Precise Positioning for Live Working on Distribution Line

Since the positioning accuracy of a live working robot on the distribution line is significantly affected by the outdoor lighting, the bucket boom vibration, or the changing working spots, this article discusses the laser data perception, the equipment object recognition and the automatic location positioning. An automatic working positioning method based on the scenic semantics is proposed, which solves the blindness of radar caused by the strong light and reduces the position calibration process of the robot arms and the sensors. Through an analysis among the integral features, this method eliminates the interference of discrete points and achieves the automatic identification of the object working equipment. Meanwhile, using the semantic feature of wire connectivity the connection of the entire wire is realized, making it possible to select the operating point in the blank of the point cloud data collection. Finally, the automatic selection of operating points is provided through the information of equipment semantics, and the safety check of the operating point selection is realized. The comparative application analysis of this project shows that this method increases the successful rate of the effective point cloud data collection by about 20% and reduces the average error of selection from 3cm for manual discretization to 1cm for automatic extraction, which will reduce the manual adjustment process and improve the automation level of the distribution network live operation. © 2022, Power System Technology Press. All right reserved.