSwish activation function enhance the precision and processing speed for the arm state. The experimental results show that the proposed CPSO-TDOA/AOA outperforms other algorithms in localization accuracy and effectively attenuates the non-visual distance and multipath effects. The recognition accuracy of the YOLOv5-CSL-CBAM network is substantially improved; the mAP value of the vehicles arm reaches 85.04%. The detection speed meets the real-time requirement, and the digital twin of the maintenance vehicle is effectively realized in the 3D substation model.