Power grid infrastructure project risk dynamic analysis and coping method and system

Abstract

The invention relates to the technical field of project risk management, and discloses a power grid infrastructure project risk dynamic analysis and coping method and system. A management area is set, and construction progress management of a whitewashing engineering project is carried out on the management area; the whitewashing engineering project specifically comprises the steps of coating a wall with paint and detecting the flatness of a coated area; the management area is an indoor area where the whitewashing engineering project is not completed, a construction wall adjacent to one bearing column exists in the indoor area, and a gap exists between the construction wall and the bearing column; the construction wall is a wall where a whitewashing engineering project is not completed in the management area; setting monitoring equipment; and the monitoring equipment is an unmanned aerial vehicle with a camera and is used for detecting the coating completion degree of the construction wall and monitoring the coating flatness of the construction wall.

Description

Technical Field

[0001] The present invention relates to the technical field of project risk management, and in particular to a method and system for dynamically analyzing and coping with risks of power grid infrastructure projects. Background Art

[0002] The main risks faced by power grid infrastructure projects include construction safety risks, construction quality risks, construction progress risks, construction environment risks, equipment and material risks, personnel operation risks, construction organization risks and technical risks. These risks will have a significant impact on the smooth progress and final quality of power grid infrastructure projects.

[0003] Especially in the monitoring risks of construction progress and construction quality, it is particularly important, and a simple and practical quality risk monitoring method is urgently needed. Summary of the invention

[0004] The present invention provides a method and system for dynamically analyzing and coping with risks of power grid infrastructure projects, which are used to promote solving the problems mentioned in the above background technology.

[0005] A method for dynamic risk analysis and response of power grid infrastructure projects, comprising:

[0006] Set up management areas and manage the construction progress of the whitewashing projects in the management areas;

[0007] The decoration project specifically includes coating the wall with paint and testing the flatness of the coated area;

[0008] The management area is an indoor area of ​​an unfinished decoration project, and in the indoor area there is a construction wall adjacent to a load-bearing column, and there is a gap between the construction wall and the load-bearing column;

[0009] The construction walls are walls within the management area where the painting project has not been completed;

[0010] Setting up monitoring equipment;

[0011] The monitoring device is a drone carrying a camera, which is used to detect the coating completion of the construction wall and monitor the flatness of the coating of the construction wall;

[0012] Execute the UAV route delineation strategy to generate the monitoring task path when the UAV performs the monitoring task on the construction wall;

[0013] The specific steps of the UAV route delineation strategy are:

[0014] Obtain two construction walls that are opposite to each other in the management area, and mark them as construction wall A and construction wall B respectively;

[0015] Obtaining an adaptive scanning distance of the monitoring device, recorded as a first scanning distance;

[0016] The adaptive scanning distance is the minimum distance between the drone and the construction wall when there are no load-bearing columns around the construction wall blocking the field of view and the drone can scan all areas within the construction wall;

[0017] There are load-bearing columns in front of construction wall A and construction wall B, which block the scanning field of view of the monitoring equipment;

[0018] The construction wall A is marked as a first reference plane, the first reference plane is translated to the construction wall B, the translation distance is a first scanning distance, and the space between the translated surface and the first reference plane is defined as an extended area C;

[0019] The construction wall B is marked as the second reference plane, the second reference plane is translated to the construction wall A, the translation distance is the first scanning distance, and the space between the translated surface and the second reference plane is defined as the extended area D;

[0020] Set the drone's flight altitude;

[0021] The UAV flight altitude is the safe flight altitude of the UAV when performing monitoring tasks;

[0022] Get the length of the skirting of the construction wall A and the length of the skirting of the construction wall B;

[0023] The skirting line is a line segment formed by the intersection of the wall and the ground;

[0024] If there is an intersection between the extended area C and the extended area D, the intersection area is marked as the intersection area E. A line segment is selected in the intersection area E, which is parallel to the construction wall A and the horizontal ground, and the height from the ground is equal to the flight height of the UAV. The length of the line segment is the length of the skirting of the construction wall A. The line segment is used as the monitoring task path of the UAV. The monitoring task path is used to monitor the construction wall A and the construction wall B.

[0025] If there is no intersection area, a line segment is selected in the extended area C as the monitoring task path of the construction wall A. The line segment must meet the following conditions at the same time: the distance between the line segment and the construction wall A is equal to the first scanning distance, the height of the line segment from the ground is equal to the flight height of the drone, and the length of the line segment is equal to the length of the skirting of the construction wall A; in the extended area D, a line segment is selected as the monitoring task path of the construction wall B. The line segment must meet the following conditions at the same time: the distance between the line segment and the construction wall B is equal to the first scanning distance, the height of the line segment from the ground is equal to the flight height of the drone, and the length of the line segment is equal to the length of the skirting of the construction wall B;

[0026] The management area is divided into dark areas and light areas according to the illumination of external light sources;

[0027] Mark the construction wall in the light-free area as the first monitoring area;

[0028] Mark the construction wall in the light area as the second monitoring area;

[0029] For the first monitoring area, executing the first monitoring strategy;

[0030] A second monitoring strategy is executed for the second monitoring area.

[0031] Optionally, dividing the management area into a dark area and a light area according to the illumination condition of the external light source includes:

[0032] The management area is divided into two types, specifically, a dark area and a light area;

[0033] The dark area is an area where the external light source cannot be directly projected into the room;

[0034] The light area is an area where an external light source can be directly projected into the room.

[0035] Optionally, executing a first monitoring strategy for the first monitoring area includes:

[0036] The first monitoring strategy specifically includes the following steps:

[0037] Obtain a construction wall in a dark area, and set a fill light device at a skirting portion corresponding to the construction wall;

[0038] The fill light device is used to supplement the light source for the construction wall in the dark area, and the fill light device moves along the direction of the skirting;

[0039] According to the UAV route delineation strategy, a UAV monitoring task path corresponding to the first monitoring area is generated, which is recorded as the first task path;

[0040] The UAV is used to scan the first monitoring area along the first task path, and the first task path optimization strategy is executed during the scanning process;

[0041] According to the first task path optimization strategy, a first monitoring task execution process is formulated.

[0042] Optionally, the enabling the drone to scan the first monitoring area along the first mission path and executing the first mission path optimization strategy during the scanning process includes:

[0043] The specific steps of the first task path optimization strategy are:

[0044] Obtain two endpoints in the first task path, and mark one of them as the first starting point, and mark the other unmarked endpoint as the first end point;

[0045] Mark the four outer surfaces of the load-bearing columns;

[0046] Obtain the distances between the two outer surfaces parallel to the construction wall and the construction wall in the load-bearing column, marked as the first distance and the second distance, wherein the first distance>the second distance;

[0047] Marking the outer surface corresponding to the first distance as a first plane, and marking the outer surface corresponding to the second distance as a second plane;

[0048] Obtain the distances between the remaining two unmarked outer surfaces and the first starting point, marking them as the third distance and the fourth distance, wherein the third distance>the fourth distance;

[0049] The outer surface corresponding to the third distance is marked as a third plane, and the outer surface corresponding to the fourth distance is marked as a fourth plane.

[0050] Optionally, the step of causing the drone to scan the first monitoring area along the first mission path and executing the first mission path optimization strategy during the scanning process further includes:

[0051] When the drone is acquired at the first starting point, it scans the construction wall, and the scanned area on the construction wall is recorded as the first scanning area;

[0052] In the first scanning area, an area blocked by the load-bearing column is obtained and recorded as the first blocked area;

[0053] Obtain the contour edge of the first occluded area, and record the intersection of the edge closest to the first starting point and the skirting line below the construction wall as the first fill light position;

[0054] Draw a vertical line segment through the first starting point to the construction wall. The vertical line segment intersects the construction wall at a point, which is recorded as point E.

[0055] Draw a perpendicular line through point E, and the intersection of the perpendicular line and the skirting line is recorded as the second fill light position;

[0056] Draw a vertical line segment between the first end point and the construction wall. The vertical line segment intersects the construction wall at a point, which is recorded as point F.

[0057] Draw a perpendicular line through point F, and the intersection of the perpendicular line and the skirting line is recorded as the third fill light position;

[0058] marking the first starting point as a first moving position;

[0059] An extension plane of the fourth plane is made, and the intersection point of the extension plane and the first task path is recorded as the second moving position;

[0060] An extension surface of the third plane is made, and the intersection point of the extension surface and the first task path is recorded as the third moving position;

[0061] The drone starts from the third moving position and moves along the first task path to the first end point. During the movement, a scanning area formed in the construction wall is obtained. When the line segment formed by the edge closest to the first starting point in the scanning area contacts the first fill light position, the drone stops moving and marks the current position of the drone as the fourth moving position.

[0062] Optionally, formulating the first monitoring task execution process according to the first task path optimization strategy includes:

[0063] Set the drone movement speed v a , set the fill light device moving speed v b , where v b =1.5×v a ;

[0064] Set the first moment to indicate the start time of a monitoring task execution cycle;

[0065] At the first moment, the drone moves to the first moving position, and then moves along the first mission path toward the second moving position and performs the monitoring mission, wherein the drone movement speed is v a ;

[0066] At the first moment, the fill light device moves to the first fill light position, and then moves along the baseboard toward the second fill light position, and supplements the light source to the construction wall, wherein the moving speed of the fill light device is v b ;

[0067] When the UAV reaches the second moving position and the fill light device reaches the second fill light position, the UAV moves to the third moving position, and does not perform the monitoring task during the movement, and the fill light device moves to the third fill light position, and does not provide a supplementary light source during the movement;

[0068] When the UAV reaches the third moving position and the fill light device reaches the third fill light position, the UAV moves along the first task path toward the fourth moving position and performs the monitoring task, wherein the moving speed of the UAV is v a , and the fill light device moves from the third fill light position along the skirting toward the first fill light position, and supplements the light source to the construction wall, wherein the moving speed of the fill light device is v b ;

[0069] When the UAV reaches the fourth moving position and the fill light device reaches the first fill light position, a monitoring task execution cycle ends.

[0070] Optionally, executing the second monitoring strategy for the second monitoring area includes:

[0071] The second monitoring strategy specifically includes the following steps:

[0072] Install a light reflection device in the drone to reflect outdoor light sources onto the construction wall;

[0073] The light reflection device carried by the drone is a light reflection prism, which can adjust the reflection angle to obtain the best fill light range to ensure that the flatness and coating completion of the construction wall are accurately monitored;

[0074] According to the UAV route delineation strategy, a UAV monitoring task path corresponding to the second monitoring area is generated, which is recorded as the second task path;

[0075] The UAV is used to scan the second monitoring area along the second mission path, and the second mission path optimization strategy is executed during the scanning process;

[0076] According to the second task path optimization strategy, formulate the second monitoring task execution process.

[0077] Optionally, the step of causing the drone to scan the second monitoring area along the second mission path and executing the second mission path optimization strategy during the scanning process includes:

[0078] The specific steps of the second task path optimization strategy are:

[0079] Obtain two endpoints in the second task path, and mark one of them as the second starting point, and mark the other unmarked endpoint as the second end point;

[0080] Mark the four planes of the load-bearing column;

[0081] Obtain the distances between two planes parallel to the construction wall and the construction wall in the load-bearing column, marked as the fifth distance and the sixth distance, where the fifth distance>the sixth distance;

[0082] The plane corresponding to the fifth distance is marked as the fifth plane, and the plane corresponding to the sixth distance is marked as the sixth plane;

[0083] Obtain the distances between the remaining two unmarked planes and the second starting point, marked as the seventh distance and the eighth distance, where the seventh distance is greater than the eighth distance;

[0084] The plane corresponding to the seventh distance is marked as the seventh plane, and the plane corresponding to the fourth distance is marked as the eighth plane;

[0085] Obtain a scanning area formed by the drone scanning the construction wall at the second starting point, which is recorded as the second scanning area;

[0086] In the second scanning area, an area blocked by the load-bearing column is obtained and recorded as a second blocked area;

[0087] Obtain the contour edge of the second occluded area, and record the intersection of the contour edge closest to the second starting point and the skirting below the construction wall as the first reflection position;

[0088] Draw a vertical line segment from the second starting point to the construction wall. This vertical line segment intersects the construction wall at a point, which is marked as point G.

[0089] Draw a perpendicular line through point G, and the intersection of the perpendicular line and the skirting line is recorded as the second reflection position;

[0090] Draw a vertical line segment between the second end point and the construction wall. The vertical line segment intersects the construction wall at a point, which is recorded as point H.

[0091] Draw a perpendicular line through point H, and the intersection of the perpendicular line and the skirting line is recorded as the third reflection position;

[0092] marking the second starting point as the first target location;

[0093] Draw an extension of the eighth plane, and record the intersection of the extension and the first task path as the second target position;

[0094] Draw an extension surface of the seventh plane, and record the intersection of the extension surface and the first task path as the third target position;

[0095] The drone starts from the third target position and moves along the second mission path to the second end point. The scanning area is acquired during the movement. When the line segment formed by the edge closest to the second starting point in the scanning area contains the first reflection position, the drone stops moving and marks the current position of the drone as the fourth target position.

[0096] Optionally, formulating the second monitoring task execution process according to the second task path optimization strategy includes:

[0097] The second monitoring task execution process specifically includes the following steps:

[0098] Adjust the light reflecting device so that the light spot range projected by the light reflecting device onto the construction wall is a rectangle, and mark the rectangle as the light spot area;

[0099] Get the length of the spot area, recorded as I, and get the width of the spot area, recorded as J;

[0100] Draw a perpendicular line between the first reflection position and the ground, project the perpendicular line onto the construction wall, and record the projected line segment on the construction wall as line segment L;

[0101] The construction wall is divided into two areas by line segment L, the area close to the second starting point is marked as the first area, and the area close to the second end point is marked as the second area;

[0102] For the first area, the first area is divided into a plurality of projection areas from the line segment L toward the second starting point, wherein the projection area range is equal to the light spot area;

[0103] A marking strategy is executed on all projection areas in the first area, and the specific steps of the marking strategy are as follows:

[0104] Obtain a column of projection areas that fit the line segment L, and record them as projection areas to be marked;

[0105] Get the number of projection areas in the projection area to be marked, recorded as n;

[0106] Mark the projection area to be marked with row identifiers and column identifiers. Specifically, the column identifier number of all projection areas in the projection area to be marked is recorded as 1; the projection area with the column identifier number of 1 is marked with a row identifier. The marking method is to obtain the height of each projection area in the projection area to be marked from the ground, and number the projection areas in descending order according to the row identifier number in the direction from high to low, with the starting number being 1 and the ending number being n;

[0107] All the projection areas in a column adjacent to the projection area with column identification number 1 are marked with column identification, with the number recorded as 2, and the projection areas in the column are marked with row identification, with the starting number being n+1 and the ending number being 2n;

[0108] Mark each projection area of ​​the remaining columns with column identification and row identification in turn;

[0109] Execute a marking strategy for all projection areas in the second area;

[0110] Develop strategies for reflecting light sources from drones;

[0111] The UAV reflected light source strategy specifically includes the following steps:

[0112] The light source is reflected from a projection area having a column identifier number 1;

[0113] If the column identifier is an odd number, the reflection is performed in ascending order of the row identifier numbers;

[0114] If the column identifier is an even number, the reflection is performed in descending order of the row identifier numbers;

[0115] Set the second moment;

[0116] Starting from the second moment, the UAV moves to the first target position, and then moves toward the second target position along the second mission path and performs the monitoring mission;

[0117] Starting from the second moment, the light reflection device executes the drone reflection light source strategy in the first area;

[0118] When the UAV reaches the second target position, the UAV moves to the fourth target position, and does not perform the monitoring task during the movement;

[0119] When the UAV reaches the fourth target position, the UAV moves along the second mission path toward the third target position and performs the monitoring mission, and the light reflecting device executes the UAV reflecting light source strategy in the second area.

[0120] Optional, including:

[0121] The area setting unit is used to set the management area and manage the construction progress of the whitewashing project within the management area;

[0122] The painting project monitoring module is used to monitor the construction process of wall coating and detect the flatness of the coated area;

[0123] Construction wall identification system, which identifies construction walls with unfinished painting projects in the management area and construction walls adjacent to load-bearing columns;

[0124] The monitoring equipment deployment unit sets up drones with cameras to detect the coating completion and flatness of the construction walls;

[0125] The UAV path planning system executes the UAV route delineation strategy and generates the monitoring task path for the UAV to perform the monitoring task on the construction wall;

[0126] Adaptive scanning distance determination unit, which obtains the adaptive scanning distance between the drone and the construction wall in the vertical direction to ensure full scanning with unobstructed vision;

[0127] The area division system divides the management area into dark areas and light areas according to the external light source illumination;

[0128] The task path optimization unit optimizes the monitoring task path according to the actual situation of the construction wall and the monitoring capability of the drone;

[0129] The monitoring task scheduling unit formulates and schedules the execution process of drone monitoring tasks to ensure accurate monitoring of construction progress. DETAILED DESCRIPTION

[0130] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0131] A method for dynamic risk analysis and response of power grid infrastructure projects, comprising:

[0132] Set up management areas and manage the construction progress of the whitewashing projects in the management areas;

[0133] The decoration project specifically includes coating the wall with paint and testing the flatness of the coated area;

[0134] The management area is an indoor area of ​​an unfinished decoration project, and in the indoor area there is a construction wall adjacent to a load-bearing column, and there is a gap between the construction wall and the load-bearing column;

[0135] The construction walls are walls within the management area where the painting project has not been completed;

[0136] Setting up monitoring equipment;

[0137] The monitoring device is a drone carrying a camera, which is used to detect the coating completion of the construction wall and monitor the flatness of the coating of the construction wall;

[0138] Execute the UAV route delineation strategy to generate the monitoring task path when the UAV performs the monitoring task on the construction wall;

[0139] The specific steps of the UAV route delineation strategy are:

[0140] Obtain two construction walls that are opposite to each other in the management area, and mark them as construction wall A and construction wall B respectively;

[0141] Obtaining an adaptive scanning distance of the monitoring device, recorded as a first scanning distance;

[0142] The adaptive scanning distance is the minimum distance between the drone and the construction wall when there are no load-bearing columns around the construction wall blocking the field of view and the drone can scan all areas within the construction wall;

[0143] There are load-bearing columns in front of construction wall A and construction wall B, which block the scanning field of view of the monitoring equipment;

[0144] The construction wall A is marked as a first reference plane, the first reference plane is translated to the construction wall B, the translation distance is a first scanning distance, and the space between the translated surface and the first reference plane is defined as an extended area C;

[0145] The construction wall B is marked as the second reference plane, the second reference plane is translated to the construction wall A, the translation distance is the first scanning distance, and the space between the translated surface and the second reference plane is defined as the extended area D;

[0146] Set the drone's flight altitude;

[0147] The UAV flight altitude is the safe flight altitude of the UAV when performing monitoring tasks;

[0148] Get the length of the skirting of the construction wall A and the length of the skirting of the construction wall B;

[0149] The skirting line is a line segment formed by the intersection of the wall and the ground;

[0150] If there is an intersection between the extended area C and the extended area D, the intersection area is marked as the intersection area E. A line segment is selected in the intersection area E, which is parallel to the construction wall A and the horizontal ground, and the height from the ground is equal to the flight height of the UAV. The length of the line segment is the length of the skirting of the construction wall A. The line segment is used as the monitoring task path of the UAV. The monitoring task path is used to monitor the construction wall A and the construction wall B.

[0151] If there is no intersection area, a line segment is selected in the extended area C as the monitoring task path of the construction wall A. The line segment must meet the following conditions at the same time: the distance between the line segment and the construction wall A is equal to the first scanning distance, the height of the line segment from the ground is equal to the flight height of the drone, and the length of the line segment is equal to the length of the skirting of the construction wall A; in the extended area D, a line segment is selected as the monitoring task path of the construction wall B. The line segment must meet the following conditions at the same time: the distance between the line segment and the construction wall B is equal to the first scanning distance, the height of the line segment from the ground is equal to the flight height of the drone, and the length of the line segment is equal to the length of the skirting of the construction wall B;

[0152] The management area is divided into dark areas and light areas according to the illumination of external light sources;

[0153] Mark the construction wall in the light-free area as the first monitoring area;

[0154] Mark the construction wall in the light area as the second monitoring area;

[0155] For the first monitoring area, executing the first monitoring strategy;

[0156] A second monitoring strategy is executed for the second monitoring area.

[0157] 2. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 1 is characterized in that the management area is divided into a dark area and a light area according to the illumination conditions of the external light source, including:

[0158] The management area is divided into two types, specifically, a dark area and a light area;

[0159] The dark area is an area where the external light source cannot be directly projected into the room;

[0160] The light area is an area where an external light source can be directly projected into the room.

[0161] 3. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 1, characterized in that the first monitoring strategy is executed for the first monitoring area, comprising:

[0162] The first monitoring strategy specifically includes the following steps:

[0163] Obtain a construction wall in a dark area, and set a fill light device at a skirting portion corresponding to the construction wall;

[0164] The fill light device is used to supplement the light source for the construction wall in the dark area, and the fill light device moves along the direction of the skirting;

[0165] According to the UAV route delineation strategy, a UAV monitoring task path corresponding to the first monitoring area is generated, which is recorded as the first task path;

[0166] The UAV is used to scan the first monitoring area along the first task path, and the first task path optimization strategy is executed during the scanning process;

[0167] According to the first task path optimization strategy, a first monitoring task execution process is formulated.

[0168] 4. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 3, characterized in that the step of making the drone scan the first monitoring area along the first mission path and executing the first mission path optimization strategy during the scanning process comprises:

[0169] The specific steps of the first task path optimization strategy are:

[0170] Obtain two endpoints in the first task path, and mark one of them as the first starting point, and mark the other unmarked endpoint as the first end point;

[0171] Mark the four outer surfaces of the load-bearing columns;

[0172] Obtain the distances between the two outer surfaces parallel to the construction wall and the construction wall in the load-bearing column, marked as the first distance and the second distance, wherein the first distance>the second distance;

[0173] Marking the outer surface corresponding to the first distance as a first plane, and marking the outer surface corresponding to the second distance as a second plane;

[0174] Obtain the distances between the remaining two unmarked outer surfaces and the first starting point, marking them as the third distance and the fourth distance, wherein the third distance>the fourth distance;

[0175] The outer surface corresponding to the third distance is marked as a third plane, and the outer surface corresponding to the fourth distance is marked as a fourth plane.

[0176] 5. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 3, characterized in that the step of enabling the drone to scan the first monitoring area along the first mission path and executing the first mission path optimization strategy during the scanning process further comprises:

[0177] When the drone is acquired at the first starting point, it scans the construction wall, and the scanned area on the construction wall is recorded as the first scanning area;

[0178] In the first scanning area, an area blocked by the load-bearing column is obtained and recorded as the first blocked area;

[0179] Obtain the contour edge of the first occluded area, and record the intersection of the edge closest to the first starting point and the skirting line below the construction wall as the first fill light position;

[0180] Draw a vertical line segment through the first starting point to the construction wall. The vertical line segment intersects the construction wall at a point, which is recorded as point E.

[0181] Draw a perpendicular line through point E, and the intersection of the perpendicular line and the skirting line is recorded as the second fill light position;

[0182] Draw a vertical line segment between the first end point and the construction wall. The vertical line segment intersects the construction wall at a point, which is recorded as point F.

[0183] Draw a perpendicular line through point F, and the intersection of the perpendicular line and the skirting line is recorded as the third fill light position;

[0184] marking the first starting point as a first moving position;

[0185] An extension plane of the fourth plane is made, and the intersection point of the extension plane and the first task path is recorded as the second moving position;

[0186] An extension surface of the third plane is made, and the intersection point of the extension surface and the first task path is recorded as the third moving position;

[0187] The drone starts from the third moving position and moves along the first task path to the first end point. During the movement, a scanning area formed in the construction wall is obtained. When the line segment formed by the edge closest to the first starting point in the scanning area contacts the first fill light position, the drone stops moving and marks the current position of the drone as the fourth moving position.

[0188] 6. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 3, characterized in that the first monitoring task execution process is formulated according to the first task path optimization strategy, comprising:

[0189] Set the drone movement speed v a , set the fill light device moving speed v b , where v b =1.5×v a ;

[0190] Set the first moment to indicate the start time of a monitoring task execution cycle;

[0191] At the first moment, the drone moves to the first moving position, and then moves along the first mission path toward the second moving position and performs the monitoring mission, wherein the drone movement speed is v a ;

[0192] At the first moment, the fill light device moves to the first fill light position, and then moves along the baseboard toward the second fill light position, and supplements the light source to the construction wall, wherein the moving speed of the fill light device is v b ;

[0193] When the UAV reaches the second moving position and the fill light device reaches the second fill light position, the UAV moves to the third moving position, and does not perform the monitoring task during the movement, and the fill light device moves to the third fill light position, and does not provide a supplementary light source during the movement;

[0194] When the UAV reaches the third moving position and the fill light device reaches the third fill light position, the UAV moves along the first task path toward the fourth moving position and performs the monitoring task, wherein the moving speed of the UAV is v a , and the fill light device moves from the third fill light position along the skirting toward the first fill light position, and supplements the light source to the construction wall, wherein the moving speed of the fill light device is v b ;

[0195] When the UAV reaches the fourth moving position and the fill light device reaches the first fill light position, a monitoring task execution cycle ends.

[0196] 7. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 1, characterized in that, for the second monitoring area, executing the second monitoring strategy comprises:

[0197] The second monitoring strategy specifically includes the following steps:

[0198] Install a light reflection device in the drone to reflect outdoor light sources onto the construction wall;

[0199] The light reflection device carried by the drone is a light reflection prism, which can adjust the reflection angle to obtain the best fill light range to ensure that the flatness and coating completion of the construction wall are accurately monitored;

[0200] According to the UAV route delineation strategy, a UAV monitoring task path corresponding to the second monitoring area is generated, which is recorded as the second task path;

[0201] The UAV is used to scan the second monitoring area along the second mission path, and the second mission path optimization strategy is executed during the scanning process;

[0202] According to the second task path optimization strategy, formulate the second monitoring task execution process.

[0203] 8. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 7, characterized in that the step of making the drone scan the second monitoring area along the second mission path and executing the second mission path optimization strategy during the scanning process comprises:

[0204] The specific steps of the second task path optimization strategy are:

[0205] Obtain two endpoints in the second task path, and mark one of them as the second starting point, and mark the other unmarked endpoint as the second end point;

[0206] Mark the four planes of the load-bearing column;

[0207] Obtain the distances between two planes parallel to the construction wall and the construction wall in the load-bearing column, marked as the fifth distance and the sixth distance, where the fifth distance>the sixth distance;

[0208] The plane corresponding to the fifth distance is marked as the fifth plane, and the plane corresponding to the sixth distance is marked as the sixth plane;

[0209] Obtain the distances between the remaining two unmarked planes and the second starting point, marked as the seventh distance and the eighth distance, where the seventh distance is greater than the eighth distance;

[0210] The plane corresponding to the seventh distance is marked as the seventh plane, and the plane corresponding to the fourth distance is marked as the eighth plane;

[0211] Obtain a scanning area formed by the drone scanning the construction wall at the second starting point, which is recorded as the second scanning area;

[0212] In the second scanning area, an area blocked by the load-bearing column is obtained and recorded as a second blocked area;

[0213] Obtain the contour edge of the second occluded area, and record the intersection of the contour edge closest to the second starting point and the skirting below the construction wall as the first reflection position;

[0214] Draw a vertical line segment from the second starting point to the construction wall. This vertical line segment intersects the construction wall at a point, which is marked as point G.

[0215] Draw a perpendicular line through point G, and the intersection of the perpendicular line and the skirting line is recorded as the second reflection position;

[0216] Draw a vertical line segment between the second end point and the construction wall. The vertical line segment intersects the construction wall at a point, which is recorded as point H.

[0217] Draw a perpendicular line through point H, and the intersection of the perpendicular line and the skirting line is recorded as the third reflection position;

[0218] marking the second starting point as the first target location;

[0219] Draw an extension of the eighth plane, and record the intersection of the extension and the first task path as the second target position;

[0220] Draw an extension surface of the seventh plane, and record the intersection of the extension surface and the first task path as the third target position;

[0221] The drone starts from the third target position and moves along the second mission path to the second end point. The scanning area is acquired during the movement. When the line segment formed by the edge closest to the second starting point in the scanning area contains the first reflection position, the drone stops moving and marks the current position of the drone as the fourth target position.

[0222] 9. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 1, characterized in that the second monitoring task execution process is formulated according to the second task path optimization strategy, comprising:

[0223] The second monitoring task execution process specifically includes the following steps:

[0224] Adjust the light reflecting device so that the light spot range projected by the light reflecting device onto the construction wall is a rectangle, and mark the rectangle as the light spot area;

[0225] Get the length of the spot area, recorded as I, and get the width of the spot area, recorded as J;

[0226] Draw a perpendicular line between the first reflection position and the ground, project the perpendicular line onto the construction wall, and record the projected line segment on the construction wall as line segment L;

[0227] The construction wall is divided into two areas by line segment L, the area close to the second starting point is marked as the first area, and the area close to the second end point is marked as the second area;

[0228] For the first area, the first area is divided into a plurality of projection areas from the line segment L toward the second starting point, wherein the projection area range is equal to the light spot area;

[0229] A marking strategy is executed on all projection areas in the first area, and the specific steps of the marking strategy are as follows:

[0230] Obtain a column of projection areas that fit the line segment L, and record them as projection areas to be marked;

[0231] Get the number of projection areas in the projection area to be marked, denoted as n;

[0232] Mark the projection area to be marked with row identifiers and column identifiers. Specifically, the column identifier number of all projection areas in the projection area to be marked is recorded as 1; the projection area with the column identifier number of 1 is marked with a row identifier. The marking method is to obtain the height of each projection area in the projection area to be marked from the ground, and number the projection areas in descending order according to the row identifier number in the direction from high to low, with the starting number being 1 and the ending number being n;

[0233] All the projection areas in a column adjacent to the projection area with column identification number 1 are marked with column identification, with the number recorded as 2, and the projection areas in the column are marked with row identification, with the starting number being n+1 and the ending number being 2n;

[0234] Mark each projection area of ​​the remaining columns with column identification and row identification in turn;

[0235] Execute a marking strategy for all projection areas in the second area;

[0236] Develop strategies for reflecting light sources from drones;

[0237] The UAV reflected light source strategy specifically includes the following steps:

[0238] The light source is reflected from a projection area having a column identifier number 1;

[0239] If the column identifier number is an odd number, the reflection is performed in ascending order of the row identifier number;

[0240] If the column identifier is an even number, the reflection is performed in descending order of the row identifier numbers;

[0241] Set the second moment;

[0242] Starting from the second moment, the UAV moves to the first target position, and then moves toward the second target position along the second mission path and performs the monitoring mission;

[0243] Starting from the second moment, the light reflection device executes the drone reflection light source strategy in the first area;

[0244] When the UAV reaches the second target position, the UAV moves to the fourth target position, and does not perform the monitoring task during the movement;

[0245] When the UAV reaches the fourth target position, the UAV moves along the second mission path toward the third target position and performs the monitoring mission, and the light reflecting device executes the UAV reflecting light source strategy in the second area.

[0246] 10. A system for executing the method for dynamic risk analysis and response of power grid infrastructure projects according to claim 1, characterized by comprising:

[0247] The area setting unit is used to set the management area and manage the construction progress of the whitewashing project within the management area;

[0248] The painting project monitoring module is used to monitor the construction process of wall coating and detect the flatness of the coated area;

[0249] Construction wall identification system, which identifies construction walls with unfinished painting projects in the management area and construction walls adjacent to load-bearing columns;

[0250] The monitoring equipment deployment unit sets up drones with cameras to detect the coating completion and flatness of the construction walls;

[0251] The UAV path planning system executes the UAV route delineation strategy and generates the monitoring task path for the UAV to perform the monitoring task on the construction wall;

[0252] Adaptive scanning distance determination unit, which obtains the adaptive scanning distance between the drone and the construction wall in the vertical direction to ensure full scanning with unobstructed vision;

[0253] The area division system divides the management area into dark areas and light areas according to the external light source illumination;

[0254] The task path optimization unit optimizes the monitoring task path according to the actual situation of the construction wall and the monitoring capability of the drone;

[0255] The monitoring task scheduling unit formulates and schedules the execution process of drone monitoring tasks to ensure accurate monitoring of construction progress.

[0256] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0257] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for dynamic risk analysis and response of power grid infrastructure projects, characterized in that: include: Set up management areas and manage the construction progress of the whitewashing projects in the management areas; The decoration project specifically includes coating the wall with paint and testing the flatness of the coated area; The management area is an indoor area of ​​an unfinished decoration project, and in the indoor area there is a construction wall adjacent to a load-bearing column, and there is a gap between the construction wall and the load-bearing column; The construction walls are walls within the management area where the painting project has not been completed; Setting up monitoring equipment; The monitoring device is a drone carrying a camera, which is used to detect the coating completion of the construction wall and monitor the flatness of the coating of the construction wall; Execute the UAV route delineation strategy to generate the monitoring task path when the UAV performs the monitoring task on the construction wall; The specific steps of the UAV route delineation strategy are: Obtain two construction walls that are opposite to each other in the management area, and mark them as construction wall A and construction wall B respectively; Obtaining an adaptive scanning distance of the monitoring device, recorded as a first scanning distance; The adaptive scanning distance is the minimum distance between the drone and the construction wall when there are no load-bearing columns around the construction wall blocking the field of view and the drone can scan all areas within the construction wall; There are load-bearing columns in front of construction wall A and construction wall B, which block the scanning field of view of the monitoring equipment; The construction wall A is marked as a first reference plane, the first reference plane is translated to the construction wall B, the translation distance is a first scanning distance, and the space between the translated surface and the first reference plane is defined as an extended area C; The construction wall B is marked as the second reference plane, the second reference plane is translated to the construction wall A, the translation distance is the first scanning distance, and the space between the translated surface and the second reference plane is defined as the extended area D; Set the drone's flight altitude; The UAV flight altitude is the safe flight altitude of the UAV when performing monitoring tasks; Get the length of the skirting of the construction wall A and the length of the skirting of the construction wall B; The skirting line is a line segment formed by the intersection of the wall and the ground; If there is an intersection between the extended area C and the extended area D, the intersection area is marked as the intersection area E. A line segment is selected in the intersection area E, which is parallel to the construction wall A and the horizontal ground, and the height from the ground is equal to the flight height of the UAV. The length of the line segment is the length of the skirting of the construction wall A. The line segment is used as the monitoring task path of the UAV. The monitoring task path is used to monitor the construction wall A and the construction wall B. If there is no intersection area, a line segment is selected in the extended area C as the monitoring task path of the construction wall A. The line segment must meet the following conditions at the same time: the distance between the line segment and the construction wall A is equal to the first scanning distance, the height of the line segment from the ground is equal to the flight height of the drone, and the length of the line segment is equal to the length of the skirting of the construction wall A; in the extended area D, a line segment is selected as the monitoring task path of the construction wall B. The line segment must meet the following conditions at the same time: the distance between the line segment and the construction wall B is equal to the first scanning distance, the height of the line segment from the ground is equal to the flight height of the drone, and the length of the line segment is equal to the length of the skirting of the construction wall B; The management area is divided into dark areas and light areas according to the illumination of external light sources; Mark the construction wall in the light-free area as the first monitoring area; Mark the construction wall in the light area as the second monitoring area; For the first monitoring area, executing the first monitoring strategy; A second monitoring strategy is executed for the second monitoring area.

2. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 1 is characterized in that: The management area is divided into a dark area and a light area according to the illumination of the external light source, including: The management area is divided into two types, specifically, a dark area and a light area; The dark area is an area where the external light source cannot be directly projected into the room; The light area is an area where an external light source can be directly projected into the room.

3. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 1 is characterized in that: The executing the first monitoring strategy for the first monitoring area includes: The first monitoring strategy specifically includes the following steps: Obtain a construction wall in a dark area, and set a fill light device at a skirting portion corresponding to the construction wall; The fill light device is used to supplement the light source for the construction wall in the dark area, and the fill light device moves along the direction of the skirting; According to the UAV route delineation strategy, a UAV monitoring task path corresponding to the first monitoring area is generated, which is recorded as the first task path; The UAV is used to scan the first monitoring area along the first task path, and the first task path optimization strategy is executed during the scanning process; According to the first task path optimization strategy, a first monitoring task execution process is formulated.

4. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 3 is characterized in that: The step of causing the drone to scan the first monitoring area along the first mission path and executing the first mission path optimization strategy during the scanning process includes: The specific steps of the first task path optimization strategy are: Obtain two endpoints in the first task path, and mark one of them as the first starting point, and mark the other unmarked endpoint as the first end point; Mark the four outer surfaces of the load-bearing columns; Obtain the distances between the two outer surfaces parallel to the construction wall and the construction wall in the load-bearing column, marked as the first distance and the second distance, wherein the first distance>the second distance; Marking the outer surface corresponding to the first distance as a first plane, and marking the outer surface corresponding to the second distance as a second plane; Obtain the distances between the remaining two unmarked outer surfaces and the first starting point, marking them as the third distance and the fourth distance, wherein the third distance>the fourth distance; The outer surface corresponding to the third distance is marked as a third plane, and the outer surface corresponding to the fourth distance is marked as a fourth plane.

5. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 3 is characterized in that: The step of causing the drone to scan the first monitoring area along the first mission path and executing the first mission path optimization strategy during the scanning process further includes: When the drone is acquired at the first starting point, it scans the construction wall, and the scanned area on the construction wall is recorded as the first scanning area; In the first scanning area, an area blocked by the load-bearing column is obtained and recorded as the first blocked area; Obtain the contour edge of the first occluded area, and record the intersection of the edge closest to the first starting point and the skirting line below the construction wall as the first fill light position; Draw a vertical line segment through the first starting point to the construction wall. The vertical line segment intersects the construction wall at a point, which is recorded as point E. Draw a perpendicular line through point E, and the intersection of the perpendicular line and the skirting line is recorded as the second fill light position; Draw a vertical line segment between the first end point and the construction wall. The vertical line segment intersects the construction wall at a point, which is recorded as point F. Draw a perpendicular line through point F, and the intersection of the perpendicular line and the skirting line is recorded as the third fill light position; marking the first starting point as a first moving position; An extension plane of the fourth plane is made, and the intersection point of the extension plane and the first task path is recorded as the second moving position; An extension surface of the third plane is made, and the intersection point of the extension surface and the first task path is recorded as the third moving position; The drone starts from the third moving position and moves along the first task path to the first end point. During the movement, a scanning area formed in the construction wall is obtained. When the line segment formed by the edge closest to the first starting point in the scanning area contacts the first fill light position, the drone stops moving and marks the current position of the drone as the fourth moving position.

6. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 3 is characterized in that: The step of formulating the first monitoring task execution process according to the first task path optimization strategy includes: Set the drone movement speed v a , set the fill light device moving speed v b , where v b =1.5×v a ; Set the first moment to indicate the start time of a monitoring task execution cycle; At the first moment, the drone moves to the first moving position, and then moves along the first mission path toward the second moving position and performs the monitoring mission, wherein the drone movement speed is v a ; At the first moment, the fill light device moves to the first fill light position, and then moves along the baseboard toward the second fill light position, and supplements the light source to the construction wall, wherein the moving speed of the fill light device is v b ; When the UAV reaches the second moving position and the fill light device reaches the second fill light position, the UAV moves to the third moving position, and does not perform the monitoring task during the movement, and the fill light device moves to the third fill light position, and does not provide a supplementary light source during the movement; When the UAV reaches the third moving position and the fill light device reaches the third fill light position, the UAV moves along the first task path toward the fourth moving position and performs the monitoring task, wherein the moving speed of the UAV is v a , and the fill light device moves from the third fill light position along the skirting toward the first fill light position, and supplements the light source to the construction wall, wherein the moving speed of the fill light device is v b ; When the UAV reaches the fourth moving position and the fill light device reaches the first fill light position, a monitoring task execution cycle ends.

7. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 1 is characterized in that: The second monitoring strategy is executed for the second monitoring area, including: The second monitoring strategy specifically includes the following steps: Install a light reflection device in the drone to reflect outdoor light sources onto the construction wall; The light reflection device carried by the drone is a light reflection prism, which can adjust the reflection angle to obtain the best fill light range to ensure that the flatness and coating completion of the construction wall are accurately monitored; According to the UAV route delineation strategy, a UAV monitoring task path corresponding to the second monitoring area is generated, which is recorded as the second task path; The UAV is used to scan the second monitoring area along the second mission path, and the second mission path optimization strategy is executed during the scanning process; According to the second task path optimization strategy, formulate the second monitoring task execution process.

8. The method for dynamic analysis and response to power grid infrastructure project risks according to claim 7 is characterized in that: The method of causing the drone to scan the second monitoring area along the second mission path and executing the second mission path optimization strategy during the scanning process includes: The specific steps of the second task path optimization strategy are: Obtain two endpoints in the second task path, and mark one of them as the second starting point, and mark the other unmarked endpoint as the second end point; Mark the four planes of the load-bearing column; Obtain the distances between two planes parallel to the construction wall and the construction wall in the load-bearing column, marked as the fifth distance and the sixth distance, where the fifth distance>the sixth distance; The plane corresponding to the fifth distance is marked as the fifth plane, and the plane corresponding to the sixth distance is marked as the sixth plane; Obtain the distances between the remaining two unmarked planes and the second starting point, marked as the seventh distance and the eighth distance, where the seventh distance is greater than the eighth distance; The plane corresponding to the seventh distance is marked as the seventh plane, and the plane corresponding to the fourth distance is marked as the eighth plane; Obtain a scanning area formed by the drone scanning the construction wall at the second starting point, which is recorded as the second scanning area; In the second scanning area, an area blocked by the load-bearing column is obtained and recorded as a second blocked area; Obtain the contour edge of the second occluded area, and record the intersection of the contour edge closest to the second starting point and the skirting below the construction wall as the first reflection position; Draw a vertical line segment from the second starting point to the construction wall. This vertical line segment intersects the construction wall at a point, which is marked as point G. Draw a perpendicular line through point G, and the intersection of the perpendicular line and the skirting line is recorded as the second reflection position; Draw a vertical line segment between the second end point and the construction wall. The vertical line segment intersects the construction wall at a point, which is recorded as point H. Draw a perpendicular line through point H, and the intersection of the perpendicular line and the skirting line is recorded as the third reflection position; marking the second starting point as the first target location; Draw an extension of the eighth plane, and record the intersection of the extension and the first task path as the second target position; Draw an extension surface of the seventh plane, and record the intersection of the extension surface and the first task path as the third target position; The drone starts from the third target position and moves along the second mission path to the second end point. The scanning area is acquired during the movement. When the line segment formed by the edge closest to the second starting point in the scanning area contains the first reflection position, the drone stops moving and marks the current position of the drone as the fourth target position.

9. The method for dynamic risk analysis and response of power grid infrastructure projects according to claim 1, characterized in that: The second monitoring task execution process is formulated according to the second task path optimization strategy, including: The second monitoring task execution process specifically includes the following steps: Adjust the light reflecting device so that the light spot range projected by the light reflecting device onto the construction wall is a rectangle, and mark the rectangle as the light spot area; Get the length of the spot area, recorded as I, and get the width of the spot area, recorded as J; Draw a perpendicular line between the first reflection position and the ground, project the perpendicular line onto the construction wall, and record the projected line segment on the construction wall as line segment L; The construction wall is divided into two areas by line segment L, the area close to the second starting point is marked as the first area, and the area close to the second end point is marked as the second area; For the first area, the first area is divided into a plurality of projection areas from the line segment L toward the second starting point, wherein the projection area range is equal to the light spot area; A marking strategy is executed on all projection areas in the first area, and the specific steps of the marking strategy are as follows: Obtain a column of projection areas that fit the line segment L, and record them as projection areas to be marked; Get the number of projection areas in the projection area to be marked, recorded as n; Mark the projection area to be marked with row identifiers and column identifiers. Specifically, the column identifier number of all projection areas in the projection area to be marked is recorded as 1; the projection area with the column identifier number of 1 is marked with a row identifier. The marking method is to obtain the height of each projection area in the projection area to be marked from the ground, and number the projection areas in descending order according to the row identifier number in the direction from high to low, with the starting number being 1 and the ending number being n; All the projection areas in a column adjacent to the projection area with column identification number 1 are marked with column identification, with the number recorded as 2, and the projection areas in the column are marked with row identification, with the starting number being n+1 and the ending number being 2n; Mark each projection area of ​​the remaining columns with column identification and row identification in turn; Execute a marking strategy for all projection areas in the second area; Develop strategies for reflecting light sources from drones; The UAV reflected light source strategy specifically includes the following steps: The light source is reflected from a projection area having a column identifier number 1; If the column identifier is an odd number, the reflection is performed in ascending order of the row identifier numbers; If the column identifier is an even number, the reflection is performed in descending order of the row identifier numbers; Set the second moment; Starting from the second moment, the UAV moves to the first target position, and then moves toward the second target position along the second mission path and performs the monitoring mission; Starting from the second moment, the light reflection device executes the drone reflection light source strategy in the first area; When the UAV reaches the second target position, the UAV moves to the fourth target position, and does not perform the monitoring task during the movement; When the UAV reaches the fourth target position, the UAV moves along the second mission path toward the third target position and performs the monitoring mission, and the light reflecting device executes the UAV reflecting light source strategy in the second area.

10. A system for executing the method for dynamic risk analysis and response of power grid infrastructure projects according to claim 1, characterized in that: include: The area setting unit is used to set the management area and manage the construction progress of the whitewashing project within the management area; The painting project monitoring module is used to monitor the construction process of wall coating and detect the flatness of the coated area; Construction wall identification system, which identifies construction walls with unfinished painting projects in the management area and construction walls adjacent to load-bearing columns; The monitoring equipment deployment unit sets up drones with cameras to detect the coating completion and flatness of the construction walls; The UAV path planning system executes the UAV route delineation strategy and generates the monitoring task path for the UAV to perform the monitoring task on the construction wall; Adaptive scanning distance determination unit, which obtains the adaptive scanning distance between the drone and the construction wall in the vertical direction to ensure full scanning with unobstructed vision; The area division system divides the management area into dark areas and light areas according to the external light source illumination; The task path optimization unit optimizes the monitoring task path according to the actual situation of the construction wall and the monitoring capability of the drone; The monitoring task scheduling unit formulates and schedules the execution process of drone monitoring tasks to ensure accurate monitoring of construction progress.