Research on Live Working Robots for 10 KV Distribution Networks Adopting Four-Dimensional Safety Guarantee Framework

Area of Science:

• Robotics and Automation
• Electrical Engineering
• Power Systems Engineering

Background:

• Traditional live-line maintenance poses significant personal risks and operational limitations.
• Existing methods lack comprehensive safety measures and efficiency for 10 kV distribution networks.

Purpose of the Study:

• To develop an intelligent robotic system for safe and efficient live-line maintenance of 10 kV distribution lines.
• To enhance operational safety and reduce human exposure to hazards during electrical maintenance.

Main Methods:

• Development of a tracked insulated spider aerial vehicle with a 13-DOF integrated motion platform (vertical lifting modules, dual 6-DOF manipulators).
• Integration of multi-modal sensing hardware (binocular cameras, LiDAR, insulation monitors, EMI detectors) for high-precision positioning.
• Implementation of a master-slave collaborative control strategy with mixed reality (MR) and visual force feedback.
• Construction of a four-dimensional safety framework encompassing insulation, communication, risk avoidance, and supervision.

Main Results:

• The robotic system demonstrated stable positioning performance in field tests on actual 10 kV distribution lines.
• No safety accidents occurred during all trials, validating the system's safety features.
• The integrated system achieved precise positioning of overhead lines and pole fittings.

Conclusions:

• The developed intelligent robotic system offers a viable technical solution for unmanned live-line maintenance in distribution networks.
• The system significantly improves safety and operational efficiency compared to traditional methods.
• The proposed control strategy and safety framework ensure reliable and secure robotic operations.