Visual Servo Control Method for Transmission Line Robot Hanging Line Operation

With the rapid development of China's electric power industry, the ensuing maintenance and overhaul work has become more and more burdensome. The traditional manual overhaul method has the problems of high risk and low efficiency, so it becomes very necessary to study the transmission line power-carrying operation robot. At present, the development of transmission line robots is rapid, but how to deploy robots safely and efficiently to transmission lines is still a very urgent problem. In this paper, we propose a visual servo control method for transmission line robot hanging line operation to address this problem, using binocular camera to measure the vertical distance between the robot and the transmission line, and using DeepLabV3+semantic segmentation network to identify the gap between the walking wheels and the transmission line, to ensure that the robot hangs on the transmission line safely. Finally, a robot hanging line operation experiment was carried out in the transmission line experimental site to verify the effectiveness and practicality of the visual servo control method proposed in this paper.