Research on obstacle recognition method of transmission line in alpine region based on depth camera

Abstract Ice and snow on transmission lines in alpine areas lead to increased tower load and short circuits of transmission lines. Tower collapses and power outages caused by ice have a serious impact on factory production and people’s lives. With the development of robot technology, deicing robots have become an important research direction to solve the icing problem of transmission lines. The deicing robot mainly completes actions such as walking, obstacle crossing, and deicing on the transmission line. In the process of robot walking, accurate identification of obstacles on the transmission line is the basic condition for the deicing robot to complete the deicing work, which provides a basic guarantee for the deicing robot to cross the obstacles. Therefore, in this paper, a visual recognition method based on a depth camera is proposed by combining the obstacle characteristics on the 220 KV high-voltage transmission line.