Research on the application of the coupling device between unmanned aerial vehicle and live-line utomatic lnstallation robot based on the Hough algorithm in grounding ring positioning of 10kV lines

Aiming to address the issues of low efficiency, large deviation, and high safety risks associated with the traditional installation of grounding rings (GR) on 10kV lines, this paper proposes a precise positioning method for a coupling device between an unmanned aerial vehicle (UAV) and a live-line automatic installation robot (LLAIR) based on the Hough algorithm. First, this paper provides a detailed design of the coupling device structure of UAV and LLAIR from aspects of mechanical connection, electric energy transmission, and control signal transmission. Then, the Hough algorithm is employed to capture images of the GR positions, accurately identify the circular target patterns, and calculate their center coordinates, thereby providing high-precision positioning information for the UAV. Building on this, a control algorithm integrating angular proportional-integral-derivative (PID) and angular velocity PID is proposed to dynamically adjust the flight posture of the coupling device. This enables the precise installation of grounding rings even under complex electromagnetic environments and airflow disturbances. Finally, case analysis demonstrates that this method performs excellently in terms of positioning accuracy, installation duration, and success rate. It significantly improves the efficiency and safety of grounding ring installation, offering important application value.