Abstract

Traditional manual 10 kV live-line maintenance is accompanied by high personal risks and incomplete safety protection, while overall operational efficiency is limited. This paper develops an intelligent live-working robot based on a tracked insulated spider aerial vehicle. The system is equipped with vertical lifting modules and a pair of 6-DOF insulated manipulators to form a 13-DOF integrated motion platform. Binocular cameras, LiDAR, real-time insulation monitors, and electromagnetic interference detectors are integrated as multi-modal sensing hardware to achieve high-precision positioning of overhead lines and pole fittings. A master–slave collaborative control strategy combined with mixed reality (MR) and visual auxiliary force feedback is proposed to coordinate the tracked chassis, lifting structure, and dual manipulators. A four-dimensional full-cycle safety guarantee framework is further constructed, covering insulation protection, anti-interference communication, human–machine risk avoidance, and full-task supervision to support real-time early warning and motion interlock. Field tests on actual 10 kV distribution lines verify stable positioning performance under controlled test conditions, and no safety accidents occurred in all trials. The designed robotic system provides an optional technical scheme for intelligent unmanned live-line maintenance of distribution networks.

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