The implementation of traditional energized line operation relies on manual experience, which has the problems of outdated control technology and insufficient reliability, and seriously affects the operation safety. In this paper, based on the hierarchical algorithm and visual sensor, after completing the preprocessing of the visual sensor data, the point cloud data is combined with the power line operation to obtain the point cloud data characteristics under the power line operation scene. At the same time, a point cloud alignment method based on octree and KD tree multilayer index structure is proposed to improve the traditional ICP point cloud alignment algorithm for threedimensional modeling of the safety distance of power line. Then the safety distance of the power line operation is calculated to realize the safety distance localization of the power line by visual sensors. Compared with the traditional BIM and GIM modeling methods, the 3D model elevation point location curve under the modeling method of the safety distance of the power line in this paper has a higher degree of fit with the original curve and higher modeling accuracy. The safety distance localization method of energized lines in this paper also meets the safety distance warning requirements of 10kV and 35kV voltage levels at the same time, and the validity has been verified.
