CN-121688669-B - 10KV J-type line clamp bus installation system, method, equipment and medium

CN121688669BCN 121688669 BCN121688669 BCN 121688669BCN-121688669-B

Abstract

The application relates to the technical field of high-altitude power operation robots, and provides a 10kV J-shaped line clamp bus installation system, method, equipment and medium, wherein a vision module of the system acquires single-view point cloud data of an operation area by using a depth camera and fits to obtain bus axis key points and insulated terminal characteristic points, so that positioning accuracy is ensured; the visual module locates the target operation position, realizes the conversion of executable accurate coordinates and gestures from visual identification to the mechanical arm, controls the wire stripping tool to automatically and accurately strip the bus insulating layer, avoids the inaccuracy and the safety risk of manual wire stripping, automatically buckles the J-shaped wire clamp bus slot hole into the bus bare metal area by the mechanical arm, dynamically adjusts the bus slot based on the sensing component, ensures that the bus is put into the slot and keeps dynamic balance, and timely drives the mechanical arm to withdraw from the operation area after the fact that the installation of the drainage wire is detected by the double-arm live working platform and the J-shaped wire clamp is locked, thereby reducing the safety risk.

Inventors

WANG ZHIQIANG
HAN QIANG
ZHANG HANG
LI GANG
GENG JIANYU
YAN XU
JIANG HONGSHAN
DU YINGJIE
ZHANG KAI
HAN DONG

Assignees

国网吉林省电力有限公司长春供电公司

Dates

Publication Date: 20260508
Application Date: 20260211

Claims (9)

1. A10 kV J-type line clamp bus installation system is characterized in that the 10kV J-type line clamp bus installation system is applied to the parallel operation of buses and drainage lines in a 10kV power system and is used for realizing automatic assembly locking of J-type line clamps, the buses and the drainage lines, the system comprises a double-arm live working platform (1), an end tool assembly (2), a vision module (3) and a controller (4), the end tool assembly (2) is fixedly arranged at the tail end of a mechanical arm of the double-arm live working platform (1), the end tool assembly (2) comprises a wire clamp installation tool used for preassembling and carrying a J-type wire clamp, a wire stripping tool used for stripping a bus insulating layer, a wire grabbing tool used for grabbing the drainage lines, and a sensing assembly composed of correlation sensors arranged at two sides of the J-type line clamp and a stress sensor arranged at the root of the end tool assembly (2), the vision module (3) comprises a depth camera fixedly arranged at the tail end of the mechanical arm of the double-arm of the live working platform (1), the controller (4) is electrically connected with the live working platform (1), the end tool assembly (2), and the system comprises the following components: The vision module (3) is used for responding to an electrified installation instruction of a target bus, acquiring single-view point cloud data of an operation area by using the depth camera, and fitting based on the point cloud data to obtain bus axis key points and insulating terminal characteristic points; the vision module (3) is further used for positioning a target operation position based on the bus axis key point and the insulating terminal characteristic point; the controller (4) is used for controlling the wire stripping tool to strip the bus at the target operation position to obtain a bus bare metal area; The controller (4) is also used for controlling the wire clamp installation tool to carry a J-shaped wire clamp to move to the target operation position and buckling a J-shaped wire clamp bus slot into the bus exposed metal area; The tail end tool assembly (2) is used for dynamically adjusting the J-shaped wire clamp and the tail end of the mechanical arm based on the sensing assembly, and comprises the steps of sensing the height difference of the left side and the right side of the J-shaped wire clamp through the correlation sensor, leveling the J-shaped wire clamp through yaw of the tail end of the mechanical arm according to the height difference, sensing the moving direction of the target bus through the correlation sensor, longitudinally moving the tail end of the mechanical arm along the target bus according to the moving direction and driving the J-shaped wire clamp to calibrate an operation area corresponding to the exposed metal area of the bus in real time, driving the tail end of the mechanical arm to move along the vertical direction and driving the J-shaped wire clamp to adjust the contact tightness degree of the J-shaped wire clamp and the target bus, wherein the contact tightness degree of the J-shaped wire clamp and the target bus is sensed through the stress sensor; The double-arm live working platform (1) is used for driving the mechanical arm to withdraw from the working area after the drainage wire is detected to be installed and the J-shaped wire clamp is locked.
2. The 10kV J-type line clamp busbar mounting system of claim 1, wherein the vision module (3) performing fitting based on the point cloud data to obtain a busbar axis key point and an insulated terminal feature point includes: Extracting bus single-view local projection point clouds from the single-view point cloud data; Acquiring the radius range of a bus, the radius maximum value of the bus, the trend of a central axis and the vertical deviation as 10kV bus priori parameters; dividing the bus single-view local projection point cloud into a plurality of continuous line segment patches by adopting a region growing algorithm; removing discrete points with the distance between the discrete points and the adjacent point cloud being greater than the maximum value of the radius of the bus from the plurality of continuous line segment patches to obtain bus effective point clouds; Fitting the bus effective point cloud for preset times, and acquiring straight lines obtained after each round of fitting and the number of corresponding effective inner points; acquiring the straight line with the largest number of the effective inner points as an initial center axis; Adopting a regularization algorithm of building structural line feature extraction, and carrying out smooth constraint on the initial center axis according to the center axis trend and the vertical deviation to obtain an optimized bus center axis; Intercepting a line segment of the central axis of the bus in the operation area, and determining the starting point and the end point of the line segment; Calculating the midpoint of the line segment according to the starting point and the ending point of the line segment to be used as the midpoint of the bus axis of the target bus; and determining the starting point and the ending point of the line segment and the midpoint of the bus axis as key points of the bus axis.
3. The 10kV J-wire clip busbar mounting system of claim 2, wherein the vision module (3) performs a predetermined number of fits to the busbar effective point cloud comprising: In each round of fitting process, randomly selecting a preset number of points from the bus effective point cloud to perform fitting to obtain an initial linear model; and calculating the distances from all points in the bus effective point cloud to the initial linear model, and screening points with the distances within the radius range of the bus from the bus effective point cloud as effective inner points.
4. The 10kV J-type line clamp busbar mounting system of claim 1, wherein the vision module (3) performing fitting based on the point cloud data to obtain a busbar axis key point and an insulated terminal feature point further comprises: Extracting single-view partial cylinder point cloud of the insulated terminal from the single-view point cloud data; calculating the normal direction of the single-view partial cylindrical point cloud of the insulated terminal as the normal direction of the dividing plane; Acquiring the radius range of the insulated terminal as a priori parameter of the 10kV insulated terminal; Determining a dividing plane according to the dividing plane normal direction, and removing points with a distance greater than the radius range of the insulating terminal from the single-view partial cylindrical point cloud of the insulating terminal to obtain an effective point cloud of the insulating terminal; Calculating the length initial value and the two end point initial values of the effective point cloud of the insulated terminal according to the normal direction of the dividing plane by a point cloud boundary detection algorithm, and determining the length direction of the effective point cloud of the insulated terminal according to the two end point initial values; generating a preset number of parallel cutting planes along the length direction of the effective point cloud of the insulated terminal, wherein the normal direction of the cutting planes is the same as the length direction; Correspondingly projecting points in the neighborhood of each cutting plane to each cutting plane; fitting the points in each cutting plane by adopting a least square method, and removing fitting arcs with the radius exceeding the radius range of the insulated terminal to obtain each effective arc; Obtaining the center coordinates of each effective arc; performing space straight line fitting on the center coordinates of all the effective circular arcs by adopting a random sample consistency algorithm to obtain a precise center axis of the insulated terminal; determining a center point of the top surface of the cylinder based on the accurate center shaft and the normal direction of the dividing plane; Acquiring a starting point and an ending point of the accurate center shaft, and calculating a center shaft direction vector according to the starting point and the ending point of the accurate center shaft; And determining the central point of the cylindrical top surface and the axial direction vector as the characteristic point of the insulated terminal.
5. The 10kV J-wire clip busbar mounting system of claim 1, wherein the vision module (3) locating a target work location based on the busbar axis keypoint and the insulated terminal feature point comprises: The method comprises the steps of obtaining a hand-eye calibration result, wherein the hand-eye calibration result comprises a rotation matrix and a translation vector; Acquiring a homogeneous coordinate conversion formula constructed based on the rotation matrix and the translation vector; converting the bus axis key points and the insulated terminal characteristic points into target positions under a robot base coordinate system by using the homogeneous coordinate conversion formula; Determining a bus axis direction vector under a base coordinate system and a cylinder axis direction vector under the base coordinate system according to the target position; Converting the bus axis direction vector under the base coordinate system into an Euler angle, and generating a rotation matrix corresponding to bus operation based on the conversion relation between the Euler angle and the rotation matrix; Calculating an included angle between the direction vector of the current posture of the actuator and the direction vector of the current posture of the actuator by vector dot multiplication as a rotation angle by taking the direction vector of the current posture of the actuator as a reference, and processing the rotation axis and the rotation angle by using a Rodrigas formula to obtain a rotation matrix corresponding to terminal operation; and packaging the target position, the rotation matrix corresponding to the busbar operation and the rotation matrix corresponding to the terminal operation into a mechanical arm identifiable format to obtain the target operation position.
6. The 10kV J-clamp busbar mounting system of claim 1, wherein the end tool assembly (2) driving the mechanical arm end to move in a vertical direction and the J-clamp to adjust the tightness of contact with the target busbar comprises: When the force sensed by the stress sensor is smaller than a preset low threshold value, determining that the J-shaped wire clamp is not pressed with the target bus, and driving the tail end of the mechanical arm to move upwards to increase the pressure, or When the force sensed by the stress sensor is greater than a preset high threshold, determining that the tightness degree of the J-shaped wire clamp and the target bus is too high, and driving the tail end of the mechanical arm to move downwards to reduce the pressure, or When the force sensed by the stress sensor is larger than or equal to the preset low threshold value and smaller than or equal to the preset high threshold value, the tightness degree of the J-shaped wire clamp and the target bus is determined to be moderate, and the tail end of the mechanical arm is not driven to move.
7. A10 kV J-shaped wire clamp bus installation method is characterized in that the 10kV J-shaped wire clamp bus installation method is applied to a 10kV J-shaped wire clamp bus installation system according to any one of claims 1-6, the 10kV J-shaped wire clamp bus installation system is applied to parallel operation of buses and drainage wires in a 10kV power system and is used for realizing automatic assembly locking of the J-shaped wire clamp, the buses and the drainage wires, the system comprises a double-arm live working platform (1), an end tool assembly (2), a vision module (3) and a controller (4), the end tool assembly (2) is fixedly arranged at the tail end of a mechanical arm of the double-arm live working platform (1), the end tool assembly (2) comprises a wire clamp installation tool for preassembling and carrying a J-shaped wire clamp, a wire stripping tool for stripping a bus insulating layer, a wire grabbing tool for grabbing a drainage wire, a sensing assembly composed of an opposite radiation sensor arranged at two sides of the J-shaped wire clamp and a stress sensor arranged at the root of the end tool assembly (2), the vision module (3) comprises a depth of the camera (1), the double-arm live working platform (2), the end tool assembly (3) is fixedly arranged at the tail end of the double-arm live working platform (1), and the electric working platform (10) comprises the double-arm live working platform (2), and the electric working module (10). The vision module (3) responds to an electrified installation instruction of a target bus, acquires single-view point cloud data of an operation area by using the depth camera, and fits based on the point cloud data to obtain bus axis key points and insulating terminal characteristic points; The vision module (3) is used for positioning a target operation position based on the bus axis key point and the insulating terminal characteristic point; The controller (4) controls the wire stripping tool to strip the bus at the target operation position to obtain a bus bare metal area; The controller (4) controls the wire clamp installation tool to carry a J-shaped wire clamp to move to the target operation position, and buckles a busbar slot of the J-shaped wire clamp into the busbar bare metal area; The tail end tool assembly (2) dynamically adjusts the J-shaped wire clamp and the tail end of the mechanical arm based on the sensing assembly, and comprises the steps of sensing the height difference of the left side and the right side of the J-shaped wire clamp through the correlation sensor, leveling the J-shaped wire clamp by swaying the tail end of the mechanical arm according to the height difference, sensing the moving direction of the target bus through the correlation sensor, longitudinally moving the tail end of the mechanical arm along the target bus according to the moving direction and driving the J-shaped wire clamp to calibrate an operation area corresponding to the exposed metal area of the bus in real time, driving the tail end of the mechanical arm to move along the vertical direction and driving the J-shaped wire clamp to adjust the contact tightness degree of the J-shaped wire clamp and the target bus, wherein the contact tightness degree of the J-shaped wire clamp and the target bus is sensed through the stress sensor; And the double-arm live working platform (1) drives the mechanical arm to withdraw from the working area after detecting that the drainage wire is installed and the J-shaped wire clamp is locked.
8. A computer device, the computer device comprising: and a processor executing the instructions stored in the memory to implement the 10kV J-clamp bus bar installation method of claim 7.
9. A computer readable storage medium having stored therein at least one instruction for execution by a processor in a computer device to implement the 10kV J-clamp bus installation method of claim 7.

Description

10KV J-type line clamp bus installation system, method, equipment and medium Technical Field The application relates to the technical field of high-altitude power operation robots, in particular to a 10kV J-type line clamp bus installation system, a method, equipment and a medium. Background In a10 kV power system, live installation of a drainage parallel wire clamp is a high-risk and high-strength work, and the problems of high electric shock risk, high-altitude operation strength and the like exist in the traditional manual operation. At present, although some live working robot technologies exist, most of the live working robot technologies use customized parallel clamps of an adaptive machine, and the use cost is high. Moreover, the full-automatic live installation of the corresponding J-shaped parallel wire clamp is always a market blank, and the full-automatic live installation is very significant if a corresponding terminal tool capable of rapidly installing the J-shaped parallel wire clamp can be developed on the basis of the existing double-arm live working platform capable of meeting voltage level. Disclosure of Invention In view of the foregoing, it is desirable to provide a 10kV J-type wire clamp busbar installation system, method, apparatus and medium, which aim to solve the problem that 10kV J-type wire clamp busbars cannot be installed quickly and accurately based on a dual-arm live working platform. The embodiment of the application provides a 10kV J-type wire clamp bus installation system, which is applied to the wire combining operation of buses and drainage wires in a 10kV power system and is used for realizing automatic assembly locking of J-type wire clamps, the buses and the drainage wires, the system comprises a double-arm live working platform, a tail end tool assembly, a vision module and a controller, the tail end tool assembly is fixedly arranged at the tail end of a mechanical arm of the double-arm live working platform and comprises a wire clamp installation tool for preassembling and carrying a J-type wire clamp, a wire stripping tool for stripping a bus insulating layer, a wire grabbing tool for grabbing the drainage wires, and a sensing assembly composed of correlation sensors arranged on two sides of the J-type wire clamp and a stress sensor arranged at the root of the tail end tool assembly, the vision module comprises a depth camera fixedly arranged at the tail end of the mechanical arm of the double-arm live working platform, and the controller is electrically connected with the double-arm live working platform, the vision module and the tail end tool assembly, and the system comprises: the vision module is used for responding to an electrified installation instruction of a target bus, acquiring single-view point cloud data of an operation area by using the depth camera, and fitting based on the point cloud data to obtain bus axis key points and insulated terminal characteristic points; the vision module is further used for positioning a target operation position based on the bus axis key points and the insulating terminal characteristic points; the controller is used for controlling the wire stripping tool to strip the bus at the target operation position to obtain a bus bare metal area; The controller is also used for controlling the wire clamp installation tool to carry a J-shaped wire clamp to move to the target operation position, and buckling a busbar slot of the J-shaped wire clamp into the busbar exposed metal area; the end tool assembly is used for dynamically adjusting the J-shaped wire clamp and the tail end of the mechanical arm based on the sensing assembly; And the double-arm live working platform is used for driving the mechanical arm to withdraw from the working area after the drainage wire is detected to be installed and the J-shaped wire clamp is locked. The embodiment of the application also provides a 10kV J-shaped wire clamp bus installation method, which is applied to a 10kV J-shaped wire clamp bus installation system, wherein the 10kV J-shaped wire clamp bus installation system is applied to the parallel operation of buses and drainage wires in a 10kV electric power system and is used for realizing automatic assembly locking of the J-shaped wire clamp, the buses and the drainage wires, the system comprises a double-arm live working platform, an end tool assembly, a vision module and a controller, the end tool assembly is fixedly arranged at the tail end of a mechanical arm of the double-arm live working platform, the end tool assembly comprises a wire clamp installation tool for preassembling and carrying a J-shaped wire clamp, a wire stripping tool for stripping a bus insulating layer, a wire grabbing tool for grabbing drainage wires, and a sensing assembly composed of correlation sensors arranged at two sides of the J-shaped wire clamp and stress sensors arranged at the root parts of the end tool assembly, the vision module comprises a depth camer