Transformer substation construction process safety management and control system and method, medium and program product

Abstract

The invention provides a substation construction process safety management and control system and method, a medium and a program product, and relates to the technical field of substation safety management and control. Determining position information of the to-be-constructed power transformation equipment in the three-dimensional space model of the transformer substation through a crane travel path planning system; determining a ground power failure equipment area according to the position information, and determining the placing position of the crane in combination with the ground power failure equipment area; according to the road information in the three-dimensional space model, determining at least one corresponding passing path when the crane travels from the entrance position of the transformer substation to the placement position; determining a driving path of which the path turning radius is greater than the turning radius parameter of the crane in the at least one passing path as a target driving path; sending a first control instruction to the unmanned aerial vehicle group; correspondingly, the unmanned aerial vehicle unit emits a visible light band to the ground according to the target driving path and the placement position, the crane is guided to work according to the target driving path and the placement position, and the accuracy and efficiency of planning the driving path and the placement position of the crane are improved.

Description

Technical Field

[0001] This application relates to the field of substation safety management technology, and in particular to a substation construction process safety management system, method, medium and program product. Background Technology

[0002] As a core component of the power system, substations are responsible for transmitting and converting power. Substations contain a large number of electrical equipment, including, but not limited to, tubular busbars, circuit breakers, disconnect switches, grounding switches, current transformers, voltage transformers, surge arresters, lightning rods, capacitors, reactors, protective cabinets, and primary and secondary cables. Routine maintenance of substations often involves large-scale construction operations such as equipment modification, equipment bay expansion, and emergency repair and replacement. During these large-scale operations, due to the complex working environment, cranes must avoid various obstacles during travel and construction to ensure operational safety. Therefore, efficient and reasonable crane route planning is crucial.

[0003] In related technologies, controlling the crane's travel path and placement position through pre-designed manual methods or on-site command is inefficient and imprecise. Summary of the Invention

[0004] This application provides a safety management system, method, medium, and program product for substation construction process, which improves the accuracy and efficiency of crane travel path and placement planning during substation construction, and better meets the needs of large-scale substation construction operations.

[0005] Firstly, this application provides a safety management and control system for substation construction, comprising: a crane travel planning system and an unmanned aerial vehicle (UAV) unit communicating with the crane travel planning system; wherein,

[0006] The crane travel planning system is used to determine the location information of the substation equipment to be constructed in the corresponding ground-based three-dimensional spatial model; based on the location information, determine the ground-based power outage equipment area; based on the location information and the ground-based power outage equipment area, determine the crane placement position; based on the road information in the three-dimensional spatial model, determine at least one travel path for the crane to travel from the substation entrance to the placement position; identify the travel path with a turning radius greater than the crane's turning radius parameter as the target travel path; and send a first control command carrying the target travel path and placement position to the UAV group.

[0007] The drone group is used to respond to the first control command and emit visible light bands to the ground according to the target travel path and placement position. The visible light bands are used to guide the crane to operate according to the target travel path and placement position.

[0008] In one possible implementation, the crane travel planning system is specifically used for:

[0009] A spatial circle is constructed with the target location indicated by the location information as the center and the length of the crane boom as the radius.

[0010] The parking range of the crane is determined based on multiple intersections between the spatial circle and the ground road of the substation;

[0011] Based on the docking range and the size parameters of the crane, at least one alternative docking area shall be determined;

[0012] Among at least one alternative docking area, the alternative docking area that falls into the ground power outage area is determined as the target docking area;

[0013] The midpoint of the target parking area is determined as the placement position for the crane.

[0014] In one possible implementation, the substation construction process safety control system further includes: a safety distance control system;

[0015] The safety distance control system is used to acquire location information and mark multiple transformers adjacent to the transformer to be constructed in a three-dimensional space model on the ground; based on the set safety distance, it identifies the target transformer that does not meet the safety distance requirement of the transformer to be constructed from the multiple transformers; and sends a second control command to the UAV group for the target transformer and the crane basket. The second control command is used to control the UAV group to emit visible light bands towards the target transformer and the crane basket.

[0016] The drone group is also used to respond to the second control command, determine the relative distance between the target power equipment and the crane basket based on the principle of light ranging, and send the relative distance to the safety distance management system;

[0017] The safety distance control system is also used to obtain relative distance; when the relative distance is less than or equal to a first set distance threshold, it outputs a first alarm message to indicate the potential risk of electric shock.

[0018] In one possible implementation, the substation construction process safety management system further includes: an underground pipeline network early warning system, used for:

[0019] Based on the underground three-dimensional spatial model of the substation and the underground route to be excavated, the excavation warning objects are identified. The excavation warning objects include the target pipeline network and / or the target cable.

[0020] When the difference between the current excavation depth and the actual burial depth of the excavation warning object is less than or equal to the second set distance threshold, a second alarm message is output to indicate that the excavation warning object may be damaged.

[0021] In one possible implementation, when the underground pipeline network early warning system determines the current excavation depth, it is specifically used to send a third control command to the drone group. The third control command is used to control the drone group to emit a visible light band towards the current excavation area.

[0022] The drone group is also used to respond to third control commands, determine the current excavation depth based on the principle of light ranging, and send the current excavation depth to the underground pipeline network early warning system;

[0023] The underground pipeline network early warning system is also used to obtain the current excavation depth; when the difference between the current excavation depth and the actual burial depth is less than or equal to a second set distance threshold, a second alarm message is output.

[0024] In one possible implementation, the substation construction process safety control system further includes: a safety fence system;

[0025] A safety fence system is used to identify areas where ground-based power outage equipment is located; it controls the operation of fence pole devices corresponding to these areas, which generate visible light fences.

[0026] In one possible implementation, the security fence system is also used for:

[0027] Monitor the intensity of visible light signals on the visible light fence;

[0028] When the change in light signal intensity is greater than or equal to the threshold of light signal change, a third alarm message is output to indicate that there is behavior of crossing the visible light fence.

[0029] In one possible implementation, the substation construction process safety management system further includes: a substation modeling system, which is communicatively connected to a crane path planning system, a safety distance control system, an underground pipeline network early warning system, and a safety fence system.

[0030] The substation modeling system is used to acquire inspection and scanning data of substation equipment, substation structural layout information, and pipeline embedded part layout information; based on the inspection and scanning data and substation structural layout information, it determines the above-ground three-dimensional spatial model of the substation; and based on the pipeline embedded part layout information, it determines the underground three-dimensional spatial model of the substation; and based on the communication connection, it synchronizes the above-ground three-dimensional spatial model and / or the underground three-dimensional spatial model to the corresponding system.

[0031] Secondly, this application provides a method for safety management and control during substation construction, applicable to the substation construction process safety management and control system of any one of the first aspects. The method for safety management and control during substation construction includes:

[0032] The crane travel planning system determines the location information of the substation equipment to be constructed in the corresponding three-dimensional space model on the ground; based on the location information, it determines the ground power outage equipment area; based on the location information and the ground power outage equipment area, it determines the placement position of the crane; based on the road information in the three-dimensional space model, it determines at least one travel path corresponding to the crane traveling from the substation entrance to the placement position; it identifies the travel path with a turning radius greater than the crane's turning radius parameter as the target travel path; and it sends a first control command carrying the target travel path and placement position to the UAV group.

[0033] In response to the first control command, the drone group transmits visible light bands to the ground according to the target travel path and placement position. The visible light bands are used to guide the crane to operate according to the target travel path and placement position.

[0034] Thirdly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the second aspect and / or various possible embodiments of the second aspect as described above.

[0035] Fourthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the second aspect and / or various possible implementations of the second aspect as described above.

[0036] The substation construction process safety management system, method, medium, and program products provided in this application include a crane travel planning system and an unmanned aerial vehicle (UAV) unit communicating with the crane travel planning system. The crane travel planning system determines the location information of the substation equipment to be constructed in the corresponding three-dimensional spatial model of the substation; based on the location information, it determines the area for ground-based power outage equipment; based on the location information and the ground-based power outage equipment area, it determines the crane placement position, effectively preventing accidental contact with live equipment during operation and improving construction safety; based on road information in the three-dimensional spatial model, it determines at least one travel path for the crane to travel from the substation entrance to the placement position; it identifies the travel path with a turning radius greater than the crane's turning radius parameter as the target travel path, further ensuring the crane's safety during travel and avoiding collisions due to insufficient turning radius; and it sends a first control command carrying the target travel path and placement position to the UAV unit. Correspondingly, the UAV group responds to the first control command and transmits visible light bands to the ground according to the target travel path and placement position, guiding the crane to operate according to the target travel path and placement position. The UAV group provides the crane with intuitive and clear work path guidance, reducing the time wasted on finding the path or placement position, thereby improving work efficiency. This application realizes the intelligentization and automation of the entire process of crane travel planning, placement position planning, and path guidance, reducing manual intervention and improving the accuracy, efficiency, and reliability of construction operations. Through the collaborative work of the UAV group and the crane travel planning system, the level of intelligence in substation construction operations is further enhanced. Furthermore, through three-dimensional spatial models and real-time travel path planning, it better adapts to the needs of complex environments such as substations, achieving precise guidance of the crane during construction operations and ensuring safe and efficient operation of the crane in complex environments. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0038] Figure 1 A schematic diagram of the structure of the substation construction process safety management and control system provided in this application embodiment. Figure 1 ;

[0039] Figure 2 A schematic diagram of the structure of the substation construction process safety management and control system provided in this application embodiment. Figure 2 ;

[0040] Figure 3 This is a flowchart illustrating the safety management method for substation construction provided in this application embodiment.

[0041] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0042] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0043] In related technologies, large-scale substation construction operations typically involve the use of cranes for lifting operations. The specific route for the crane from the substation gate to the work site and its placement at the work site are determined by either on-site manual command or pre-defined routes. If pre-defined routes are used, it may take several days for on-site surveys, route mapping, and confirmation. During construction, if the originally planned route becomes impassable due to temporary changes in crane dimensions, turning radius, or the location of the substation equipment to be worked on, the route must be replanned and reconfirmed, significantly extending the construction period and reducing efficiency. On-site command requires real-time communication with the crane operator to ensure the crane travels and is placed according to the designated route. Commanders must also constantly monitor the crane's movements and adjust command strategies accordingly. However, in complex and changing environments, commanders may struggle to make quick and accurate judgments, leading to inaccurate crane routes. Furthermore, on-site communication is inefficient. These problems not only affect construction progress and costs but may also increase the risk of safety accidents.

[0044] To address the aforementioned technical issues, this application provides a safety management and control system for substation construction. This system flexibly plans the crane's path and placement using a crane path planning system, and utilizes unmanned aerial vehicles (UAVs) to provide intuitive and clear operational path guidance for the crane. This achieves intelligent and automated management of the entire process of crane path planning, placement planning, and path guidance, thereby improving the efficiency and accuracy of crane operations and reducing the risk of safety accidents.

[0045] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0046] Figure 1 A schematic diagram of the structure of the substation construction process safety management and control system provided in this application embodiment. Figure 1 .like Figure 1 As shown in the embodiment of this application, the substation construction process safety management system includes: a crane travel planning system 11 and an unmanned aerial vehicle (UAV) group 12, wherein:

[0047] The crane path planning system 11 is used to determine the location information of the substation equipment to be constructed in the corresponding ground three-dimensional space model of the substation; determine the ground power outage equipment area based on the location information; determine the crane placement position based on the location information and the ground power outage equipment area; determine at least one travel path corresponding to the crane traveling from the substation entrance to the placement position based on the road information in the three-dimensional space model; determine the travel path with a turning radius greater than the turning radius parameter of the crane in the at least one travel path as the target travel path; and send a first control command carrying the target travel path and placement position to the UAV group 12.

[0048] The above-ground three-dimensional spatial model can be pre-built and stored in the crane travel planning system, or it can be obtained from other systems when travel planning is required, or it can be built in real time in the crane travel planning system (e.g., using laser scanning, building information modeling, multi-angle aerial photography, etc.). This application does not impose any limitations on this. The above-ground three-dimensional spatial model is a digital virtual representation that integrates all above-ground facilities, equipment, and spatial layout within the substation, accurately reproducing the actual scene within the substation.

[0049] For example, the crane path planning system 11 marks the location information of the power equipment to be constructed (such as circuit breakers, disconnectors, main transformers, etc.) in a three-dimensional spatial model on the ground. The location information is not limited to spatial coordinates, orientation, and relative distance to surrounding equipment. After the location information is determined, a three-dimensional buffer zone is generated centered on the target location indicated by the location information, for example, using a GIS spatial analysis tool according to a safe distance. The area that interferes with other energized equipment is marked, and the three-dimensional buffer zone is projected onto the ground to generate a two-dimensional power outage area polygon, i.e., the ground power outage equipment area.

[0050] When determining the placement of the crane, a safe distance should be maintained between the crane and the boundaries of the areas with live electrical equipment and ground power outage equipment. The final placement position of the crane can be calculated based on the location information and the ground power outage equipment area.

[0051] In the 3D ground-based model, starting from the substation entrance and ending at the crane's final placement location, and using road information as possible travel paths, at least one travel path is planned. When planning the travel path, constraints can be added, such as using path search algorithms (A* algorithm, RRT* algorithm) to prioritize travel paths with low safety costs (safe distance between the path and energized equipment; the closer the distance, the higher the safety cost) and short distances. Furthermore, the turning radius of the planned at least one travel path is calculated, for example, based on the width of the travel path. and turning angle Determine the turning radius of the path , .

[0052] It is understood that the crane's parameter data (including turning radius parameters) is related to the crane model and is a known quantity, which can be pre-stored in the crane travel planning system 11. The crane travel planning system 11 can pre-store multiple sets of crane parameter data, for example, crane A: length L1, width B1, turning radius R1, boom length P1; crane B: length L2, width B2, turning radius R2, boom length P2. When there is a work requirement, the substation construction process safety management system allows relevant personnel to select the target crane for operation. For example, the substation construction process safety management system provides a front-end interface. After logging into the system, relevant personnel can enter the target crane's identifier (name, number, etc., a unique identifier) ​​on the front-end interface.

[0053] To prevent cranes from being obstructed or causing safety accidents due to insufficient turning radius, a travel path with a turning radius greater than the crane's turning radius parameter is selected from at least one travel path and used as the target travel path.

[0054] Optionally, if a travel path with a turning radius greater than the crane's turning radius parameter cannot be found from at least one travel path, a first prompt message is output, such as "The crane's turning radius is too large; it is recommended to replace the crane." At this time, relevant personnel reselect the target crane on the front-end interface of the substation construction process safety management system.

[0055] The crane path planning system 11 and the UAV group 12 can communicate wirelessly, for example, using a dedicated wireless data transmission radio, Wi-Fi communication, 4G / 5G mobile communication, etc. The crane path planning system 11 sends a first control command to the UAV group 12. The first control command is used to control the UAV group 12 to emit visible light bands, such as lasers, towards the ground.

[0056] The drone group 12 is used to respond to the first control command and transmit a visible light band to the ground according to the target travel path and placement position. The visible light band is used to guide the crane to operate according to the target travel path and placement position.

[0057] For example, the UAV group 12 has a built-in laser emitter that can emit lasers. The UAV group 12 flies to a set height (such as 5 meters, 10 meters or 15 meters) above the crane's target travel path and shines the laser onto the ground to form a clear position indication, such as an arrow pointing in the direction of travel, thereby guiding the crane's forward direction and final placement position.

[0058] It should be noted that the crane path planning system 11 can be deployed independently on at least one server, and multiple servers can collaborate to complete the functions of the crane path planning system 11. The server can also be replaced by a server cluster, virtual resources (such as containers), or computing devices with a certain computing power. The drone group 12 includes at least one drone, and multiple drones collaborate to complete the functions provided by the drone group 12. This application embodiment does not limit the construction form of the crane path planning system 11 and the drone group 12.

[0059] This application embodiment, based on a three-dimensional spatial model, determines the crane's placement position according to the location information of the substation equipment to be constructed and the area of ​​ground power outage equipment, effectively preventing the crane from accidentally contacting live equipment during operation and improving construction safety. Based on the path turning radius and the crane's turning radius parameters, the target travel path is determined to ensure the crane's safety during travel and avoid collisions caused by insufficient turning radius. The use of unmanned aerial vehicles (UAVs) provides intuitive and clear work path guidance for the crane, reducing time wasted on finding paths or placement positions, thereby improving work efficiency. This achieves intelligent and automated processes for crane travel planning, placement planning, and path guidance, reducing manual intervention and improving the accuracy, efficiency, and reliability of construction operations. The collaborative work of the UAVs and the crane travel planning system further enhances the intelligence level of substation construction operations. Furthermore, through the three-dimensional spatial model and real-time travel path planning, it better adapts to the needs of complex environments such as substations, achieving precise guidance of the crane during construction operations and ensuring safe and efficient operation of the crane in complex environments.

[0060] In some embodiments, the crane path planning system 11 is specifically used to: construct a spatial circle with the target location indicated by the location information as the center and the boom length of the crane as the radius; determine the crane's parking range based on multiple intersections of the spatial circle and the substation ground road; determine at least one alternative parking area based on the parking range and the crane's size parameters; among the at least one alternative parking area, determine the alternative parking area that falls into the ground power outage equipment area as the target parking area; and determine the midpoint of the target parking area as the crane's placement position.

[0061] For example, the target location is The boom length is Construct a spatial circle in three-dimensional space. Assuming the boom swings in a horizontal plane, the parametric equation of the spatial circle is:

[0062]

[0063] When the spatial circle coincides with the substation ground, the intersection of the spatial circle and the ground includes all points on the spatial circle. If the spatial circle does not intersect with the ground, it indicates that the crane's boom length is insufficient to reach the target position, and a crane with a longer boom or an adjustment of the crane height is required.

[0064] The intersection of the spatial circle and the substation ground constitutes the first parking area of ​​the crane. Based on this first parking area, and combined with the second area of ​​the ground road, the intersection of the first parking area and the second area is determined as the parking area of ​​the crane. That is, the crane can park in the irregular area formed by the intersection of the spatial circle and the substation ground road.

[0065] Furthermore, within this irregular area, based on the crane's dimensions (such as length and width), at least one alternative parking area (rectangular parking area) that meets the crane's dimensions can be determined, for example, 1, 2, 3, ... N. To avoid the risk of electric shock, among the selected N alternative parking areas, the one that falls entirely within the ground-based power outage equipment area is chosen as the final target parking area, i.e., the safe zone. Optionally, there may be multiple alternative parking areas falling within the ground-based power outage equipment area; the alternative parking area closest to the target location and without obstacles is preferentially selected as the target parking area. The center position of the target parking area is determined as the final placement position of the crane.

[0066] Optionally, within this irregular area, if a suitable alternative parking area (rectangular parking area) cannot be determined based on the crane's size parameters (such as length and width), indicating that the crane is too large, a second prompt message is output, such as "The crane itself is too large and does not meet the site requirements; it is recommended to replace the crane." At this time, relevant personnel reselect the target crane on the front-end interface of the substation construction process safety management system.

[0067] In this embodiment, a spatial circle is constructed, and three-dimensional geometric calculations are used to analyze the intersection with the ground road to determine the crane's parking range. Based on this, the crane's size parameters and the ground power outage equipment area are considered to accurately determine the crane's placement position, ensuring the crane's safety during construction.

[0068] See below Figure 2 As shown, in some embodiments, the substation construction process safety management system further includes: a safety distance management system 13; the safety distance management system 13 can communicate with the crane travel planning system 11 and the unmanned aerial vehicle group 12.

[0069] The safety distance control system 13 is used to acquire location information and mark multiple transformers adjacent to the transformer to be constructed in a three-dimensional space model on the ground; based on the set safety distance, it identifies the target transformer that does not meet the safety distance requirements of the transformer to be constructed from the multiple transformers; and sends a second control command to the UAV group 12 for the target transformer and the crane basket. The second control command is used to control the UAV group to emit visible light bands towards the target transformer and the crane basket.

[0070] For example, the safety distance control system 13 can directly obtain the location information of the substation equipment to be constructed in the above-ground three-dimensional space model corresponding to the substation from the crane travel planning system 11, or autonomously determine the location information of the substation equipment to be constructed in the above-ground three-dimensional space model corresponding to the substation.

[0071] Furthermore, in the three-dimensional spatial model on the ground, the adjacent substations and their locations are marked. Based on the location information of the substation to be constructed and the locations of adjacent substations, the relative distances (e.g., straight-line distance, horizontal distance, and vertical distance) between the substation to be constructed and each adjacent substation can be calculated. Substations that do not meet the safety distance requirements are identified as target substations. The safety distance requirement is that the relative distance is greater than or equal to a set safety distance, which is usually based on power industry standards. Target substations can be understood as live equipment that may be touched during the current construction work.

[0072] Alternatively, to avoid the limitations of a single distance dimension, horizontal, vertical, and straight-line distances can be considered comprehensively.

[0073] During construction, workers typically stand in the crane basket to maintain the electrical equipment under construction. Therefore, it is necessary to monitor the relative distance between the target substation and the crane basket in real time. After identifying the target substation, the safety distance control system 13 sends a second control command to the UAV group 12, which then uses the UAV group 12 to measure the relative distance between the target substation and the crane basket.

[0074] Correspondingly, the UAV group 12 is also used to respond to the second control command, determine the relative distance between the target power equipment and the crane basket based on the principle of light ranging, and send the relative distance to the safety distance control system 13.

[0075] For example, the UAV group 12 hovers above the target power equipment at a predetermined height (e.g., 5 meters, 10 meters, or 15 meters), continuously sending visible light bands towards the target power equipment and the crane basket. The relative distance between the target power equipment and the crane basket can be calculated based on the principle of light ranging.

[0076] In one implementation, the UAV group 12 is equipped with a laser emission measurement device, an accelerometer (x-axis accelerometer, y-axis accelerometer, z-axis accelerometer), an acceleration-angle microprocessor, an angle output device, and a triangulation device.

[0077] The laser emission measurement device is used to emit lasers towards the target power equipment and the crane basket. Based on the principle of light ranging, the first relative distance between the UAV and the target power equipment, and the second relative distance between the UAV and the crane basket can be calculated. During the process of the crane basket rotating towards the target power equipment, the x-axis accelerator, y-axis accelerator, and z-axis accelerator can calculate the deflection acceleration in the x, y, and z directions, respectively. , , The principle governing the relationship between the acceleration sensed by the reference axis of an accelerometer and the tilt angle of the reference axis is as follows:

[0078]

[0079] in, for Deflection acceleration in the direction, The reference axis tilt angle is The component of gravitational acceleration along the reference axis. Therefore, once the deflection acceleration is determined, the deflection angle along that axis can be measured.

[0080] The acceleration-angle microprocessor is based on the above-mentioned relationship between acceleration and the tilt angle of the reference axis, and according to the deflection acceleration ( , , The angle deflection in three dimensions is output through the angle output device. , , Then, based on the principle of spatial angle synthesis, the space and angle between the crane basket and the target transformer equipment are obtained. Finally, based on the law of cosines, the trigonometric measuring device calculates based on space and angle. The first relative distance and the second relative distance are used to determine the relative distance between the target substation and the crane basket.

[0081] In another implementation, the UAV group 12 incorporates a laser emission measurement device, an angle sensor, and a triangulation device. The angle sensor is used to measure the pitch angle of the laser emission direction relative to the UAV coordinate system. (Angle between the laser and the horizontal plane) and yaw angle (The angle between the projection of the laser beam onto the horizontal plane and a certain reference direction), if the position coordinates of the UAV in three-dimensional space are ( The relative distance between the drone and the object being measured is The position coordinates of the measured object in three-dimensional space can be calculated using a triangulation device. ):

[0082]

[0083] The objects being measured include the target transformer equipment and the crane basket. Using the above formula, the position coordinates of the target transformer equipment and the crane basket can be obtained respectively. Based on the position coordinates of the target transformer equipment and the crane basket, the relative distance between the target transformer equipment and the crane basket can be further calculated.

[0084] The drone group 12 will simultaneously send the relative distance between the target power equipment and the crane basket, which is measured in real time, to the safety distance control system 13.

[0085] The safety distance control system 13 is also used to obtain the relative distance; when the relative distance is less than or equal to a first set distance threshold, it outputs a first alarm message to indicate the possible risk of electric shock.

[0086] For example, the first set distance threshold can be a safe distance limit value determined based on factors such as safety specifications, equipment characteristics and actual working scenarios. When the relative distance is detected to be less than or equal to the first set distance threshold, a first alarm message is issued. The first alarm message can be an audible alarm (such as an alarm bell), a visual alarm (such as a flashing light), or a text prompt (such as displaying "Potential risk of electric shock may occur, please maintain a safe distance" on the display screen).

[0087] In this embodiment, a UAV group emits visible light bands to measure the relative distance between the crane basket and the target substation in real time during crane operations, improving measurement accuracy. When the relative distance is less than or equal to a first preset distance threshold, an alarm is issued promptly, enhancing the system's risk warning capability and significantly improving safety during construction. Furthermore, by combining a ground-based three-dimensional spatial model with preset safety distances, risk sources can be accurately located from multiple substations adjacent to the substation under construction, enabling targeted safety protection and monitoring, thus improving safety management efficiency. Effective safety distance control can prevent accidents such as electric shock, reducing losses such as personnel injuries, equipment damage, and project delays caused by accidents, thereby lowering construction costs.

[0088] See below Figure 2As shown, in some embodiments, the substation construction process safety management system further includes: an underground pipeline network early warning system 14, used to: determine the excavation early warning object based on the underground three-dimensional spatial model corresponding to the substation and the underground route to be excavated, the excavation early warning object including the target pipeline network and / or the target cable; when the difference between the current excavation depth and the actual burial depth of the excavation early warning object is less than or equal to a second set distance threshold, output a second alarm message to indicate that the excavation early warning object may be damaged.

[0089] The underground three-dimensional space model can be pre-built and stored in the underground pipeline network early warning system 14, or it can be obtained from other systems when there is a need for excavation, or it can be built in real time in the underground pipeline network early warning system 14 (such as based on the substation structure layout information and pipeline embedded parts layout information).

[0090] For example, when there is an excavation task, relevant personnel log into the substation construction process safety management system and input the underground route to be excavated on the front-end interface. At this time, the underground pipeline network early warning system 14 will perform matching analysis between the underground route to be excavated and the underground three-dimensional spatial model to identify target pipelines and / or target cables that may be affected by the excavation operation within the excavation route range, and determine them as excavation early warning objects. During the excavation operation, depth measurement equipment (such as laser rangefinders, depth sensors, etc.) is used to obtain the current excavation depth in real time, and based on the current excavation position (for example, the current excavation position is determined by the position of the excavation equipment head), it is determined whether there is a corresponding excavation early warning object at the current excavation position. If there is a corresponding excavation early warning object at the current excavation position, the difference between the current excavation depth and the actual burial depth of the excavation early warning object is calculated, and this difference is compared with a second set distance threshold. For example, if the second set distance threshold is 15cm, when the difference is equal to 15cm, it can be determined that the current excavation work may have touched or damaged the warning object (such as pipeline and primary and secondary cables), and the alarm device installed on site will be activated to issue an alarm signal so that relevant personnel can take timely measures, such as stopping the excavation or continuing the excavation by other means.

[0091] In some embodiments, when the underground pipeline early warning system 14 determines the current excavation depth, it is specifically used to send a third control command to the drone group 12. The third control command is used to control the drone group to emit a visible light band towards the current excavation area.

[0092] The drone group 12 is also used to respond to the third control command, determine the current excavation depth based on the principle of light ranging, and send the current excavation depth to the underground pipeline network early warning system 14.

[0093] The underground pipeline early warning system 14 is also used to obtain the current excavation depth; when the difference between the current excavation depth and the actual burial depth is less than or equal to the second set distance threshold, it outputs a second alarm message.

[0094] For example, when the underground pipeline network early warning system 14 determines that there is a corresponding early warning object at the current excavation location, it sends a third control command to the UAV group 12. Upon receiving the third control command from the underground pipeline network early warning system 14, the UAV group 12 hovers at a preset height (such as 5 meters, 10 meters, or 15 meters) above the excavation area where the early warning object exists, and continuously emits laser light downwards to illuminate the excavation area. Based on the principle of light ranging, the relative distance between the UAV group and the current excavation location can be calculated. The current excavation depth is obtained by subtracting the initial distance (i.e., the relative distance between the UAV group and the ground before excavation) from this relative distance. The UAV group 12 sends the real-time measured current excavation depth to the underground pipeline network early warning system 14. The underground pipeline network early warning system 14 calculates the difference between the current excavation depth and the actual burial depth of the early warning object in real time, compares this difference with a second preset distance threshold, and promptly activates the alarm device deployed on site to issue an alarm signal so that relevant personnel can take timely measures.

[0095] This application embodiment pre-determines the excavation warning target and monitors the safe distance between the actual burial depth of the warning target and the current excavation depth in real time during construction operations. Timely alarm information is issued, effectively preventing damage to the target pipeline network and / or target cable during construction, reducing the risk of excavation accidents, and improving construction safety. Furthermore, it does not rely on subjective judgment based on human experience; through automated monitoring and early warning, the accuracy and efficiency of construction management are improved.

[0096] See below Figure 2 As shown, in some embodiments, the substation construction process safety management system further includes: a safety fence system 15; the safety fence system 15 is used to acquire the ground power outage equipment area; and to control the operation of the fence pole device corresponding to the ground power outage equipment area, the fence pole device being used to generate a visible light fence.

[0097] The safety fence system 15 can directly obtain the ground power outage area from the crane path planning system 11, or it can autonomously determine the ground power outage area. The specific implementation method is similar to the method of determining the ground power outage area by the crane path planning system 11 in the above embodiments, and will not be described again here.

[0098] The fence device can be deployed in multiple areas within a substation. The fence device can generate a visible light fence. The fence device includes fence bars arranged at intervals, and each fence bar is equipped with a light-emitting device.

[0099] In one implementation, the fence post device is fixedly installed and pre-embedded in the power outage area on the ground. For example, under the control of the safety fence system 15, it extends out of the ground and emits visible light to form a visible light fence.

[0100] In another implementation, the fence pole device can be freely moved to the ground power outage area under the control of the safety fence system 15, and form a fence shape that matches the ground power outage area, emitting visible light to form a visible light fence.

[0101] In this embodiment, by acquiring the ground power outage area and controlling the operation of the fence device to generate a visible light fence, the dangerous area is clearly marked and isolated, preventing relevant personnel from accidentally entering the energized area, ensuring the safety of workers, and providing an effective safety protection measure for power construction operations.

[0102] In some embodiments, the safety fence system 15 is also used to: monitor the light signal intensity of visible light on the visible light fence; and when the change in light signal intensity is greater than or equal to a threshold for the change in light signal intensity, output a third alarm message to indicate that there is behavior of crossing the visible light fence.

[0103] For example, a light sensor is installed on the fence device to collect the light signal intensity of visible light on the visible light fence. The light sensor converts the collected light signal intensity data into an electrical signal and transmits it to the safety fence system 15 (e.g., to the control module). The control module analyzes the changes in light signal intensity in real time, calculates the difference between the light signal intensity at the current moment and the previous moment, obtains the change in light signal intensity, and compares the change in light signal intensity with a preset threshold. If the change is greater than or equal to the threshold, it is determined that there has been an act of crossing the visible light fence. Further, for example, the control module sends a command to the alarm output module to control the audible and visual alarm to emit a high-decibel sound and flashing lights to alert relevant personnel on site; it can also send alarm information to the monitoring center or the mobile terminals of relevant personnel via a wireless communication module, including information such as alarm type, time of occurrence, and location.

[0104] In this embodiment, by detecting changes in the intensity of the visible light fence signal, actions of crossing the fence can be detected in a timely manner and alarm information can be output, thereby improving the timeliness and effectiveness of security protection.

[0105] See below Figure 2 As shown, in some embodiments, the substation construction process safety management and control system further includes: a substation modeling system 16, which is communicatively connected to a crane path planning system 11, a safety distance control system 13, an underground pipeline network early warning system 14, and a safety fence system 15.

[0106] The substation modeling system 16 is used to acquire inspection and scanning data of substation equipment, substation structural layout information, and pipeline embedded part layout information; based on the inspection and scanning data and substation structural layout information, to determine the above-ground three-dimensional spatial model of the substation; and based on the pipeline embedded part layout information, to determine the underground three-dimensional spatial model of the substation; and based on the communication connection, to synchronize the above-ground three-dimensional spatial model and / or the underground three-dimensional spatial model to the corresponding system.

[0107] For example, using drones equipped with high-precision 3D laser scanners (e.g., scanning at 2m intervals within a height range of 1.0m-100m under visible light conditions), total stations, and other equipment, inspection and scanning data of the substation equipment are collected. The substation's structural layout information and pipeline embedded component layout information can be obtained from other systems (such as design management systems) or storage servers. Using 3D modeling software (such as AutoCAD, 3ds Max, Revit, etc.), the substation's structural layout information, and the inspection and scanning data, a 3D spatial model of the substation above ground is constructed. Similarly, using 3D modeling software (such as AutoCAD, 3ds Max, Revit, etc.) and the pipeline embedded component layout information, a 3D spatial model of the substation underground is constructed.

[0108] The substation modeling system 16 is connected to the crane path planning system 11, the safety distance control system 13, the underground pipeline network early warning system 14, and the safety fence system 15, respectively. For example, it can be connected via wired communication (Ethernet, fiber optic, etc.) or wireless communication (Wi-Fi, 4G / 5G, etc.). After completing the above-ground three-dimensional spatial model and the underground three-dimensional spatial model, the substation modeling system 16 can automatically push them to the corresponding systems. It can also respond to the acquisition requests of the corresponding systems and send them, such as synchronizing the above-ground three-dimensional spatial model to the crane path planning system 11, the safety distance control system 13, and the safety fence system 15, and synchronizing the underground three-dimensional spatial model to the underground pipeline network early warning system 14.

[0109] In this embodiment, by acquiring inspection and scanning data of power equipment within the substation, substation structural layout information, and pipeline embedded component layout information, a three-dimensional spatial model of the substation above ground is automatically generated, improving modeling efficiency and accuracy. In addition, the above-ground three-dimensional spatial model and / or underground three-dimensional spatial model are synchronized with the corresponding system to ensure that the corresponding system can obtain the latest changes of the relevant models in a timely manner, providing strong support for the management and operation and maintenance of the substation.

[0110] Figure 2 A schematic diagram of the structure of the substation construction process safety management and control system provided in this application embodiment. Figure 2 ,like Figure 2As shown, the substation construction process safety management system includes a crane travel planning system 11, a drone unit 12, a safety distance control system 13, an underground pipeline early warning system 14, a safety fence system 15, and a substation modeling system 16. Among them:

[0111] The crane path planning system 11 is used to determine the location information of the substation equipment to be constructed in the corresponding ground three-dimensional space model of the substation; determine the ground power outage equipment area based on the location information; determine the crane placement position based on the location information and the ground power outage equipment area; determine at least one travel path corresponding to the crane traveling from the substation entrance to the placement position based on the road information in the three-dimensional space model; determine the travel path with a turning radius greater than the turning radius parameter of the crane in the at least one travel path as the target travel path; and send a first control command carrying the target travel path and placement position to the UAV group 12.

[0112] The drone group 12 is used to respond to the first control command and transmit a visible light band to the ground according to the target travel path and placement position. The visible light band is used to guide the crane to operate according to the target travel path and placement position.

[0113] The safety distance control system 13 is used to acquire location information and mark multiple transformers adjacent to the transformer to be constructed in a three-dimensional space model on the ground; based on the set safety distance, it identifies the target transformer that does not meet the safety distance requirements of the transformer to be constructed from the multiple transformers; and sends a second control command to the UAV group 12 for the target transformer and the crane basket. The second control command is used to control the UAV group to emit visible light bands towards the target transformer and the crane basket.

[0114] The UAV group 12 is also used to respond to the second control command, determine the relative distance between the target power equipment and the crane basket based on the principle of light ranging, and send the relative distance to the safety distance management system 13.

[0115] The safety distance control system 13 is also used to obtain the relative distance; when the relative distance is less than or equal to a first set distance threshold, it outputs a first alarm message to indicate the possible risk of electric shock.

[0116] The underground pipeline network early warning system 14 is used to: determine the excavation early warning object based on the underground three-dimensional spatial model corresponding to the substation and the underground route to be excavated, the excavation early warning object includes the target pipeline network and / or the target cable; when the difference between the current excavation depth and the actual burial depth of the excavation early warning object is less than or equal to a second set distance threshold, output a second alarm message to indicate that the excavation early warning object may be damaged.

[0117] When determining the current excavation depth, the underground pipeline early warning system 14 is specifically used to send a third control command to the UAV group 12. The third control command is used to control the UAV group to emit a visible light band towards the current excavation area.

[0118] The drone group 12 is also used to respond to the third control command, determine the current excavation depth based on the principle of light ranging, and send the current excavation depth to the underground pipeline network early warning system 14.

[0119] Safety fence system 15 is used to acquire the area of ​​ground power outage equipment; control the operation of the fence pole device corresponding to the area of ​​ground power outage equipment, the fence pole device is used to generate a visible light fence; monitor the light signal intensity of visible light on the visible light fence; when the change in light signal intensity is greater than or equal to the light signal change threshold, output a third alarm message to indicate that there is behavior of crossing the visible light fence.

[0120] The substation modeling system 16 is used to acquire inspection and scanning data of substation equipment, substation structural layout information, and pipeline embedded part layout information; based on the inspection and scanning data and substation structural layout information, to determine the above-ground three-dimensional spatial model of the substation; and based on the pipeline embedded part layout information, to determine the underground three-dimensional spatial model of the substation; and based on the communication connection, to synchronize the above-ground three-dimensional spatial model and / or the underground three-dimensional spatial model to the corresponding system.

[0121] This application embodiment provides an intelligent auxiliary safety management solution for crane operations, high-altitude operations, excavation operations, etc., during the construction process by carrying out comprehensive safety management and control of the large-scale construction process of substations from different dimensions, thereby ensuring the safety and efficiency of the large-scale construction process of substations.

[0122] The above embodiments illustrate the safety management and control system for substation construction. Next, this application also provides a method for safety management and control during substation construction.

[0123] Figure 3 This is a flowchart illustrating the safety management method for substation construction provided in this application embodiment, as shown below. Figure 3 As shown, the safety management methods during the construction of this substation include:

[0124] S301. The crane travel planning system determines the location information of the substation equipment to be constructed in the corresponding ground-based three-dimensional spatial model of the substation; based on the location information, it determines the ground-based power outage equipment area; based on the location information and the ground-based power outage equipment area, it determines the placement position of the crane; based on the road information in the three-dimensional spatial model, it determines at least one travel path corresponding to the crane traveling from the substation entrance to the placement position; and it determines the travel path with a turning radius greater than the turning radius parameter of the crane in the at least one travel path as the target travel path.

[0125] Send the first control command to the drone group, carrying the target's travel path and placement position.

[0126] S302. In response to the first control command, the UAV group transmits a visible light band to the ground according to the target travel path and placement position. The visible light band is used to guide the crane to operate according to the target travel path and placement position.

[0127] The specific implementation of this application embodiment is similar to that of the substation construction process safety management and control system, and will not be described in detail here.

[0128] In summary, this application has at least the following advantages:

[0129] I. Based on a 3D spatial model, the crane's placement position is determined according to the location information of the substation equipment to be constructed and the area of ​​ground power outage equipment. This effectively prevents the crane from accidentally contacting live equipment during operation, improving the safety of construction work. Based on the turning radius of the path and the crane's turning radius parameters, the target travel path is determined to ensure the crane's safety during travel and avoid collisions caused by insufficient turning radius. Unmanned aerial vehicles (UAVs) provide intuitive and clear work path guidance for the crane, reducing time wasted on finding paths or placement positions, thereby improving work efficiency. The entire process of crane travel planning, placement planning, and path guidance is intelligent and automated, reducing manual intervention and improving the accuracy, efficiency, and reliability of construction operations. The collaborative work of the UAVs and the crane travel planning system further enhances the intelligence level of substation construction operations. Furthermore, through 3D spatial models and real-time travel path planning, it better adapts to the needs of complex environments such as substations, achieving precise guidance of the crane during construction operations and ensuring safe and efficient operation of the crane in complex environments.

[0130] Second, by emitting visible light bands from unmanned aerial vehicles (UAVs), the relative distance between the crane basket and the target substation equipment during crane operations can be measured in real time, improving measurement accuracy. When the relative distance is less than or equal to a first set distance threshold, an alarm is issued promptly, enhancing the system's risk warning capabilities and significantly improving safety during construction. Furthermore, by combining a 3D spatial model of the ground with set safety distances, risk sources can be accurately located from multiple substations adjacent to the equipment under construction, allowing for targeted safety protection and monitoring, thus improving safety management efficiency. Effective safety distance control can prevent accidents such as electric shock, reducing losses such as personnel injuries, equipment damage, and project delays caused by accidents, thereby lowering construction costs.

[0131] Third, by pre-determining excavation warning targets and monitoring the safe distance between the actual burial depth of the warning target and the current excavation depth in real time during construction, timely alarm information can be issued, effectively avoiding damage to the target pipeline network and / or target cable during construction, reducing the risk of excavation accidents, and improving construction safety. Furthermore, by eliminating reliance on subjective judgment based on human experience and improving the accuracy and efficiency of construction management through automated monitoring and early warning, the system achieves this goal.

[0132] Fourth, by acquiring information about areas experiencing power outages and controlling the operation of the fencing device to generate a visible light fence, the system clearly identifies and isolates hazardous areas, preventing personnel from accidentally entering live areas, ensuring the safety of workers, and providing effective safety protection for power construction operations. Furthermore, by monitoring changes in the intensity of the visible light fence's signal, the system can promptly detect attempts to cross the fence and issue alarms, improving the timeliness and effectiveness of safety protection.

[0133] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0134] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0135] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0136] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0137] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0138] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0139] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0140] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0141] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0142] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A safety management and control system for substation construction process, characterized in that, include: A crane path planning system and an unmanned aerial vehicle (UAV) group communicating with the crane path planning system; wherein... The crane travel planning system is used to determine the location information of the substation equipment to be constructed in the corresponding three-dimensional space model on the ground; determine the ground power outage equipment area based on the location information; determine the crane placement position based on the location information and the ground power outage equipment area; determine at least one travel path corresponding to the crane traveling from the substation entrance to the placement position based on the road information in the three-dimensional space model; determine the travel path with a turning radius greater than the turning radius parameter of the crane in the at least one travel path as the target travel path; and send a first control command carrying the target travel path and placement position to the UAV group. The drone group is used to respond to the first control command by emitting a visible light band to the ground according to the target travel path and the placement position. The visible light band is used to guide the crane to operate according to the target travel path and the placement position.

2. The substation construction process safety management and control system according to claim 1, characterized in that, The crane travel planning system is specifically used for: A spatial circle is constructed with the target location indicated by the location information as the center and the boom length of the crane as the radius. The parking range of the crane is determined based on multiple intersections between the spatial circle and the ground road of the substation. Based on the parking range and the size parameters of the crane, at least one alternative parking area is determined; Among the at least one alternative parking area, the alternative parking area that falls into the ground power outage equipment area is determined as the target parking area; The midpoint of the target parking area is determined as the placement position of the crane.

3. The substation construction process safety management and control system according to claim 1 or 2, characterized in that, Also includes: Safe distance management system; The safety distance control system is used to acquire the location information, mark multiple power equipment adjacent to the power equipment to be constructed in the three-dimensional space model on the ground; based on the set safety distance, determine the target power equipment that does not meet the safety distance requirement of the power equipment to be constructed from the multiple power equipment; and send a second control command to the UAV group for the target power equipment and the crane basket, the second control command being used to control the UAV group to emit visible light bands towards the target power equipment and the crane basket. The unmanned aerial vehicle group is also used to respond to the second control command, determine the relative distance between the target power equipment and the crane basket based on the principle of optical ranging, and send the relative distance to the safety distance management system; The safety distance control system is also used to acquire the relative distance; when the relative distance is less than or equal to a first set distance threshold, it outputs a first alarm message to indicate the possible risk of electric shock.

4. The substation construction process safety control system according to claim 1 or 2, characterized in that, It also includes: an underground pipeline network early warning system, used for: Based on the underground three-dimensional spatial model corresponding to the substation and the underground route to be excavated, the excavation warning targets are determined, and the excavation warning targets include target pipelines and / or target cables. When the difference between the current excavation depth and the actual burial depth of the excavation warning object is less than or equal to a second set distance threshold, a second alarm message is output to indicate that the excavation warning object may be damaged.

5. The substation construction process safety control system according to claim 4, characterized in that, When the underground pipeline network early warning system determines the current excavation depth, it is specifically used to send a third control command to the UAV group, which is used to control the UAV group to emit a visible light band towards the current excavation area. The drone group is also used to respond to the third control command, determine the current excavation depth based on the principle of light ranging, and send the current excavation depth to the underground pipeline network early warning system; The underground pipeline network early warning system is also used to obtain the current excavation depth; when the difference between the current excavation depth and the actual burial depth is less than or equal to the second set distance threshold, the system outputs the second alarm information.

6. The substation construction process safety management and control system according to claim 1 or 2, characterized in that, Also includes: Safety fence system; The safety fence system is used to identify the area of ​​the ground power outage equipment; Control the operation of the fence device corresponding to the area of ​​the ground power outage equipment, the fence device being used to generate a visible light fence.

7. The substation construction process safety control system according to claim 6, characterized in that, The security fence system is also used for: Monitor the intensity of the visible light signal on the visible light fence; When the change in the light signal intensity is greater than or equal to the light signal change threshold, a third alarm message is output to indicate that there is behavior of crossing the visible light fence.

8. The substation construction process safety control system according to claim 1 or 2, characterized in that, Also includes: The substation modeling system is communicatively connected to the crane travel planning system, the safety distance control system, the underground pipeline network early warning system, and the safety fence system. The substation modeling system is used to acquire inspection and scanning data of the substation equipment, substation structural layout information, and pipeline embedded part layout information. Based on the inspection and scanning data and the substation structural layout information, the above-ground three-dimensional spatial model of the substation is determined; and based on the pipeline embedded parts layout information, the underground three-dimensional spatial model of the substation is determined. Based on the communication connection, the above-ground three-dimensional spatial model and / or the underground three-dimensional spatial model are synchronized to the corresponding system.

9. A method for safety management and control during substation construction, characterized in that, The substation construction process safety management system, as described in any one of claims 1 to 8, includes the following methods: The crane travel planning system determines the location information of the substation equipment to be constructed in the corresponding three-dimensional space model on the ground; based on the location information, it determines the ground power outage equipment area; based on the location information and the ground power outage equipment area, it determines the placement position of the crane; based on the road information in the three-dimensional space model, it determines at least one travel path corresponding to the crane traveling from the substation entrance to the placement position; it identifies the travel path with a turning radius greater than the turning radius parameter of the crane in the at least one travel path as the target travel path; and it sends a first control command carrying the target travel path and placement position to the UAV group. In response to the first control command, the drone group emits a visible light band toward the ground according to the target travel path and the placement position. The visible light band is used to guide the crane to operate according to the target travel path and the placement position.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed, are used to implement the method as described in claim 9.

11. A computer program product, characterized in that, It includes a computer program that, when executed, implements the method of claim 9.

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