10kv j-bend busbar installation system, method, apparatus, and media

Abstract

The application relates to the technical field of high-altitude electric power operation robots, and provides a 10kV J-type wire clamp busbar installation system, method, equipment and medium, a visual module of the system collects single-view point cloud data of an operation area by using a depth camera, and key points of a busbar axis and feature points of an insulating terminal are fitted, so that the positioning accuracy is guaranteed; the visual module positions a target operation position, realizes accurate coordinate and posture conversion from visual identification to a mechanical arm, a controller controls a stripping tool to automatically and accurately strip an insulating layer of a busbar, and the inaccuracy and safety risks of manual stripping are avoided; a mechanical arm automatically buckles a J-type wire clamp busbar slot hole into a bare metal area of the busbar, and dynamic adjustment is carried out based on a sensing assembly, so that the busbar is ensured to be buckled into the slot and kept in dynamic balance; after detecting that a drainage wire installation is completed and the J-type wire clamp is locked, a dual-arm live working platform timely drives the mechanical arm to withdraw from the operation area, and the safety risks are reduced.

Description

Technical Field

[0001] This application relates to the field of high-altitude power operation robot technology, and in particular to a 10kV J-type clamp busbar installation system, method, equipment and medium. Background Technology

[0002] In 10kV power systems, the live installation of current-diverting clamps is a high-risk and high-intensity task. Traditional manual operation poses problems such as high risk of electric shock and high-intensity work at height.

[0003] Currently, while some live-line working robot technologies exist, most utilize customized parallel clamps adapted to the machine itself, resulting in high operating costs. Furthermore, fully automated live-line installation of J-type parallel clamps remains a market gap. Developing a corresponding end-effector tool capable of rapidly installing J-type parallel clamps, based on existing dual-arm live-line working platforms that meet voltage requirements, would be of great significance. Summary of the Invention

[0004] In view of the above, it is necessary to provide a 10kV J-type clamp busbar installation system, method, equipment and medium, which aims to solve the problem of not being able to quickly and accurately install 10kV J-type clamp busbars based on a dual-arm live-line working platform.

[0005] In a first aspect, embodiments of this application provide a 10kV J-type clamp busbar installation system. This system is applied to the parallel operation of busbars and lead-in lines in a 10kV power system, enabling automated assembly and locking of the J-type clamps with the busbars and lead-in lines. The system includes a dual-arm live-line working platform, an end-effector assembly, a vision module, and a controller. The end-effector assembly is fixed to the end of the robotic arm of the dual-arm live-line working platform. It includes a clamp installation tool for pre-installing and carrying J-type clamps, a stripping tool for stripping the busbar insulation, a gripping tool for gripping lead-in lines, and a sensing component consisting of through-beam sensors located on both sides of the J-type clamp and a stress sensor located at the root of the end-effector assembly. The vision module includes a depth camera fixed to the end of the robotic arm of the dual-arm live-line working platform. The controller is electrically connected to the dual-arm live-line working platform, the vision module, and the end-effector assembly. The system includes:

[0006] The vision module is used to respond to the live installation command of the target busbar by using the depth camera to collect single-view point cloud data of the work area, and to fit the point cloud data to obtain key points of the busbar axis and feature points of the insulation terminal.

[0007] The vision module is also used to locate the target operation position based on the key points of the busbar axis and the feature points of the insulating terminal;

[0008] The controller is used to control the wire stripping tool to strip the busbar at the target work location to obtain the exposed metal area of ​​the busbar;

[0009] The controller is also used to control the clamp installation tool to carry the J-type clamp to the target working position and to snap the J-type clamp busbar slot into the exposed metal area of ​​the busbar;

[0010] The end-effector assembly is used to dynamically adjust the J-clamp and the end of the robotic arm based on the sensing assembly;

[0011] The dual-arm live-line working platform is used to drive the robotic arm to withdraw from the working area after detecting that the drain line has been installed and the J-type clamp has been locked.

[0012] Secondly, this application also provides a 10kV J-type clamp busbar installation method, which is applied to a 10kV J-type clamp busbar installation system. The J-type clamp busbar installation system is applied to the parallel operation of busbars and lead wires in 10kV power systems, used to achieve automated assembly and locking of J-type clamps with busbars and lead wires. The system includes a dual-arm live-line working platform, an end-effector assembly, a vision module, and a controller. The end-effector assembly is fixed to the end of the robotic arm of the dual-arm live-line working platform. The end-effector assembly includes a clamp installation tool for pre-installing and carrying J-type clamps, a wire stripping tool for stripping the busbar insulation, a wire gripping tool for gripping lead wires, and a sensing component consisting of through-beam sensors located on both sides of the J-type clamp and a stress sensor located at the root of the end-effector assembly. The vision module includes a depth camera fixed to the end of the robotic arm of the dual-arm live-line working platform. The controller is electrically connected to the dual-arm live-line working platform, the vision module, and the end-effector assembly. The 10kV J-type clamp busbar installation method includes:

[0013] The vision module responds to the live installation command for the target busbar by using the depth camera to collect single-view point cloud data of the work area, and then fits the point cloud data to obtain key points of the busbar axis and feature points of the insulation terminals.

[0014] The vision module locates the target operation position based on the key points of the busbar axis and the feature points of the insulating terminal.

[0015] The controller controls the wire stripping tool to strip the wire from the busbar at the target work location, thereby exposing the bare metal area of ​​the busbar.

[0016] The controller controls the clamp installation tool to carry the J-type clamp to the target working position and snaps the J-type clamp into the exposed metal area of ​​the busbar.

[0017] The end-effector assembly dynamically adjusts the J-clamp and the end of the robotic arm based on the sensing assembly;

[0018] After detecting that the drain line is installed and the J-type clamp is locked, the dual-arm live-line working platform drives the robotic arm to withdraw from the working area.

[0019] Thirdly, embodiments of this application also provide a computer device, the computer device comprising:

[0020] The system includes a memory that stores at least one instruction, and a processor that executes the instruction stored in the memory to implement the 10kV J-type clamp busbar installation method.

[0021] Fourthly, embodiments of this application also provide a computer-readable storage medium storing at least one instruction, which is executed by a processor in a computer device to implement the 10kV J-type clamp busbar installation method.

[0022] As can be seen from the above technical solutions, the vision module of this application uses a depth camera to collect single-view point cloud data of the work area and fits it to obtain key points of the busbar axis and feature points of the insulation terminals, ensuring the accuracy of positioning. The vision module locates the target work position based on the key points of the busbar axis and feature points of the insulation terminals, realizing the precise coordinate and posture transformation from visual recognition to the robot arm's execution, ensuring that the robot arm can accurately reach the target work position. The controller controls the stripping tool to strip the busbar at the target work position to automatically and accurately strip the busbar insulation layer, avoiding the inaccuracy and safety risks of manual stripping. The robot arm automatically snaps the J-type clamp into the exposed metal area of ​​the busbar, and the end tool component dynamically adjusts the J-type clamp and the end of the robot arm based on the sensor component to ensure that the busbar is inserted into the slot and maintains dynamic balance. After the dual-arm live-line working platform detects that the drain wire is installed and the J-type clamp is locked, it promptly drives the robot arm to withdraw from the work area to avoid the robot arm staying in the high-voltage work area for a long time and reduce safety risks. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a functional module diagram of a preferred embodiment of the 10kV J-type clamp busbar installation system of this application;

[0025] Figure 2 This is a schematic diagram illustrating the installation of a J-type wire clamp onto a wire clamp installation tool according to this application; wherein, Figure 2 (a) in the diagram is a schematic diagram of the first state during the process of installing the J-type wire clamp into the wire clamp installation tool. Figure 2 (b) is a schematic diagram of the second state during the process of installing the J-type wire clamp into the wire clamp installation tool. Figure 2 (c) in the diagram is a third state diagram in the process of installing the J-type wire clamp into the wire clamp installation tool;

[0026] Figure 3 This is a schematic diagram showing the location of the target operation position located in this application and the location of the identified target object insulator;

[0027] Figure 4 This is a schematic diagram illustrating the insertion of the J-type clamp busbar slot into the exposed metal area of ​​the busbar; wherein, Figure 4 (a) is a schematic diagram of the first state during the process of inserting the J-type clamp into the exposed metal area of ​​the busbar. Figure 4 (b) is a schematic diagram of the second state during the process of inserting the J-type clamp into the exposed metal area of ​​the busbar;

[0028] Figure 5 This is a schematic diagram of the end-effector tool assembly of this application dynamically adjusting the J-type wire clamp and the end of the robotic arm based on the sensing assembly;

[0029] Figure 6 This is a flowchart of a preferred embodiment of the 10kV J-type clamp busbar installation method of this application;

[0030] Figure 7 This is a schematic diagram of the structure of a computer device that implements a preferred embodiment of the 10kV J-type clamp busbar installation method of this application.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1. Dual-arm live-line working platform; 2. End-effector assembly; 3. Vision module; 4. Controller; 700. Computer equipment; 701. System bus; 702. Processor; 703. Non-volatile storage medium; 704. Internal memory; 705. Network interface; 7031. Operating system; 7032. Computer program. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0034] It should be understood that, when used in this specification, the terms “comprising” and “including” indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0035] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” are intended to include the plural forms.

[0036] It should also be further understood that the term "and / or" as used in this application specification means any combination of one or more of the associated listed items, as well as all possible combinations, and includes such combinations.

[0037] This application provides a 10kV J-type clamp busbar installation system, method, equipment, and medium. Please refer to... Figure 1 , Figure 1 This is a functional module diagram of a preferred embodiment of the 10kV J-type clamp busbar installation system of this application.

[0038] The 10kV J-type clamp busbar installation system is applied to the parallel operation of busbars and lead-in lines in 10kV power systems, and is used to realize the automated assembly and locking of J-type clamps with busbars and lead-in lines. The system includes a dual-arm live-line working platform 1, an end-effector assembly 2, a vision module 3, and a controller 4. The end-effector assembly 2 is fixed to the end of the robotic arm of the dual-arm live-line working platform 1. The end-effector assembly 2 includes a clamp installation tool for pre-installing and carrying J-type clamps, a wire stripping tool for stripping the insulation layer of the busbar, a wire gripping tool for gripping the lead-in line, and a sensing component consisting of through-beam sensors set on both sides of the J-type clamp and a stress sensor set at the root of the end-effector assembly 2. The vision module 3 includes a depth camera fixed to the end of the robotic arm of the dual-arm live-line working platform 1. The controller 4 is electrically connected to the dual-arm live-line working platform 1, the vision module 3, and the end-effector assembly 2.

[0039] In this embodiment, the system includes:

[0040] The vision module 3 is used to respond to the live installation command of the target busbar by using the depth camera to collect single-view point cloud data of the work area, and to obtain key points of the busbar axis and feature points of the insulation terminal by fitting the point cloud data.

[0041] In this embodiment, the live-line installation command can be triggered by relevant personnel according to actual work requirements to ensure work safety.

[0042] Please see Figure 2 This is a schematic diagram illustrating the installation of a J-type wire clamp onto a wire clamp installation tool, as per this application. Wherein, Figure 2 (a) in the diagram is a schematic diagram of the first state during the process of installing the J-type wire clamp into the wire clamp installation tool. Figure 2 (b) is a schematic diagram of the second state during the process of installing the J-type wire clamp into the wire clamp installation tool. Figure 2 (c) in the diagram represents the third state during the process of installing the J-type wire clamp onto the wire clamp installation tool. In this embodiment, the J-type wire clamp is pre-installed onto the wire clamp installation tool, preparing for subsequent operations where the robotic arm carries the wire clamp. This avoids additional wire clamp assembly during high-altitude operations, saving time. For example, manual installation can be used.

[0043] In this embodiment, the single-view point cloud data is a set of three-dimensional spatial points acquired by a single-view sensor (such as LiDAR or an RGB-D (Red-Green-Blue-Depth) camera). Each point contains coordinates (X, Y, Z) and possible attributes such as color and intensity. The single-view point cloud data can accurately describe the surface features of an object.

[0044] In this embodiment, the vision module 3 obtains key points of the busbar axis and feature points of the insulating terminals by fitting the point cloud data, including:

[0045] Extract the single-view local projection point cloud of the busbar from the single-view point cloud data;

[0046] The range of busbar radius, the maximum value of busbar radius, the orientation of the central axis, and the vertical deviation are obtained as prior parameters for the 10kV busbar.

[0047] The local projection point cloud of the busbar from a single viewpoint is segmented into multiple continuous line segment patches using a region growing algorithm.

[0048] From the multiple consecutive line segment patches, remove discrete points whose distance from adjacent point clouds is greater than the maximum value of the generatrix radius to obtain the effective point cloud of the generatrix.

[0049] The effective point cloud of the bus line is fitted a preset number of times, and the straight line and the number of corresponding effective interior points obtained after each round of fitting are obtained.

[0050] The line with the most valid interior points is selected as the initial median.

[0051] A regularization algorithm for extracting building structure line features is used to smooth the initial central axis based on the central axis direction and the vertical deviation, thereby obtaining the optimized generatrix central axis.

[0052] Cut a segment of the busbar centerline within the work area and determine the start and end points of the segment;

[0053] The midpoint of the line segment is calculated based on the start and end points of the line segment and is taken as the midpoint of the busbar axis of the target busbar.

[0054] The starting and ending points of the line segment and the midpoint of the busbar axis are determined as the key points of the busbar axis.

[0055] For example, the maximum radius of the busbar can be 12.5 mm.

[0056] The region growing algorithm is an image segmentation method that divides image regions by gradually merging similar pixels starting from a seed point. Specifically, it first selects a seed point as the starting point, then continuously searches for surrounding pixels with similar properties (such as grayscale, color, etc.) to add to the region until no more pixels meet the criteria. This effectively processes local spatial information and overcomes the problem of discontinuous segmentation.

[0057] The multiple consecutive line segment patches can be initially selected based on the spatial continuity of the point cloud and the consistency of the normal vectors.

[0058] The preset number of times can be 1000.

[0059] When applying smoothing constraints, the constraints can include: the central axis orientation is horizontal, and the vertical deviation is ≤5°. By applying smoothing constraints, the orientation offset caused by single-view projection can be corrected, resulting in an optimized central axis for the generatrix.

[0060] The visual module 3 performs a preset number of fitting operations on the effective point cloud of the busbar, including:

[0061] In each round of fitting, a preset number of points are randomly selected from the effective point cloud of the bus line for fitting to obtain an initial straight line model;

[0062] Calculate the distance from all points in the effective point cloud of the busbar to the initial straight line model, and select points in the effective point cloud of the busbar whose distance is within the radius of the busbar as effective interior points.

[0063] The preset quantity can be 3. The busbar radius can range from 6 to 12.5 mm.

[0064] In this way, by filtering out points within the radius of the busbar from the effective point cloud of the busbar, abnormal points caused by projection deviation can be eliminated.

[0065] Through the above embodiments, it is possible to achieve accurate fitting of the bus centerline based on the preprocessed point cloud and prior parameters, providing a core baseline for key point extraction; and to extract key points based on the accurate centerline, providing core feature point coordinates for the subsequent transformation from "camera coordinate system to robot base coordinate system".

[0066] In this embodiment, the visual module 3, based on the point cloud data, further includes fitting key points of the busbar axis and feature points of the insulating terminals to obtain the key points of the busbar axis and feature points of the insulating terminals.

[0067] Extract the cylindrical point cloud of the insulating terminal from the single-view point cloud data;

[0068] The normal direction of the cylindrical point cloud of the single-view portion of the insulating terminal is calculated as the normal direction of the segmentation plane;

[0069] The radius range of the insulating terminal is obtained as a priori parameter for the 10kV insulating terminal.

[0070] The segmentation plane is determined based on the normal of the segmentation plane, and points whose distance from the segmentation plane is greater than the radius of the insulating terminal are removed from the cylindrical point cloud of the single-view portion of the insulating terminal to obtain the effective point cloud of the insulating terminal;

[0071] Based on the segmentation plane normal, the initial length value and initial values ​​of the two endpoints of the effective point cloud of the insulating terminal are calculated by the point cloud boundary detection algorithm, and the length direction of the effective point cloud of the insulating terminal is determined based on the initial values ​​of the two endpoints.

[0072] A predetermined number of parallel cutting planes are generated along the length direction of the effective point cloud of the insulating terminal; wherein the normal of the cutting plane is the same as the length direction;

[0073] Project the points in the neighborhood of each cutting plane onto each cutting plane;

[0074] The least squares method is used to fit the points in each cutting plane, and the fitted arcs with radii exceeding the radius of the insulating terminal are removed to obtain each effective arc;

[0075] Obtain the center coordinates of each valid arc;

[0076] The Random Sample Consensus (RANSAC) algorithm is used to fit the center coordinates of all valid arcs to a spatial straight line to obtain the precise central axis of the insulating terminal.

[0077] The center point of the top surface of the cylinder is determined based on the precise central axis and the normal of the segmented plane.

[0078] Obtain the start and end points of the precise centerline, and calculate the centerline direction vector based on the start and end points of the precise centerline;

[0079] The center point of the top surface of the cylinder and the direction vector of the central axis are determined as the feature points of the insulating terminal.

[0080] The normal vector of the cylindrical point cloud of the single-view portion of the insulating terminal can be obtained by solving the covariance matrix, thereby determining the normal direction of the cylindrical point cloud of the single-view portion of the insulating terminal.

[0081] The radius of the insulating terminal can be in the range of 50-150mm.

[0082] By removing points from the single-view cylindrical point cloud of the insulating terminal that are farther from the segmentation plane than the radius of the insulating terminal, invalid points caused by occlusion or shooting angle limitations can be eliminated, thereby selecting the effective point cloud of the insulating terminal and eliminating interference for subsequent fitting of the cylindrical central axis.

[0083] The initial length value is the maximum distance of the point cloud in the normal direction.

[0084] The preset number can be 5-8, to cover the entire effective point cloud area.

[0085] In this process, by eliminating fitted arcs whose radii exceed the radius range of the insulating terminal, abnormal fitting results that exceed the prior range can be eliminated.

[0086] The above embodiments avoid the deviation of multi-parameter synchronous optimization by step-by-step fitting, and achieve accurate positioning of the cylindrical central axis based on effective point cloud and prior parameters, providing key reference data for subsequent target operation position positioning (such as the calculation of the stripping point 1.5 meters away from the center of the terminal axis).

[0087] The vision module 3 is also used to locate the target operation position based on the key points of the busbar axis and the feature points of the insulating terminal.

[0088] In this embodiment, the vision module 3 locates the target operation position based on the key points of the busbar axis and the feature points of the insulating terminal, including:

[0089] Obtain hand-eye calibration results; wherein, the hand-eye calibration results include rotation matrix and translation vector;

[0090] Obtain the homogeneous coordinate transformation formula constructed based on the rotation matrix and the translation vector;

[0091] Using the homogeneous coordinate transformation formula, the key points of the busbar axis and the feature points of the insulating terminal are converted into target positions in the robot base coordinate system;

[0092] Determine the direction vector of the generatrix axis and the direction vector of the cylinder axis in the base coordinate system based on the target position.

[0093] The direction vector of the busbar axis in the base coordinate system is converted into Euler angles, and the rotation matrix corresponding to the busbar operation is generated based on the conversion relationship between the Euler angles and the rotation matrix.

[0094] Using the direction vector of the cylindrical axis in the base coordinate system as a reference, the rotation axis from the direction vector of the current attitude of the actuator to the direction vector of the cylindrical axis in the base coordinate system is calculated by vector cross product. The angle between the direction vector of the cylindrical axis in the base coordinate system and the direction vector of the current attitude of the actuator is calculated by vector dot product as the rotation angle. The rotation axis and the rotation angle are processed using the Rodriguez formula to obtain the rotation matrix corresponding to the terminal operation.

[0095] The target position, the rotation matrix corresponding to the busbar operation, and the rotation matrix corresponding to the terminal operation are encapsulated into a format recognizable by the robotic arm to obtain the target operation position.

[0096] The hand-eye calibration result can be the result obtained after prior calibration.

[0097] The homogeneous coordinate transformation formula can be expressed as follows:

[0098] ;

[0099] Among them, P b Indicates the target location; R c→b Represents the rotation matrix (which can be a 3×3 matrix used to describe the rotation relationship from the camera coordinate system to the robot base coordinate system); P c Represents coordinates in the camera coordinate system (such as key points on the busbar axis and feature points of insulated terminals); T c→b This represents the translation vector (which can be a 3×1 vector used to describe the translation relationship from the camera origin to the robot's base coordinate system origin).

[0100] For example: If P c =[10,20,30] T R c→b T is the identity matrix. c→b =[5,5,5] TThen P can be calculated using the homogeneous coordinate transformation formula. b =[15,25,35] T .

[0101] The Euler angles may include Roll, Pitch, and Yaw.

[0102] Among them, the format that the robotic arm can recognize can be a PoseStamped message or other formats such as ROS (Stamped Pose, a pose in three-dimensional space with timestamp and coordinate system information).

[0103] After the target work position is sent to the robotic arm, the robotic arm can solve the joint angles through inverse kinematics and drive the end effector to the position.

[0104] For example: Please see Figure 3 This is a schematic diagram showing the position between the target work location located in this application and the identified target insulator. By converting visual recognition into precise coordinates and postures that the robotic arm can execute, it is ensured that the robotic arm can accurately reach the target work location, providing precise positioning assurance for subsequent operations such as wire stripping.

[0105] The controller 4 is used to control the wire stripping tool to strip the busbar at the target work location to obtain the exposed metal area of ​​the busbar.

[0106] This embodiment can accurately strip the busbar insulation layer, exposing the required metal access area, creating conditions for a reliable connection between the J-type clamp and the busbar. The stripping process is highly automated, avoiding the inaccuracies and safety risks of manual stripping.

[0107] The controller 4 is also used to control the clamp installation tool to carry the J-type clamp to the target working position and snap the J-type clamp busbar slot into the exposed metal area of ​​the busbar.

[0108] For example: Please see Figure 4 This is a schematic diagram illustrating the insertion of the J-type clamp busbar slot into the exposed metal area of ​​the busbar, as per this application. Figure 4 (a) is a schematic diagram of the first state during the process of inserting the J-type clamp into the exposed metal area of ​​the busbar. Figure 4 (b) in the diagram is a schematic diagram of the second state during the process of inserting the J-type clamp into the exposed metal area of ​​the busbar. The robotic arm precisely drives the clamp to the designated position and completes the insertion action. Compared with manual operation, it is more efficient and more accurate in positioning, and initially realizes the connection between the J-type clamp and the busbar.

[0109] The end-effector assembly 2 is used to dynamically adjust the J-shaped clamp and the end of the robotic arm based on the sensing assembly.

[0110] In this embodiment, the end effector assembly 2 dynamically adjusts the J-shaped clamp and the robotic arm end effector based on the sensing assembly, including:

[0111] The height difference between the left and right sides of the J-shaped wire clamp is sensed by the through-beam sensor; based on the height difference, the J-shaped wire clamp is leveled by swinging the end of the robotic arm horizontally.

[0112] The movement direction of the target busbar is sensed by the through-beam sensor; according to the movement direction, the end of the robotic arm is moved longitudinally along the target busbar and the J-shaped line is driven to calibrate the working area corresponding to the exposed metal area of ​​the busbar in real time.

[0113] The robotic arm end is driven to move vertically and adjust the tightness of the contact between the J-type clamp and the target busbar; wherein the tightness of the contact between the J-type clamp and the target busbar is sensed by the stress sensor.

[0114] Specifically, the end effector assembly 2 drives the robotic arm end to move vertically and adjusts the tightness of contact between the J-type clamp and the target busbar, including:

[0115] When the force sensed by the stress sensor is less than a preset low threshold, it is determined that the J-type clamp is not pressed tightly against the target busbar, and the end effector of the robotic arm is driven to move upward to increase the pressure; or

[0116] When the force sensed by the stress sensor exceeds a preset high threshold, it is determined that the tightness between the J-type clamp and the target busbar is too high, and the end effector of the robotic arm is driven to move downward to reduce the pressure; or

[0117] When the force sensed by the stress sensor is greater than or equal to the preset low threshold and less than or equal to the preset high threshold, it is determined that the tightness between the J-type clamp and the target busbar is moderate, and the end of the robotic arm is not driven to move.

[0118] The preset low threshold and the preset high threshold can be optimal values ​​configured according to the experiment.

[0119] For example: Please see Figure 5 This is a schematic diagram illustrating the dynamic adjustment of the J-type wire clamp and the robotic arm end effector by the end-effector component based on the sensing component. Wherein:

[0120] Because power transmission lines have a certain degree of flexibility, the different tensions on the left and right sides of the J-type clamp after it is engaged with the busbar may cause the busbar to be non-parallel to the J-type clamp's groove. The dual-arm live-line working platform 1 uses through-beam sensors (with ranging function) located on both sides of the J-type clamp in the end-effector tool assembly 2 to sense the height difference between the left and right sides. The horizontal actuator then drives the J-type clamp to achieve leveling, thereby ensuring full contact between the busbar and the J-type clamp's busbar groove. This solves the problem of non-parallelism between the clamp and the busbar caused by the busbar's flexibility, avoids the risk of the busbar detaching from the groove and poor contact, and prevents damage to electrical facilities caused by potential differences and gaps, such as breakdown air discharge and sparks. This ensures the reliability of the connection between the clamp and the busbar.

[0121] Because crosswinds at high altitudes can cause power lines to sway, leading to longitudinal movement of the busbar along the J-clamp, problems such as incomplete connection of the exposed metal area of ​​the busbar to the J-clamp slot or poor contact can occur. The dual-arm live-line working platform 1 uses through-beam sensors (capable of distinguishing between metal materials and busbar insulation material) located on both sides of the J-clamp in the end-effector assembly 2 to sense the direction of the busbar's movement. By moving the actuator end along the longitudinal direction of the power line, it drives the J-clamp to achieve real-time calibration of the target working area (exposed metal area of ​​the busbar). This system can withstand the impact of crosswinds and other unforeseen circumstances, ensuring that the exposed metal area of ​​the busbar is completely connected to the J-clamp slot, preventing clamp installation failure, and guaranteeing an effective current path between the busbar, J-clamp, and drain line.

[0122] Based on the adjustments in the above two dimensions, the dual-arm live-line working platform 1 senses the tightness of the contact between the J-type clamp and the busbar through the stress sensor at the base of the end tool assembly 2, and drives the end tool assembly 2 to move in the vertical direction to adjust the tightness of the contact between the J-type clamp and the busbar. This can accurately control the contact pressure between the J-type clamp and the busbar, ensuring a tight contact while avoiding excessive squeezing that could damage the busbar or the clamp, further improving the reliability and stability of the clamp installation.

[0123] The dual-arm live-line working platform 1 is used to drive the robotic arm to leave the working area after detecting that the drain line has been installed and the J-type clamp has been locked.

[0124] In this embodiment, after the busbar end is fitted with the J-type clamp into the busbar slot and maintained in dynamic balance, the other robotic arm of the dual-arm live-line working platform 1 is equipped with a special wire-grabbing tool to grab the lead wire and connect it to the lead wire slot of the J-type clamp. Subsequently, the clamp installation tool drives the screw to rotate and lock the clamp. After the clamp locking operation is completed, the dual-arm platform drives the robotic arm to withdraw from the work area, and the entire installation process is completed.

[0125] The above embodiments enable automated connection of the drain line and clamp locking, requiring no manual intervention, ensuring a secure connection, avoiding oversights inherent in manual operation, and improving installation quality and efficiency. Furthermore, timely removal after operation prevents the robotic arm from remaining in the high-voltage work area for extended periods, reducing safety risks and freeing up space for subsequent operations.

[0126] Compared with traditional solutions, this embodiment can quickly identify and locate the target work area, and the process of installing the busbar eliminates manual leveling and wire relocation, making the installation process more efficient. The dual-arm live-line working platform 1, combined with the J-type wire clamp installation tool, is more automated and intelligent, reducing the robot's dependence on humans, improving work efficiency, and making it more convenient to use.

[0127] As can be seen from the above technical solutions, the vision module 3 of this application uses a depth camera to collect single-view point cloud data of the work area and fits it to obtain key points of the busbar axis and feature points of the insulation terminals, ensuring the accuracy of positioning; the vision module 3 locates the target work position based on the key points of the busbar axis and feature points of the insulation terminals, realizing the precise coordinate and posture transformation from visual recognition to the robot arm's execution, ensuring that the robot arm can accurately reach the target work position; the controller 4 controls the stripping tool to strip the busbar at the target work position, so as to automatically and accurately strip the busbar insulation layer, avoiding the inaccuracy and safety risks of manual stripping; the robot arm automatically snaps the J-type clamp into the exposed metal area of ​​the busbar, and the end tool component 2 dynamically adjusts the J-type clamp and the end of the robot arm based on the sensing component to ensure that the busbar is inserted into the slot and maintains dynamic balance; after the dual-arm live-line working platform 1 detects that the drain wire is installed and the J-type clamp is locked, it promptly drives the robot arm to withdraw from the work area to avoid the robot arm staying in the high-voltage work area for a long time and reduce safety risks.

[0128] Please see Figure 6 , Figure 6 This is a flowchart illustrating a preferred embodiment of the 10kV J-type clamp busbar installation method of this application. The 10kV J-type clamp busbar installation method provided in this application can be applied to a 10kV J-type clamp busbar installation system. Of course, in other embodiments, the 10kV J-type clamp busbar installation method can also be applied to other types of control equipment, and this application is not limited thereto.

[0129] Specifically, the 10kV J-type clamp busbar installation method is applied to the 10kV J-type clamp busbar installation system described above, wherein the 10kV The J-type clamp busbar installation system is applied to the parallel operation of busbars and lead-in lines in 10kV power systems, used to achieve automated assembly and locking of J-type clamps with busbars and lead-in lines. The system includes a dual-arm live-line working platform 1, an end-effector tool assembly 2, a vision module 3, and a controller 4. The end-effector tool assembly 2 is fixed to the end of the robotic arm of the dual-arm live-line working platform 1. The end-effector tool assembly 2 includes a clamp installation tool for pre-installing and carrying J-type clamps, a wire stripping tool for stripping the busbar insulation layer, a wire gripping tool for gripping lead-in lines, and a sensing assembly consisting of through-beam sensors located on both sides of the J-type clamp and a stress sensor located at the root of the end-effector tool assembly 2. The vision module 3 includes a depth camera fixed to the end of the robotic arm of the dual-arm live-line working platform 1. The controller 4 is electrically connected to the dual-arm live-line working platform 1, the vision module 3, and the end-effector tool assembly 2. The 10kV J-type clamp busbar installation method specifically includes the following steps S110-S160.

[0130] S110, the vision module 3 responds to the live installation command of the target busbar by using the depth camera to collect single-view point cloud data of the work area, and performs fitting based on the point cloud data to obtain key points of the busbar axis and feature points of the insulation terminal.

[0131] S120, the vision module 3 locates the target operation position based on the key points of the busbar axis and the feature points of the insulating terminal;

[0132] S130, the controller 4 controls the wire stripping tool to strip the wire from the busbar at the target work position to obtain the exposed metal area of ​​the busbar;

[0133] S140, the controller 4 controls the clamp installation tool to move the J-type clamp to the target working position and snaps the J-type clamp busbar slot into the exposed metal area of ​​the busbar;

[0134] S150, the end tool assembly 2 dynamically adjusts the J-shaped clamp and the end of the robotic arm based on the sensing assembly;

[0135] S160, after detecting that the drain line is installed and the J-type clamp is locked, the dual-arm live-line working platform 1 drives the robotic arm to withdraw from the working area.

[0136] As can be seen from the above technical solutions, the vision module 3 of this application uses a depth camera to collect single-view point cloud data of the work area and fits it to obtain key points of the busbar axis and feature points of the insulation terminals, ensuring the accuracy of positioning; the vision module 3 locates the target work position based on the key points of the busbar axis and feature points of the insulation terminals, realizing the precise coordinate and posture transformation from visual recognition to the robot arm's execution, ensuring that the robot arm can accurately reach the target work position; the controller 4 controls the stripping tool to strip the busbar at the target work position, so as to automatically and accurately strip the busbar insulation layer, avoiding the inaccuracy and safety risks of manual stripping; the robot arm automatically snaps the J-type clamp into the exposed metal area of ​​the busbar, and the end tool component 2 dynamically adjusts the J-type clamp and the end of the robot arm based on the sensing component to ensure that the busbar is inserted into the slot and maintains dynamic balance; after the dual-arm live-line working platform 1 detects that the drain wire is installed and the J-type clamp is locked, it promptly drives the robot arm to withdraw from the work area to avoid the robot arm staying in the high-voltage work area for a long time and reduce safety risks.

[0137] The aforementioned 10kV J-type clamp busbar installation system can be implemented as a computer program, which can be used in various ways, such as... Figure 7 It runs on the computer device shown.

[0138] Please see Figure 7 , Figure 7 This is a schematic block diagram of a computer device provided in an embodiment of this application. The computer device 700 may be a device such as a controller 4, specifically a control device in the controller 4, or a terminal or server that has a communication connection with the control device.

[0139] See Figure 7 The computer device 700 includes a processor 702, a memory, and a network interface 705 connected via a system bus 701. The memory may include a non-volatile storage medium 703 and internal memory 704.

[0140] The non-volatile storage medium 703 can store an operating system 7031 and a computer program 7032. The computer program 7032 includes program instructions that, when executed, cause the processor 702 to perform a 10kV J-type clamp busbar installation method.

[0141] The processor 702 provides computing and control capabilities to support the operation of the entire computer device 700.

[0142] The internal memory 704 provides an environment for the operation of the computer program 7032 in the non-volatile storage medium 703. When the computer program 7032 is executed by the processor 702, the processor 702 can execute a 10kV J-type clamp busbar installation method.

[0143] This network interface 705 is used for network communication with other devices. Those skilled in the art will understand that... Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device 700 to which the present application is applied. The specific computer device 700 may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0144] The processor 702 is used to run a computer program 7032 stored in the memory to perform the following steps:

[0145] The vision module 3 responds to the live installation command for the target busbar by using the depth camera to collect single-view point cloud data of the work area, and performs fitting based on the point cloud data to obtain key points of the busbar axis and feature points of the insulation terminals.

[0146] The vision module 3 locates the target operation position based on the key points of the busbar axis and the feature points of the insulating terminal.

[0147] The controller 4 controls the wire stripping tool to strip the wire from the busbar at the target work location, thereby exposing the bare metal area of ​​the busbar.

[0148] The controller 4 controls the clamp installation tool to carry the J-type clamp to the target working position and snaps the J-type clamp into the exposed metal area of ​​the busbar.

[0149] The end-effector assembly 2 dynamically adjusts the J-shaped clamp and the end of the robotic arm based on the sensing assembly;

[0150] After detecting that the drain line is installed and the J-type clamp is locked, the dual-arm live-line working platform 1 drives the robotic arm to withdraw from the working area.

[0151] It should be understood that in the embodiments of this application, the processor 702 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0152] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program includes program instructions and can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0153] Therefore, this application also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When executed by a processor, the program instructions cause the processor to perform the following steps:

[0154] The vision module 3 responds to the live installation command for the target busbar by using the depth camera to collect single-view point cloud data of the work area, and performs fitting based on the point cloud data to obtain key points of the busbar axis and feature points of the insulation terminals.

[0155] The vision module 3 locates the target operation position based on the key points of the busbar axis and the feature points of the insulating terminal.

[0156] The controller 4 controls the wire stripping tool to strip the wire from the busbar at the target work location, thereby exposing the bare metal area of ​​the busbar.

[0157] The controller 4 controls the clamp installation tool to carry the J-type clamp to the target working position and snaps the J-type clamp into the exposed metal area of ​​the busbar.

[0158] The end-effector assembly 2 dynamically adjusts the J-shaped clamp and the end of the robotic arm based on the sensing assembly;

[0159] After detecting that the drain line is installed and the J-type clamp is locked, the dual-arm live-line working platform 1 drives the robotic arm to withdraw from the working area.

[0160] The storage medium can be any computer-readable storage medium capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk.

[0161] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0162] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0163] The steps in the methods of this application embodiment can be adjusted, merged, or deleted according to actual needs. The units in the apparatus of this application embodiment can be merged, divided, or deleted according to actual needs. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0164] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0165] It should be noted that any AI models, software tools, or components not belonging to this company appearing in the embodiments of this application are merely illustrative examples and do not represent actual use. All user personal information involved in the embodiments of this application has been obtained by authorized entities (who have known and consented) or fully authorized by all parties through various legal and compliant means. The collection, storage, use, processing, transmission, provision, and disclosure of the information, data, and signals involved all comply with relevant laws and regulations and do not violate public order and good morals.

[0166] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A 10kV J-type clamp busbar installation system, characterized in that, The 10kV J-type clamp busbar installation system is applied to the parallel operation of busbars and lead-in lines in 10kV power systems, and is used to realize the automated assembly and locking of J-type clamps with busbars and lead-in lines; the system includes a double-arm live-line working platform (1), an end-effector assembly (2), a vision module (3), and a controller (4); the end-effector assembly (2) is fixed at the end of the robotic arm of the double-arm live-line working platform (1), and includes a clamp installation tool for pre-installing and carrying J-type clamps, a stripping tool for stripping the insulation layer of the busbar, a gripping tool for gripping the lead-in line, and a sensing component consisting of through-beam sensors set on both sides of the J-type clamp and a stress sensor set at the root of the end-effector assembly (2); the vision module (3) includes a depth camera fixed at the end of the robotic arm of the double-arm live-line working platform (1); the controller (4) is electrically connected to the double-arm live-line working platform (1), the vision module (3), and the end-effector assembly (2); the system includes: The vision module (3) is used to respond to the live installation command of the target busbar by using the depth camera to collect single-view point cloud data of the work area, and to fit the point cloud data to obtain key points of the busbar axis and feature points of the insulation terminal. The vision module (3) is also used to locate the target operation position based on the key points of the busbar axis and the feature points of the insulating terminal; The controller (4) is used to control the wire stripping tool to strip the busbar at the target work position to obtain the exposed metal area of ​​the busbar; The controller (4) is also used to control the clamp installation tool to carry the J-type clamp to the target working position and to snap the J-type clamp busbar slot into the exposed metal area of ​​the busbar; The end effector assembly (2) is used to dynamically adjust the J-clamp and the end effector of the robotic arm based on the sensing assembly, including: sensing the height difference between the left and right sides of the J-clamp through the through-beam sensor; leveling the J-clamp by swinging the end effector of the robotic arm according to the height difference; sensing the movement direction of the target busbar through the through-beam sensor; moving the end effector of the robotic arm longitudinally along the target busbar and moving the J-clamp according to the movement direction to calibrate the working area corresponding to the exposed metal area of ​​the busbar in real time; driving the end effector of the robotic arm to move in the vertical direction and adjusting the tightness of the contact between the J-clamp and the target busbar; wherein the tightness of the contact between the J-clamp and the target busbar is sensed by the stress sensor. The dual-arm live-line working platform (1) is used to drive the robotic arm to leave the working area after detecting that the drain line has been installed and the J-type clamp has been locked.

2. The 10kV J-type clamp busbar installation system as described in claim 1, characterized in that, The vision module (3) obtains key points of the busbar axis and feature points of the insulating terminals by fitting the point cloud data, including: Extract the single-view local projection point cloud of the busbar from the single-view point cloud data; The range of busbar radius, the maximum value of busbar radius, the orientation of the central axis, and the vertical deviation are obtained as prior parameters for the 10kV busbar. The local projection point cloud of the busbar from a single viewpoint is segmented into multiple continuous line segment patches using a region growing algorithm. From the multiple consecutive line segment patches, remove discrete points whose distance from adjacent point clouds is greater than the maximum value of the generatrix radius to obtain the effective point cloud of the generatrix. The effective point cloud of the bus line is fitted a preset number of times, and the straight line and the number of corresponding effective interior points obtained after each round of fitting are obtained. The line with the most valid interior points is selected as the initial median. A regularization algorithm for extracting building structure line features is used to smooth the initial central axis based on the central axis direction and the vertical deviation, thereby obtaining the optimized generatrix central axis. Cut a segment of the busbar centerline within the work area and determine the start and end points of the segment; The midpoint of the line segment is calculated based on the start and end points of the line segment and is taken as the midpoint of the busbar axis of the target busbar. The starting and ending points of the line segment and the midpoint of the busbar axis are determined as the key points of the busbar axis.

3. The 10kV J-type clamp busbar installation system as described in claim 2, characterized in that, The visual module (3) performs a preset number of fitting operations on the effective point cloud of the busbar, including: In each round of fitting, a preset number of points are randomly selected from the effective point cloud of the bus line for fitting to obtain an initial straight line model; Calculate the distance from all points in the effective point cloud of the busbar to the initial straight line model, and select points in the effective point cloud of the busbar whose distance is within the radius of the busbar as effective interior points.

4. The 10kV J-type clamp busbar installation system as described in claim 1, characterized in that, The visual module (3) further includes fitting the key points of the busbar axis and the feature points of the insulating terminals based on the point cloud data: Extract the cylindrical point cloud of the insulating terminal from the single-view point cloud data; The normal direction of the cylindrical point cloud of the single-view portion of the insulating terminal is calculated as the normal direction of the segmentation plane; The radius range of the insulating terminal is obtained as a priori parameter for the 10kV insulating terminal. The segmentation plane is determined based on the normal of the segmentation plane, and points whose distance from the segmentation plane is greater than the radius of the insulating terminal are removed from the cylindrical point cloud of the single-view portion of the insulating terminal to obtain the effective point cloud of the insulating terminal; Based on the segmentation plane normal, the initial length value and initial values ​​of the two endpoints of the effective point cloud of the insulating terminal are calculated by the point cloud boundary detection algorithm, and the length direction of the effective point cloud of the insulating terminal is determined based on the initial values ​​of the two endpoints. A predetermined number of parallel cutting planes are generated along the length direction of the effective point cloud of the insulating terminal; wherein the normal of the cutting plane is the same as the length direction; Project the points in the neighborhood of each cutting plane onto each cutting plane; The least squares method is used to fit the points in each cutting plane, and the fitted arcs with radii exceeding the radius of the insulating terminal are removed to obtain each effective arc; Obtain the center coordinates of each valid arc; The random sample consensus algorithm is used to fit the center coordinates of all valid arcs to a spatial straight line to obtain the precise central axis of the insulating terminal; The center point of the top surface of the cylinder is determined based on the precise central axis and the normal of the segmented plane. Obtain the start and end points of the precise centerline, and calculate the centerline direction vector based on the start and end points of the precise centerline; The center point of the top surface of the cylinder and the direction vector of the central axis are determined as the feature points of the insulating terminal.

5. The 10kV J-type clamp busbar installation system as described in claim 1, characterized in that, The vision module (3) locates the target operation position based on the key points of the busbar axis and the feature points of the insulating terminal, including: Obtain hand-eye calibration results; wherein, the hand-eye calibration results include rotation matrix and translation vector; Obtain the homogeneous coordinate transformation formula constructed based on the rotation matrix and the translation vector; Using the homogeneous coordinate transformation formula, the key points of the busbar axis and the feature points of the insulating terminal are converted into target positions in the robot base coordinate system; Determine the direction vector of the generatrix axis and the direction vector of the cylinder axis in the base coordinate system based on the target position. The direction vector of the busbar axis in the base coordinate system is converted into Euler angles, and the rotation matrix corresponding to the busbar operation is generated based on the conversion relationship between the Euler angles and the rotation matrix. Using the direction vector of the cylindrical axis in the base coordinate system as a reference, the rotation axis from the direction vector of the current attitude of the actuator to the direction vector of the cylindrical axis in the base coordinate system is calculated by vector cross product. The angle between the direction vector of the cylindrical axis in the base coordinate system and the direction vector of the current attitude of the actuator is calculated by vector dot product as the rotation angle. The rotation axis and the rotation angle are processed using the Rodriguez formula to obtain the rotation matrix corresponding to the terminal operation. The target position, the rotation matrix corresponding to the busbar operation, and the rotation matrix corresponding to the terminal operation are encapsulated into a format recognizable by the robotic arm to obtain the target operation position.

6. The 10kV J-type clamp busbar installation system as described in claim 1, characterized in that, The end-effector assembly (2) drives the end of the robotic arm to move vertically and adjusts the tightness of contact between the J-type clamp and the target busbar, including: When the force sensed by the stress sensor is less than a preset low threshold, it is determined that the J-type clamp is not pressed tightly against the target busbar, and the end of the robotic arm is driven to move upward to increase the pressure; or When the force sensed by the stress sensor exceeds a preset high threshold, it is determined that the tightness between the J-type clamp and the target busbar is too high, and the end effector of the robotic arm is driven to move downward to reduce the pressure; or When the force sensed by the stress sensor is greater than or equal to the preset low threshold and less than or equal to the preset high threshold, it is determined that the tightness between the J-type clamp and the target busbar is moderate, and the end of the robotic arm is not driven to move.

7. A method for installing a 10kV J-type clamp busbar, characterized in that, The 10kV J-type clamp busbar installation method is applied to the 10kV J-type clamp busbar installation system as described in any one of claims 1-6. The J-type clamp busbar installation system is applied to the parallel operation of busbars and lead-in lines in 10kV power systems to achieve automated assembly and locking of J-type clamps with busbars and lead-in lines. The system includes a dual-arm live-line working platform (1), an end-effector assembly (2), a vision module (3), and a controller (4). The end-effector assembly (2) is fixed to the end of the robotic arm of the dual-arm live-line working platform (1). The end-effector assembly (2) includes a clamp installation tool for pre-installing and carrying J-type clamps, a stripping tool for stripping the insulation layer of the busbar, a gripping tool for gripping the lead-in line, and a sensing component consisting of through-beam sensors on both sides of the J-type clamp and a stress sensor at the root of the end-effector assembly (2). The vision module (3) includes a depth camera fixed to the end of the robotic arm of the dual-arm live-line working platform (1). The controller (4) is electrically connected to the dual-arm live-line working platform (1), the vision module (3), and the end-effector assembly (2). J-type clamp busbar installation methods include: The vision module (3) responds to the live installation command of the target busbar by using the depth camera to collect single-view point cloud data of the work area, and performs fitting based on the point cloud data to obtain key points of the busbar axis and feature points of the insulation terminal. The vision module (3) locates the target operation position based on the key points of the busbar axis and the feature points of the insulating terminal. The controller (4) controls the wire stripping tool to strip the busbar at the target work position to obtain the exposed metal area of ​​the busbar; The controller (4) controls the clamp installation tool to carry the J-type clamp to the target working position and snaps the J-type clamp busbar slot into the exposed metal area of ​​the busbar; The end effector assembly (2) dynamically adjusts the J-clamp and the end effector of the robotic arm based on the sensing assembly, including: sensing the height difference between the left and right sides of the J-clamp using the through-beam sensor; leveling the J-clamp by swaying the end effector of the robotic arm according to the height difference; sensing the movement direction of the target busbar using the through-beam sensor; moving the end effector of the robotic arm longitudinally along the target busbar and moving the J-clamp according to the movement direction to calibrate the working area corresponding to the exposed metal area of ​​the busbar in real time; driving the end effector of the robotic arm to move vertically and adjusting the tightness of contact between the J-clamp and the target busbar; wherein the tightness of contact between the J-clamp and the target busbar is sensed by the stress sensor. After detecting that the drain line is installed and the J-type clamp is locked, the dual-arm live-line working platform (1) drives the robotic arm to leave the working area.

8. A computer device, characterized in that, The computer device includes: A memory that stores at least one instruction; and a processor that executes the instruction stored in the memory to implement the 10kV J-type clamp busbar installation method as described in claim 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction, which is executed by a processor in a computer device to implement the 10kVJ-type clamp busbar installation method as described in claim 7.

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