Research on Obstacle Detection for Unstructured Roads of Drilling and Pole-Erecting Machines Based on Multi-Sensor fu‍sion

doi:10.3969/j.issn.1008-0198.2026.02.016

Hunan Electric Power ›› 2026, Vol. 46 ›› Issue (2): 123-130.doi: 10.3969/j.issn.1008-0198.2026.02.016

• Power Planning and Market • Previous Articles Next Articles

Research on Obstacle Detection for Unstructured Roads of Drilling and Pole-Erecting Machines Based on Multi-Sensor fu‍sion

CHEN Wei¹, YANG Miao², HE Tianze³, CHEN Ming¹, HE Jilin⁴

1. Hunan Xiangdian Test and Research institute Co., Ltd., Changsha 410208, China;
2. State Grid Hunan Electric Power Company Limited Research institute, Changsha 410208, China;
3. School of Physics and Electronic Science, Changsha University of Science and Technology, Changsha 410114, China;
4. School of Mechanical and Electrical Engineering, Central South University, Changsha 410075, China

Received:2025-11-11 Revised:2025-12-05 Online:2026-04-25 Published:2026-05-09

Abstract

Abstract: in power distribution network construction,drilling and pole-erecting machine as critical equipment, their intelligent operation accuracy and safety are significantly affected by unstructured and complex road environments. To address the obstacle detection problem of drilling and pole-erecting machine during unstructured road operations, this article proposes a detection method based on multi-sensor fusion. By integrating camera and LiDAR data with a decision-level fusion strategy, the method effectively enhances the accuracy and robustness of obstacle detection. Experimental results demonstrate that the proposed approach significantly reduces both the false detection rate and missed detection rate, providing strong support for the accurate and safe operation of drilling and pole-erecting machine.

Key words: drilling and pole-erecting machine, multi-sensor fusion, unstructured road, obstacle detection, decision-level fusion

CLC Number:

TM754

CHEN Wei, YANG Miao, HE Tianze, CHEN Ming, HE Jilin. Research on Obstacle Detection for Unstructured Roads of Drilling and Pole-Erecting Machines Based on Multi-Sensor fu‍sion[J]. Hunan Electric Power, 2026, 46(2): 123-130.

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Research on Obstacle Detection for Unstructured Roads of Drilling and Pole-Erecting Machines Based on Multi-Sensor fu‍sion

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