Recognition and Grasping Technology of High-Voltage Transmission Lines Based on the Humanoid Robot Arm

The practical method and device of hanging ground lines have always been a research hotspot for electric power workers. Based on the actual background, this paper studies the recognition and grasping technology of high-voltage transmission lines based on the humanoid robot arm. Aiming at the common split wire structure of high-voltage transmission lines, the traditional YOLO (You Only Look Once) algorithm is optimized, the visual control system of the robot arm is developed, and the control strategy of nearest grasp is proposed. A preliminary experimental platform was built to verify the feasibility of the robot arm control algorithm.