Unmanned aerial vehicle-based live cable automatic wiring operation system and method

Abstract

The invention discloses a live cable automatic wiring operation system and method based on an unmanned aerial vehicle, and the system comprises an unmanned aerial vehicle flight platform, an overhead operation mechanical arm, a comprehensive sensing and positioning system, a modularized tail end operation tool library, a collaborative operation control module, and a multi-stage energy consumption scheduling module. The top-mounted mechanical arm is mounted at the top of a fuselage of the unmanned aerial vehicle flying platform; the comprehensive sensing and positioning system identifies and positions the cable and the terminal; the modularized tail end operation tool library comprises a tail end operation tool which is detachably mounted at the tail end of the overhead operation mechanical arm; the collaborative operation control module controls the overhead operation mechanical arm to sequentially execute wiring procedures of accurate positioning, wire stripping, crimping and insulation recovery; and the multi-stage energy consumption scheduling module dynamically distributes and schedules system energy. According to the technical scheme of the invention, the unmanned aerial vehicle platform is utilized to quickly arrive at a working point, the cable connection operation is completed autonomously or remotely, and people are liberated from a high-risk environment.

Description

Technical Field

[0001] This invention relates to the field of power equipment operation and maintenance technology, specifically to an automatic live cable wiring system and method based on unmanned aerial vehicles (UAVs). Background Technology

[0002] Transmission lines are the lifeblood of the power system, and their safe and stable operation is of paramount importance. Exposed to the natural environment for extended periods, these lines are prone to faults such as broken strands, wear, and lightning strikes, necessitating timely live-line repairs or splicing. Currently, such operations primarily rely on manual equipotential bonding or traditional crawling robots. This approach has several significant drawbacks: workers are directly exposed to high-voltage, strong electric fields, posing a high risk to their personal safety; it requires large equipment (such as helicopters and insulated vehicles), a large ground support team, and a robust safety monitoring system, resulting in high operating costs; preparation is complex and highly dependent on weather and terrain conditions, with short operational windows; and the labor intensity is high, placing a significant strain on the physical and mental well-being of the workers.

[0003] Some crawling or suspended robots installed on power transmission lines can carry tools for maintenance, but their drawbacks are also obvious: they require manual assistance to install on the lines, cannot quickly respond to faults in long distances or complex terrains, and have poor accessibility; they are usually designed for specific tasks, lacking versatility and having limited functionality; and they move slowly on the lines, making it difficult to cross obstacles such as poles and vibration dampers, resulting in insufficient mobility. With the maturity of drone technology, its excellent maneuverability and flexibility have brought about innovation in power line inspection. Currently, drones are used for line inspection (taking pictures, measuring temperature), but this is limited to detection and cannot complete any substantial physical operations.

[0004] Therefore, there is an urgent need to propose an automatic wiring system and method for live cables based on unmanned aerial vehicles (UAVs). Summary of the Invention

[0005] The purpose of this invention is to provide an automatic live cable splicing system and method based on unmanned aerial vehicles (UAVs). The UAV platform can quickly reach the work site and complete the splicing operation of live cables autonomously or remotely through a dedicated robotic arm and safety protection system, completely freeing people from high-risk environments and improving work efficiency and safety.

[0006] To achieve the above objectives, in a first aspect, the present invention provides an automatic live cable wiring system based on unmanned aerial vehicles (UAVs), comprising: Unmanned aerial vehicle (UAV) flight platform; The top-mounted robotic arm is mounted on the top of the fuselage of the UAV flight platform via an insulated connection mechanism, so that the top-mounted robotic arm can approach the live cable from below to perform wiring operations; An integrated sensing and positioning system is used to identify and locate cables and terminals; A modular end-of-life toolkit includes a wire stripper, crimping pliers, and insulation wrapping device that can be detachably mounted on the end of the overhead robotic arm. The collaborative operation control module is configured to control the upper-mounted robotic arm to sequentially perform wiring procedures such as precise positioning, wire stripping, crimping, and insulation restoration based on feedback information from the integrated sensing and positioning system. The multi-stage energy consumption scheduling module is communicatively connected to the collaborative operation control module and is configured to dynamically allocate and schedule system energy according to the power consumption requirements of each stage of the wiring process.

[0007] Optionally, the integrated sensing and positioning system includes: The vision system includes a global vision camera for coarse positioning and operational environment awareness, and a high-precision lidar for precise positioning of live cables and 3D modeling. The positioning system includes a GPS / RTK high-precision positioning module, which is used to achieve centimeter-level positioning of the UAV flight platform in the operating airspace; The dedicated sensor includes a laser aiming and positioning device and an ultraviolet corona detector installed at the end of the upper-mounted robotic arm. The laser aiming and positioning device is used to accurately calibrate the position of the live cable, and the ultraviolet corona detector is used to assist in determining the energized state of the live cable and whether the working point is safe.

[0008] Optionally, the collaborative operation control module includes: The precision positioning unit is configured to acquire images of live cables and terminals through the integrated sensing and positioning system, identify their type, specifications, and initial position, calculate the motion trajectory and final pose of the top-mounted robotic arm, and determine the stripping length; and control the multi-functional robotic arm to move to a predetermined position with the end-effector tool and remain stably stationary. The wire stripping unit is configured to control the wire stripper to perform wire stripping operations according to preset parameters, and to detect the cutting depth and stripping length through a vision system and to sense the cutting resistance through a force sensor to prevent damage to the conductor; an alarm is triggered if the stripping length is insufficient or too deep. The crimping unit is configured to control the crimping clamp to perform crimping according to a preset program, and to monitor the crimping force curve in real time through a six-dimensional force sensor and monitor the crimping stroke depth through a displacement sensor. The real-time force-displacement curve is compared with the pre-stored standard qualified curve; if they match, the crimping is deemed qualified; otherwise, the crimping is deemed to have failed and the terminal is replaced. The insulation restoration unit is configured to control the insulation wrapping device to perform the wrapping action, and to detect the coverage of the insulation tape or heat shrink tubing through a vision system to determine whether it is uniform and complete; and to decide whether to re-wrap the insulation tape based on the visual feedback.

[0009] Optionally, the multi-stage energy consumption scheduling module includes: The task analysis and power consumption prediction unit is configured to decompose the wiring operation into multiple stages and predict the power consumption of each stage based on the task instructions and visual perception information, including five stages: positioning and identification, wire stripping and preparation, crimping, insulation restoration, and quality inspection and withdrawal. The dynamic scheduling and execution unit is configured to perform fine-grained scheduling of energy based on power consumption prediction; The real-time adaptive unit is configured to adjust the energy distribution in subsequent stages when the actual power consumption exceeds expectations during operation, so as to ensure that there is enough power to complete the wiring task.

[0010] Optionally, the dynamic scheduling and execution unit is configured as follows: For non-core high-power modules, put them into sleep or low-power mode when they are not working. When the battery is low, reduce the movement speed of the top-mounted robotic arm to save energy.

[0011] Optionally, the drone flight platform includes a multi-rotor drone, the fuselage of which is made of composite materials to provide electromagnetic shielding characteristics.

[0012] Optionally, the upper-mounted robotic arm is a lightweight, high-precision robotic arm with 4-6 degrees of freedom. Its joints are made of high-strength composite materials and non-metallic gears to achieve full insulation. The insulating connection mechanism is made of multi-layer composite insulating material to enhance the insulation strength between the robotic arm and the UAV platform.

[0013] Optionally, the wire stripper, crimping pliers, and insulation covering device are all wrapped with insulating material.

[0014] Optionally, it also includes a security monitoring unit, which is configured to: Real-time monitoring of the electric field strength data between the UAV flight platform and the live cable; Monitor the insulation status of the overhead robotic arm; When the electric field strength exceeds the safety threshold or the insulation condition is abnormal, an emergency stop command is triggered, controlling the upper-mounted robotic arm to retract to a safe position and controlling the UAV flight platform to evacuate from the work area.

[0015] Secondly, the present invention also provides a method for automatic live cable wiring operation based on unmanned aerial vehicles (UAVs), implemented using the UAV-based automatic live cable wiring operation system provided in the first aspect of the present invention, the method comprising: The drone flight platform is controlled to fly to the target work area by receiving mission instructions through the ground control station. The overhead robotic arm approaches the live cable from below. Based on feedback from the integrated sensing and positioning system, the upper-mounted robotic arm is controlled by the collaborative operation control module to sequentially perform precise positioning, wire stripping, crimping and insulation restoration processes. The system energy is dynamically allocated based on the power consumption characteristics of each process through a multi-stage energy consumption scheduling module. After completing the wiring work, the upper-mounted robotic arm is retracted, and the UAV flight platform returns. Compared with the prior art, the technical solution of the present invention has at least the following beneficial effects: 1. The automatic live cable connection system based on UAV provided by this invention realizes the "human-machine separation" operation mode. The operator can monitor or remotely control from a safe ground station several kilometers away, completely eliminating the risk of high voltage electric shock and high-altitude fall, and can absolutely guarantee the personal safety of the operator. 2. The drone flight platform can respond quickly and reach the fault point directly, saving the time of mobilizing large equipment and preparing personnel. The time from fault detection to repair is shortened by several times, resulting in extremely high operational efficiency. 3. Unmanned aerial vehicle (UAV) flight platforms are not limited by terrain and can easily reach areas that are difficult to reach by traditional means, such as high mountains, canyons, and rivers, with excellent mobility and accessibility; 4. The automatic live cable wiring system based on UAV provided by this invention achieves sub-centimeter-level positioning and precise operation of thin cables through multi-sensor fusion and intelligent control algorithms, resulting in stable and reliable operation quality.

[0016] 5. The automatic live cable wiring system based on UAV provided by this invention can complete a variety of tasks by changing the tool head. The modular design reduces maintenance costs and the overall economic benefits are far higher than traditional manual operations. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of an automatic live cable wiring system based on a drone according to an embodiment of the present invention; Figure 2 This is a structural block diagram of an automatic live cable wiring system based on a drone, provided in an embodiment of the present invention. Figure 3 This is a flowchart illustrating an embodiment of the automatic wiring method for live cables based on unmanned aerial vehicles (UAVs) provided by the present invention. Detailed Implementation

[0018] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed explanation of the automatic live cable wiring system and method based on unmanned aerial vehicles (UAVs) proposed in this invention. The advantages and features of this invention will become clearer from the following description. It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clearly illustrate the embodiments of this invention. Please refer to the accompanying drawings to make the objectives, features, and advantages of this invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes and to enable those skilled in the art to understand and read the content disclosed in the specification. They are not intended to limit the implementation conditions of this invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by this invention, should still fall within the scope of the technical content disclosed in this invention.

[0019] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0020] Please see Figure 1 , Figure 1This is a schematic diagram of the automatic live cable wiring system based on a drone provided by the present invention. The system uses a drone flight platform as an aerial mobile carrier, preferably a multi-rotor drone. The fuselage is made of composite materials such as carbon fiber to ensure structural strength while providing necessary electromagnetic shielding characteristics, reducing interference from strong electric fields on the flight control system. A top-mounted robotic arm is installed on the top of the drone flight platform via an insulated connection mechanism. This robotic arm adopts a lightweight, high-precision design with 4-6 degrees of freedom, and its joints are made of high-strength composite materials and non-metallic gears for full insulation. The insulated connection mechanism is made of multi-layered composite insulating material, greatly enhancing the insulation strength between the robotic arm and the drone platform. This top-mounted design allows the robotic arm to safely and stably approach and perform operations from below the live cable, effectively avoiding interference between the robotic arm's movement and the drone itself.

[0021] The top-mounted design of this invention allows the robotic arm to extend from the top of the drone fuselage, enabling the drone platform to approach the target cable from the bottom up. This design is particularly advantageous in high-altitude operation scenarios, such as when the cable is located beneath a tower crossarm: the drone simply flies in from the open space beneath the cable, allowing the top-mounted robotic arm to directly reach the work point, while the large drone body and its high-speed rotating rotors can safely remain in the unobstructed airspace beneath the cable, effectively avoiding the risk of collision with the complex steel structure above.

[0022] In contrast, with traditional bottom-mounted robotic arms, the drone must fly directly above or slightly above the cable to allow the arm to reach it from below. This is nearly impossible when the cable is laid close to large structural members (such as crossarms), as the drone is highly susceptible to collisions with the crossarm, leading to operational failure or even drone damage. Therefore, the top-mounted layout of this invention fundamentally solves the technical challenge of safely accessing the work point in dense steel structure environments, greatly expanding the applicability of automated wiring operations.

[0023] The top-mounted design of this invention constructs a safer and more rational electric field distribution and insulation barrier system. In this configuration, the live cable is located at the highest point of the entire system, and the work point is also above the drone. On the potential discharge path from the high-voltage cable to the ground, the current or arc must first break down the specially insulated robotic arm, insulated connection mechanism, and dedicated insulated end tools. Subsequently, the entire drone body (whose fuselage can be made of composite insulating material) forms an integral "insulating platform," constituting the next physical barrier, increasing the creepage distance, and finally the air gap and the ground.

[0024] This multi-layered insulation architecture, consisting of "operation tool-robotic arm-drone platform," provides a clear physical basis and ample design space for designing high-strength insulation systems. For example, an additional insulating skin can be added to the bottom of the drone platform to further enhance its barrier function.

[0025] Conversely, in a bottom-mounted design, the drone's body hangs directly above the live cable, becoming the primary and largest target of the discharge path, and the entire aircraft is constantly under the direct influence of a high electric field. This not only places extreme demands on the drone's electromagnetic compatibility but also results in extremely low tolerance for insulation design failures; any single insulation failure could lead to complete aircraft breakdown, significantly increasing safety risks. Therefore, the top-mounted layout of this invention, by optimizing the electric field management path and constructing multiple insulation barriers, lays a solid foundation for achieving safe and reliable live-line autonomous operation.

[0026] Please see Figure 2 , Figure 2 This is a structural block diagram of an automatic live cable wiring system based on a drone, provided in an embodiment of the present invention.

[0027] The system's perception capabilities are provided by a comprehensive perception and positioning system. This system integrates multiple sensors, including a global vision camera for coarse positioning and operational environment awareness, and a high-precision LiDAR or depth camera for precise positioning of live cables and 3D modeling. For positioning, a GPS / RTK high-precision positioning module enables the UAV to achieve centimeter-level positioning within the operational airspace. Furthermore, dedicated sensors are installed at the end effector of the upper-mounted robotic arm, such as a laser aiming locator for precise cable positioning, and an ultraviolet corona detector to assist in determining the energized state of live cables and the safety of the operational site, collectively forming a comprehensive environmental perception network.

[0028] To complete the wiring process, the system is equipped with a modular end-of-line tool library, including wire strippers, crimping pliers, and insulation wrapping devices that can be quickly removed and installed. These tools are all wrapped in insulating material to withstand live-line working environments. The tool library is designed so that the robotic arm can automatically change tools or change them under ground command as needed.

[0029] The core control of the system is handled by the collaborative operation control module. Based on real-time feedback from the integrated sensing and positioning system, this module controls the overhead robotic arm to systematically perform a series of wiring procedures, including precise positioning, wire stripping, crimping, and insulation restoration. During the precise positioning phase, the module uses a vision system to identify the type, specifications, and location of the cables and terminals, calculates the robotic arm's trajectory and final posture, and controls the arm to stably remain at the work point with its tools. During the wire stripping phase, the module controls the wire stripper to operate according to preset parameters and uses visual and force feedback to monitor the cutting depth and force in real time to prevent damage to the conductor. During the crimping phase, the module controls the crimping pliers to perform crimping according to a preset program and uses a six-dimensional force sensor and displacement sensor to monitor the crimping force and displacement curves in real time, comparing them with pre-stored standard qualification curves to determine the crimping quality. During the insulation restoration phase, the module controls the insulation wrapping device to perform winding or heat-shrinking operations and uses a vision system to inspect the insulation layer coverage quality to ensure uniformity and integrity.

[0030] To optimize energy efficiency and extend the time available for idle work throughout the entire operation, the system also includes a multi-stage energy consumption scheduling module that communicates with the collaborative operation control module. This module first breaks down the wiring operation into multiple stages based on task instructions and visual perception information, such as positioning and identification, wire stripping and preparation, crimping, insulation restoration, and quality inspection and withdrawal, and predicts the power consumption requirements for each stage. Subsequently, it dynamically and finely schedules system energy based on the prediction results. For example, it puts non-core high-power modules into sleep or low-power modes when they are not in operation; if low battery power is detected, it saves energy by reducing the robotic arm's movement speed, ensuring sufficient power to safely complete critical tasks. This module also has real-time adaptive capabilities, dynamically adjusting the energy allocation strategy for subsequent stages when actual power consumption exceeds expectations.

[0031] Furthermore, the system integrates an independent safety monitoring unit. This unit monitors the electric field strength between the UAV flight platform and the live cable, as well as the insulation status of the overhead robotic arm, in real time. Once the electric field strength exceeds a preset safety threshold or an abnormal insulation status is detected, the unit will immediately trigger an emergency stop command, controlling the overhead robotic arm to quickly retract to a safe position and guiding the UAV flight platform to evacuate from the work area, thereby maximizing the safety of equipment and personnel.

[0032] Please refer to the automatic wiring operation method based on the above system. Figure 3 The specific implementation process includes the following steps: Step S1: Receive mission instructions through the ground control station and control the UAV flight platform to fly to the target operation area; Step S2: Approach the live cable from below using an overhead robotic arm; Step S3: Based on the feedback from the integrated sensing and positioning system, the upper-mounted robotic arm is controlled by the collaborative operation control module to sequentially perform the precise positioning, wire stripping, crimping and insulation restoration processes; Step S4: Dynamically allocate system energy based on the power consumption characteristics of each process through a multi-stage energy consumption scheduling module; Step S5: After completing the wiring operation, control the upper-mounted robotic arm to retract and the drone flight platform to return.

[0033] First, the ground control station receives mission instructions and controls the UAV flight platform to fly to the target work area. Upon arrival, the top-mounted robotic arm gradually approaches the live cable from below. Next, based on feedback from the integrated sensing and positioning system, the collaborative operation control module guides the robotic arm to sequentially perform processes such as precise positioning, wire stripping, crimping, and insulation restoration. Throughout the operation, the multi-stage energy consumption scheduling module dynamically allocates system energy according to the power consumption characteristics of each process. After all wiring processes are completed and quality verified, the top-mounted robotic arm is retracted, and finally, the UAV flight platform is guided back to the takeoff point or to the next work location.

[0034] It should be noted that the apparatus and methods disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments herein. In this regard, each block in a flowchart or block diagram may represent a module, program, or part of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system to perform the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0035] In addition, the functional modules in the various embodiments of this article can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0036] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. An automatic live cable wiring system based on unmanned aerial vehicles (UAVs), characterized in that, include: Unmanned aerial vehicle (UAV) flight platform; The top-mounted robotic arm is mounted on the top of the fuselage of the UAV flight platform via an insulated connection mechanism, so that the top-mounted robotic arm can approach the live cable from below to perform wiring operations; An integrated sensing and positioning system is used to identify and locate cables and terminals; A modular end-of-life toolkit includes a wire stripper, crimping pliers, and insulation wrapping device that can be detachably mounted on the end of the overhead robotic arm. The collaborative operation control module is configured to control the upper-mounted robotic arm to sequentially perform wiring procedures such as precise positioning, wire stripping, crimping, and insulation restoration based on feedback information from the integrated sensing and positioning system. The multi-stage energy consumption scheduling module is communicatively connected to the collaborative operation control module and is configured to dynamically allocate and schedule system energy according to the power consumption requirements of each stage of the wiring process.

2. The automatic live cable wiring system as described in claim 1, characterized in that, The integrated sensing and positioning system includes: The vision system includes a global vision camera for coarse positioning and operational environment awareness, and a high-precision lidar for precise positioning of live cables and 3D modeling. The positioning system includes a GPS / RTK high-precision positioning module, which is used to achieve centimeter-level positioning of the UAV flight platform in the operating airspace; The dedicated sensor includes a laser aiming and positioning device and an ultraviolet corona detector installed at the end of the upper-mounted robotic arm. The laser aiming and positioning device is used to accurately calibrate the position of the live cable, and the ultraviolet corona detector is used to assist in determining the energized state of the live cable and whether the working point is safe.

3. The automatic live cable wiring system as described in claim 2, characterized in that, The collaborative operation control module includes: The precision positioning unit is configured to acquire images of live cables and terminals through the integrated sensing and positioning system, identify their type, specifications, and initial position, calculate the motion trajectory and final pose of the top-mounted robotic arm, and determine the stripping length; and control the multi-functional robotic arm to move to a predetermined position with the end-effector tool and remain stably stationary. The wire stripping unit is configured to control the wire stripper to perform wire stripping operations according to preset parameters, and to detect the cutting depth and stripping length through a vision system and to sense the cutting resistance through a force sensor to prevent damage to the conductor; an alarm is triggered if the stripping length is insufficient or too deep. The crimping unit is configured to control the crimping clamp to perform crimping according to a preset program, and to monitor the crimping force curve in real time through a six-dimensional force sensor and monitor the crimping stroke depth through a displacement sensor. The real-time force-displacement curve is compared with the pre-stored standard qualified curve; if they match, the crimping is deemed qualified; otherwise, the crimping is deemed to have failed and the terminal is replaced. The insulation restoration unit is configured to control the insulation wrapping device to perform the wrapping action, and to detect the coverage of the insulation tape or heat shrink tubing through a vision system to determine whether it is uniform and complete; and to decide whether to re-wrap the insulation tape based on the visual feedback.

4. The automatic live cable wiring system as described in claim 1, characterized in that, The multi-stage energy consumption scheduling module includes: The task analysis and power consumption prediction unit is configured to decompose the wiring operation into multiple stages and predict the power consumption of each stage based on the task instructions and visual perception information, including five stages: positioning and identification, wire stripping and preparation, crimping, insulation restoration, and quality inspection and withdrawal. The dynamic scheduling and execution unit is configured to perform fine-grained scheduling of energy based on power consumption prediction; The real-time adaptive unit is configured to adjust the energy distribution in subsequent stages when the actual power consumption exceeds expectations during operation, so as to ensure that there is enough power to complete the wiring task.

5. The automatic live cable wiring system as described in claim 4, characterized in that, The dynamic scheduling and execution unit is configured as follows: For non-core high-power modules, put them into sleep or low-power mode when they are not working. When the battery is low, reduce the movement speed of the top-mounted robotic arm to save energy.

6. The automatic live cable wiring system based on unmanned aerial vehicles as described in claim 1, characterized in that, The unmanned aerial vehicle (UAV) flight platform includes a multi-rotor UAV, the fuselage of which is made of composite materials to provide electromagnetic shielding characteristics.

7. The automatic live cable wiring system based on unmanned aerial vehicles as described in claim 1, characterized in that, The upper-mounted robotic arm is a lightweight, high-precision robotic arm with 4-6 degrees of freedom. Its joints are made of high-strength composite materials and non-metallic gears to achieve full insulation. The insulation connection mechanism uses multi-layer composite insulation materials to enhance the insulation strength between the robotic arm and the UAV platform.

8. The automatic live cable wiring system based on unmanned aerial vehicles as described in claim 1, characterized in that, The wire stripper, crimping pliers, and insulation covering device are all wrapped with insulating material.

9. The automatic live cable wiring system based on unmanned aerial vehicles as described in claim 1, characterized in that, It also includes a security monitoring unit, which is configured to: Real-time monitoring of the electric field strength data between the UAV flight platform and the live cable; Monitor the insulation status of the overhead robotic arm; When the electric field strength exceeds the safety threshold or the insulation condition is abnormal, an emergency stop command is triggered, controlling the upper-mounted robotic arm to retract to a safe position and controlling the UAV flight platform to evacuate from the work area.

10. A method for automatic live cable wiring based on unmanned aerial vehicles (UAVs), implemented using the system described in any one of claims 1-9, characterized in that, The method includes: The drone flight platform is controlled to fly to the target work area by receiving mission instructions through the ground control station. The overhead robotic arm approaches the live cable from below. Based on feedback from the integrated sensing and positioning system, the upper-mounted robotic arm is controlled by the collaborative operation control module to sequentially perform precise positioning, wire stripping, crimping and insulation restoration processes. The system energy is dynamically allocated based on the power consumption characteristics of each process through a multi-stage energy consumption scheduling module. After completing the wiring work, the upper-mounted robotic arm is retracted, and the drone flight platform returns.

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