Bird prevention device for ultra-high voltage substation automation

Abstract

The application provides an anti-bird device for ultra-high voltage substation automation, an inspection server acquires image information of substation equipment taken by a camera, and compares the acquired image information with preset image information to determine whether there are birds on the substation equipment; a microcontroller is in communication connection with the inspection server through a wireless communication module, and acquires a bird repelling control instruction sent by the inspection server; the microcontroller controls the operation of a servo motor based on the bird repelling control instruction, drives a walking wheel set to move, and makes a bird repelling inspection robot move to the position of the substation equipment with birds; the microcontroller is connected with a bird repelling mechanism, controls the operation of the bird repelling mechanism, and performs bird repelling operation on the substation equipment; the system can combine position information of the substation equipment, preset bird repelling operation modes, bird repelling operation time, bird repelling operation paths and other information, realize bird repelling operation combined with multiple bird repelling modes, and accurately move to the position of the corresponding substation equipment to perform operation, thereby ensuring the effect of bird repelling.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of transformer substations, and particularly relates to an automatic bird damage prevention device for an extra-high voltage transformer substation. BACKGROUND

[0002] Bird repelling, also called bird chasing, bird prevention, etc., in a broad sense, refers to all means for preventing harmful birds from invading one's territory and thus endangering one's labor results or equipment safety in farms, orchards, wind power plants and transformer equipment.

[0003] Bird repelling devices are also commonly used in transformer substations. For example, application No. CN202220236267.0 discloses a transformer substation bird repelling device, which comprises a mounting rod, a bottom plate structure installed on the lower wall surface of the mounting rod, a detection turntable structure installed on the upper wall surface of the mounting rod, a detection turntable power structure installed on the outside of the mounting rod, a light bird repelling structure installed on the upper wall surface of the detection turntable structure, a warning structure installed on the upper wall surface of the detection turntable structure, a sound bird repelling turntable structure installed on the outside of the mounting rod, and a sound bird repelling turntable power structure installed on the outside of the mounting rod.

[0004] For another example, application No. CN202223031051.X discloses a transformer substation laser bird repelling device, which comprises a support structure and a laser bird repelling structure. The support structure comprises a support box and a servo motor, the servo motor is installed in the inside of the support box, the end of the output shaft of the servo motor is fixed with a rotating plate, the laser bird repelling structure comprises a support block, a laser bird repelling device and an adjusting piece, the support block is fixedly connected with the rotating plate, the top surface of the support block is provided with an opening, the laser bird repelling device is rotationally connected in the inside of the opening, a camera is installed above the output end of the laser bird repelling device, and the adjusting piece is installed between the laser bird repelling device and the support block.

[0005] It can be seen that the above-mentioned documents are all fixedly installed on transformer equipment to perform bird repelling. However, since a transformer substation involves many transformer equipments, it is necessary to install a bird repelling device on each transformer equipment, and the bird repelling device needs to be connected with a server for communication to perform bird repelling control. This mode can only repel birds from the transformer equipment itself, and cannot repel birds if a bird group does not approach the bird repelling device. Moreover, the fixed installation mode limits the bird repelling radius and cannot effectively repel birds from the whole transformer substation. SUMMARY

[0006] The application provides an automatic bird damage prevention device for an extra-high voltage transformer substation, which can realize dynamic and mobile bird repelling operation based on actual needs and meet the bird repelling process in multiple scenes.

[0007] The device for preventing bird damage in an ultra-high voltage transformer substation automation comprises a camera arranged near transformer equipment of the substation, a positioning module arranged on each transformer equipment, a patrol server and a bird-repelling patrol robot.

[0008] The patrol server is in communication connection with the camera, acquires image information of the transformer equipment taken by the camera, and compares the acquired image information with preset image information to determine whether there are birds on the transformer equipment.

[0009] The patrol server acquires position information of the transformer equipment by connection with the positioning module.

[0010] The bird-repelling patrol robot comprises a patrol box body, a walking wheel set is installed at the bottom of the patrol box body, and a bird-repelling mechanism is installed at the top of the patrol box body; a servo motor connected with the walking wheel set to drive the walking wheel set to run, an electric control box and a storage battery for supplying power to electrical elements inside the bird-repelling patrol robot are installed inside the patrol box body.

[0011] An electric control board is installed inside the electric control box, and a microcontroller, a motor control circuit, a wireless communication module and a display touch screen are arranged on the electric control board.

[0012] The microcontroller is in communication connection with the patrol server through the wireless communication module to acquire bird-repelling control instructions sent by the patrol server.

[0013] The microcontroller is connected with the servo motor through the motor control circuit, and the microcontroller controls the servo motor to run based on the bird-repelling control instructions to drive the walking wheel set to move, so that the bird-repelling patrol robot moves to the position of the transformer equipment with birds.

[0014] The microcontroller is connected with the bird-repelling mechanism to control the bird-repelling mechanism to run and perform bird-repelling operation on the transformer equipment.

[0015] The microcontroller is connected with the display touch screen, and the microcontroller controls the display touch screen to display the running state of the bird-repelling patrol robot and acquires control instructions input by a user through the display touch screen.

[0016] Preferably, the bird-repelling mechanism is provided with a vertical lifting support, the bottom end of the vertical lifting support is fixedly connected with the patrol box body, a horizontal support is connected near the top position of the vertical lifting support, and a sound imitation bird-repelling device, an ultrasonic bird-repelling device, a bird-repelling lamp, a bird-repelling agent and a rotating bird-repelling mirror are installed on the horizontal support.

[0017] A photovoltaic power generation panel is also installed at the top end of the vertical lifting support, a photovoltaic power generation controller is installed inside the electric control box, and the photovoltaic power generation panel is connected with the storage battery through the photovoltaic power generation controller.

[0018] Preferably, the bird-repelling control instructions sent by the patrol server to the bird-repelling patrol robot comprise position information of each transformer equipment needing bird-repelling and a single bird-repelling duration.

[0019] Preferably, the inspection server is further configured to acquire a bird repelling mode set by a user for each power transformation device, and match the bird repelling mode with the coded information configured for each power transformation device based on the coded information, and form a bird repelling mode list.

[0020] The inspection server sends the bird repelling mode list to the bird repelling inspection robot.

[0021] Preferably, the electric control board is further provided with a storage;

[0022] The storage is connected with the microcontroller, and stores the bird repelling mode list, the bird repelling control instruction sent by the inspection server, and the operation information of the bird repelling inspection robot.

[0023] Preferably, the electric control board is further provided with a robot positioning module, which is connected with the microcontroller, so that the microcontroller acquires the position information of the bird repelling inspection robot, and sends the position information to the inspection server based on the position acquisition instruction sent by the inspection server.

[0024] Preferably, the inspection server configures a power transformation station coordinate system, and identifies the position information of each power transformation device and the real-time position information of the bird repelling inspection robot based on the power transformation station coordinate system.

[0025] Preferably, the inspection server acquires the position information of the bird repelling inspection robot relative to the power transformation device to be repelled; the position information represents the relative position of the bird repelling inspection robot and the power transformation device to be repelled in the power transformation station coordinate system.

[0026] According to the position information, an initial bird repelling path is generated;

[0027] The initial bird repelling path is configured by using an optimal solution solving algorithm to determine a final bird repelling path.

[0028] Preferably, when the current bird repelling path cannot meet the bird repelling requirements of each power transformation device, the inspection server adjusts the current bird repelling path to obtain an adjusted bird repelling path.

[0029] The inspection server generates the adjusted bird repelling path according to the position information of the bird repelling inspection robot and the single bird repelling duration, and the bird repelling inspection robot executes the bird repelling process based on the adjusted bird repelling path.

[0030] Preferably, the inspection server sets an inspection route based on the inspection of each power transformation device in the power transformation station, and installs multiple photoelectric position sensors on the inspection route, so that the inspection server acquires the position information of the bird repelling inspection robot when the bird repelling inspection robot triggers a certain photoelectric position sensor.

[0031] The selected bird driving path is generated based on daily inspection routes of multiple bird driving equipment to be driven, position information of all bird driving equipment to be driven in the selected bird driving path is learned, distances between position information of the bird driving inspection robot relative to each bird driving equipment to be driven are obtained, a first distance between a starting bird driving equipment to be driven and the bird driving inspection robot in the selected bird driving path is found, and a second distance of the closest bird driving equipment to be driven to the bird driving inspection robot is obtained, when the first distance is greater than the second distance, the bird driving inspection robot executes a bird driving process from the closest bird driving equipment to be driven to the bird driving inspection robot, and drives to the starting bird driving equipment to be driven, and then executes the bird driving process along the selected bird driving path.

[0032] From the above technical solutions, the present application has the following advantages:

[0033] The automatic bird damage prevention device for an extra-high voltage substation provided by the present application can combine position information of substation equipment, preset bird driving operation modes, bird driving operation time lengths, bird driving operation paths and other information, realize bird driving operations combining multiple bird driving modes, and accurately walk to corresponding substation equipment positions to perform operations, thereby ensuring the effect of bird driving.

[0034] The bird driving inspection robot has multiple bird driving modes, meets bird driving operations of different types, different positions and different heights of substation equipment, improves the universality of bird driving, and meets bird driving requirements.

[0035] The corresponding data and path information of the substation equipment can also be efficiently collected and processed, the efficiency of bird driving operations is improved, problems in bird driving operations are found in time, bird driving modes are adjusted in time to meet bird driving operations, thereby realizing the timeliness and scientific nature of supervision, management and control of the whole process of bird driving operations. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0037] Figure 1 It is a schematic diagram of the automatic bird damage prevention device for an extra-high voltage substation.

[0038] Figure 2 It is a schematic diagram of an embodiment of the bird driving inspection robot. DETAILED DESCRIPTION

[0039] The application provides an automatic bird damage prevention device for an extra-high voltage transformer substation, and a bird expelling and inspection robot 2 involved in the system can be arranged in the transformer substation. Since the transformer substation is a closed place with a fence, the transformer substation has a safety channel for the walking of maintenance personnel and inspection personnel. In order to enable the bird expelling and inspection robot 2 to walk automatically, a photoelectric position sensor can be arranged on the safety channel to sense the walking position of the bird expelling and inspection robot 2, and a camera can be installed on the bird expelling and inspection robot 2 to realize the movement of the bird expelling and inspection robot 2 by remote operation of the inspection personnel.

[0040] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the application.

[0041] The automatic bird damage prevention device for the extra-high voltage transformer substation in the embodiment comprises a camera arranged close to transformer equipment of the transformer substation, a positioning module arranged on each transformer equipment, an inspection server 1 and a bird expelling and inspection robot 2.

[0042] The camera, the positioning module, the inspection server 1 and the bird expelling and inspection robot 2 can communicate based on wireless Internet. The wireless Internet communication mode can include wireless local area network (Wi-Fi, WLAN, Wireless Local Area Networks), wireless broadband (Wibro), global microwave interconnection access (Wimax), high-speed downlink packet access (HSDPA, High Speed Downlink Packet Access) and the like.

[0043] The inspection server 1 can be a desktop computer, a workbench, a server, a blade server, a mainframe computer and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of the application described herein and / or claimed.

[0044] The inspection server 1 is in communication connection with the camera, acquires image information of the transformer equipment taken by the camera, and compares the acquired image information with preset image information to determine whether there is a bird on the transformer equipment. Here, the standard image of each transformer equipment is pre-stored in the inspection server 1 to be compared with the acquired image information. If there is a bird staying on the transformer equipment, it can be obtained through image comparison. In this way, the bird expelling and inspection robot 2 is driven to perform bird expelling work.

[0045] In order to know the position information of the power transformation equipment, the inspection server 1 is connected with the positioning module to acquire the position information of the power transformation equipment, so that the position of the power transformation equipment can be directly known, and the bird driving operation can be manually controlled or automatically executed by the bird driving inspection robot 2.

[0046] In the embodiment of the application, the bird driving inspection robot 2 comprises an inspection box body 3, a walking wheel set 4 is installed at the bottom of the inspection box body 3, and a bird driving mechanism 5 is installed at the top of the inspection box body 3; a servo motor 6 connected with the walking wheel set 4 to drive the walking wheel set 4 to run, an electric control box and a storage battery for supplying power to the electrical elements in the bird driving inspection robot 2 are installed in the inspection box body 3.

[0047] An electric control board is installed in the electric control box, a microcontroller 7, a motor control circuit 8, a wireless communication module 9 and a display touch screen 10 are arranged on the electric control board; the microcontroller 7 is in communication connection with the inspection server 1 through the wireless communication module 9 to acquire the bird driving control instruction sent by the inspection server 1; the microcontroller 7 is connected with the servo motor 6 through the motor control circuit 8, the microcontroller 7 controls the servo motor 6 to run based on the bird driving control instruction, drives the walking wheel set 4 to move, and moves the bird driving inspection robot 2 to the position of the power transformation equipment with birds; the microcontroller 7 is connected with the bird driving mechanism 5 to control the bird driving mechanism 5 to run and drive the birds away from the power transformation equipment.

[0048] The microcontroller 7 is connected with the display touch screen 10, the microcontroller 7 controls the display touch screen 10 to display the running state of the bird driving inspection robot 2, and also acquires the control instruction input by the user through the display touch screen 10.

[0049] In order to meet the bird driving operation of different power transformation equipment, the bird driving mechanism 5 is provided with a vertical lifting support 13, the bottom end of the vertical lifting support 13 is fixedly connected with the inspection box body 3, a horizontal support 14 is connected close to the top position of the vertical lifting support 13, and an imitation sound bird driving device, an ultrasonic bird driving device, a bird driving lamp, a bird driving agent and a rotating bird driving mirror are installed on the horizontal support 14, so that different bird driving modes can be started based on the positions of different power transformation equipment, for example, the birds can be driven away by the imitation sound bird driving device, the ultrasonic bird driving device and the bird driving lamp when the power transformation equipment is high.

[0050] In an example embodiment, the user can preset the bird repelling mode of each power transformation device, and the bird repelling control instruction sent by the inspection server 1 to the bird repelling inspection robot 2 includes the position information of each power transformation device that needs to be repelled and the duration of bird repelling of a single device. Here, based on the comparison of image information, it is found that bird repelling needs to be performed on a certain power transformation device, so that the inspection server 1 can call the bird repelling mode and bird repelling duration pre-stored by the system and send them to the bird repelling inspection robot 2 to perform the bird repelling operation, so that the bird repelling operation is more targeted.

[0051] The top end of the vertical lifting support 13 of the embodiment is also provided with a photovoltaic power generation panel, and a photovoltaic power generation controller is installed in the electric control box. The photovoltaic power generation panel is connected with the storage battery through the photovoltaic power generation controller, thereby improving the endurance.

[0052] In an example embodiment, the inspection server 1 is also used to obtain the bird repelling mode set by the user for each power transformation device, and match the bird repelling mode with the coding information configured for each power transformation device, and form a bird repelling mode list. The inspection server 1 sends the bird repelling mode list to the bird repelling inspection robot 2. Of course, the position information of each power transformation device can be set in the bird repelling mode list, so that the bird repelling inspection robot 2 obtains the position information, the coding information and the bird repelling mode information based on the position information, thereby improving the efficiency of the bird repelling control process.

[0053] Optionally, the electric control board is also provided with a storage 11 and a robot positioning module 12. The storage 11 is connected with the microcontroller 7 and stores the bird repelling mode list, the bird repelling control instruction sent by the inspection server 1 and the running information of the bird repelling inspection robot 2. The robot positioning module is connected with the microcontroller 7, so that the microcontroller 7 obtains the position information of the bird repelling inspection robot 2 and sends the position information to the inspection server 1 based on the position acquisition instruction sent by the inspection server 1.

[0054] In an example embodiment, the inspection server 1 configures a power transformation station coordinate system, and identifies the position information of each power transformation device and the real-time position information of the bird repelling inspection robot 2 based on the power transformation station coordinate system. In this way, the user can know the specific position of the bird repelling inspection robot 2 based on the coordinates through the inspection server 1, or the user can also send the coordinate position to the bird repelling inspection robot 2, and the bird repelling inspection robot 2 performs the bird repelling operation based on the coordinate position, thereby improving the means of bird repelling operation.

[0055] In order to realize the bird repelling task for multiple power transformation devices, it is considered that multiple birds fall on different power transformation devices at times, and the bird repelling inspection robot 2 can perform the bird repelling operation based on the preset path, and the bird repelling efficiency is improved. Among them, the inspection server 1 obtains the position information of the bird repelling inspection robot 2 relative to the power transformation device to be repelled; the position information represents the relative position of the bird repelling inspection robot 2 and the power transformation device to be repelled in the transformer station coordinate system; according to the position information, an initial bird repelling path is generated; the initial bird repelling path is configured by using an optimal solution algorithm to determine the final bird repelling path.

[0056] Here, an initial bird repelling path is formed based on the path connection of the power transformation device requiring bird repelling operation, and the initial bird repelling path can be optimized based on the optimal solution algorithm, so that the bird repelling path is more reasonable, for example, the walking distance of the bird repelling inspection robot 2 is the shortest, or the bird repelling inspection robot 2 processes based on the same bird repelling method. According to the system preset bird repelling operation priority, the bird repelling operation in order is performed.

[0057] Optionally, if the current bird repelling path cannot meet the bird repelling requirements of each power transformation device, the inspection server 1 adjusts the current bird repelling path to obtain an adjusted bird repelling path.

[0058] Among them, the inspection server 1 generates an adjusted bird repelling path according to the position information of the bird repelling inspection robot 2 and the single device bird repelling duration; the bird repelling inspection robot 2 performs the bird repelling process based on the adjusted bird repelling path. This is a way of re-planning the path according to the new power transformation device requiring bird repelling operation of the bird repelling inspection robot 2 in the bird repelling operation process. Here, the position information of the bird repelling inspection robot 2 and the single device bird repelling duration are considered, and of course the walking distance can also be combined to realize the adjusted bird repelling path and improve the efficiency of the bird repelling operation.

[0059] Embodiments of the application also provide a bird repelling operation mode, the inspection server 1 sets the inspection route of each power transformation device in the transformer station based on the inspection route, and a plurality of photoelectric position sensors are installed on the inspection route, when the bird repelling inspection robot 2 triggers a certain photoelectric position sensor, the inspection server 1 learns the position information of the bird repelling inspection robot 2;

[0060] Here, the bird repelling path of the bird repelling inspection robot 2 is set considering the path of the daily inspection of the inspection personnel, which can facilitate operation, and the path is unified, and after the program is set, the bird repelling inspection robot 2 automatically walks, which is equivalent to starting from the initial position, walking for a week, and returning to the initial starting position.

[0061] Optionally, the application can also generate a selected bird repelling path based on the daily inspection route of the plurality of bird repelling power equipment to be driven, obtain the position information of all the bird repelling power equipment to be driven in the selected bird repelling path, and obtain the distance between the position information of the bird repelling inspection robot 2 relative to each bird repelling power equipment to be driven, find the first distance between the starting bird repelling power equipment to be driven and the bird repelling inspection robot 2 in the selected bird repelling path, and the second distance of the closest bird repelling power equipment to be driven from the bird repelling inspection robot 2, when the first distance is greater than the second distance, the bird repelling inspection robot 2 performs the bird repelling process from the closest bird repelling power equipment to be driven from the bird repelling inspection robot 2, and drives to the starting bird repelling power equipment to be driven, and then performs the bird repelling process along the selected bird repelling path.

[0062] According to the embodiments of the present application, not all power equipment needs to be driven every time, if part of the power equipment is driven, the inspection server 1 generates a bird repelling path according to the daily inspection route, of course, there can be multiple inspection routes, if a certain preset inspection route covers all the bird repelling power equipment, the distance between the position information of the bird repelling inspection robot 2 relative to each bird repelling power equipment can be obtained. There is also a case that if the bird repelling inspection robot 2 is performing bird repelling work, the distance between the position information of the bird repelling inspection robot 2 relative to each bird repelling power equipment is obtained, in order to find a reasonable bird repelling work route, the closest power equipment to the bird repelling inspection robot 2 can be found for bird repelling work, then drive to the starting bird repelling power equipment, and then perform the bird repelling process along the selected bird repelling path. Here it can be understood that the bird repelling inspection robot 2 has overlapping walking routes in the bird repelling path, of course, according to the needs, the bird repelling inspection robot 2 can also walk repeatedly on a bird repelling path to achieve thorough bird repelling work.

[0063] The automatic bird prevention device for ultra-high voltage substation of the present application can configure data information of each bird repelling work on the inspection server 1 to form a bird repelling work data operation table. The data can also be configured on the inspection server 1 through the data add, delete, modify and query operation interface to meet the requirements of bird repelling work. Moreover, the present application combines the position information of the power equipment, the preset bird repelling work mode, the bird repelling work time, the bird repelling work path and other information to realize the bird repelling work combined with multiple bird repelling modes, and can accurately walk to the corresponding power equipment position to perform the work and ensure the bird repelling effect. It can also efficiently collect and process the corresponding data and path information of the power equipment, improve the efficiency of bird repelling work, timely find the problems of bird repelling work, and timely adjust the bird repelling mode to meet the bird repelling work, thereby realizing the timeliness and scientificity of the whole process supervision, management and control of the bird repelling work.

[0064] Those skilled in the art can realize or implement the units and algorithm steps with the example described in the embodiments disclosed in the present application by means of electronic hardware, computer software or a combination of both, and many variations can be made to the described embodiments in light of what has been disclosed and described, without departing from the scope of the present application. Therefore, the present application is not limited in scope to the embodiments described herein, but the scope of the present application is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0065] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are merely schematic, for example, the division of the units is merely a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can also be electrical, mechanical or other forms of connection.

[0066] In addition, the described features, structures or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a sufficient understanding of the embodiments of the present application. However, one skilled in the art will realize that the technical solutions of the present application can be implemented without one or more of the specific details, or other methods, components, devices, steps, etc. can be used. In other cases, well-known methods, devices, implementations or operations are not shown or described in detail to avoid obscuring the aspects of the present application.

[0067] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A device for the protection of an EHV substation automation against birds, characterized in that The utility model relates to a kind of bird repelling inspection robot and method for generating bird repelling path of the same, and the bird repelling inspection robot comprises: camera, positioning module, inspection server and the bird repelling inspection robot are arranged close to the power transformation equipment of substation;The inspection server is connected with the camera, obtains the image information of power transformation equipment taken by camera, and the obtained image information is compared with preset image information, to judge whether there is bird on power transformation equipment;The inspection server obtains the position information of power transformation equipment by being connected with the positioning module;The bird repelling inspection robot comprises: inspection box body, walking wheel set is installed in the bottom of inspection box body, bird repelling mechanism is installed in the top of inspection box body;Servo motor, electric control box and battery for supplying power to electrical components inside the bird repelling inspection robot are installed inside inspection box body, and the servo motor is connected with walking wheel set for driving walking wheel set to run;Electric control board is installed in electric control box, microcontroller, motor control circuit, wireless communication module and display touch screen are arranged on electric control board;Microcontroller is connected with the inspection server through wireless communication module, and obtains bird repelling control instruction sent by the inspection server;Microcontroller is connected with servo motor through motor control circuit, and microcontroller controls servo motor to run based on bird repelling control instruction, to drive walking wheel set to move, so that the bird repelling inspection robot moves to the position of power transformation equipment with bird;Microcontroller is connected with bird repelling mechanism, and controls bird repelling mechanism to run to carry out bird repelling operation on power transformation equipment;Microcontroller is connected with display touch screen, and microcontroller controls display touch screen to display the running state of the bird repelling inspection robot, and also obtains control instruction input by user through display touch screen;Robot positioning module is arranged on electric control board, and robot positioning module is connected with microcontroller, so that microcontroller obtains the position information of the bird repelling inspection robot, and sends position information to the inspection server based on position acquisition instruction sent by the inspection server;The inspection server configures substation coordinate system, and identifies the position information of each power transformation equipment and the real-time position information of the bird repelling inspection robot based on substation coordinate system;The inspection server obtains the position information of the bird repelling inspection robot relative to power transformation equipment to be driven, and the position information represents the relative position of the bird repelling inspection robot and power transformation equipment to be driven in substation coordinate system;According to the position information, initial bird repelling path is generated;Optimal solution algorithm is used to configure the initial bird repelling path, to determine the final bird repelling path;If the current bird repelling path cannot meet the bird repelling requirement of each power transformation equipment, the inspection server adjusts the current bird repelling path to obtain adjusted bird repelling path;The inspection server generates adjusted bird repelling path according to the position information of the bird repelling inspection robot and single bird repelling duration, and the bird repelling inspection robot executes bird repelling process based on adjusted bird repelling path;The inspection server sets the inspection route of substation based on the inspection of each power transformation equipment, and multiple photoelectric position sensors are installed on the inspection route, so that the inspection server learns the position information of the bird repelling inspection robot when the bird repelling inspection robot triggers a certain photoelectric position sensor. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The selected bird driving path is generated based on daily inspection routes of multiple bird driving power equipment, position information of all bird driving power equipment in the selected bird driving path is obtained, distance between position information of the bird driving inspection robot and each bird driving power equipment is obtained, the first distance between the starting bird driving power equipment and the bird driving inspection robot in the selected bird driving path is found, and the second distance to the closest bird driving power equipment from the bird driving inspection robot is obtained, when the first distance is greater than the second distance, the bird driving inspection robot drives from the closest bird driving power equipment to the bird driving inspection robot, and drives to the starting bird driving power equipment, and then drives along the selected bird driving path.

2. The automatic bird prevention device for EHV substation according to claim 1, characterized in that, The bird driving mechanism is provided with a vertical lifting support, the bottom end of the vertical lifting support is fixedly connected with the inspection box body, a horizontal support is connected near the top of the vertical lifting support, and a sound imitation bird driving device, an ultrasonic bird driving device, a bird driving lamp, a bird driving agent and a rotating bird driving mirror are installed on the horizontal support; A photovoltaic power generation panel is installed at the top end of the vertical lifting support, a photovoltaic power generation controller is installed in the electric control box, and the photovoltaic power generation panel is connected with the storage battery through the photovoltaic power generation controller.

3. The automatic bird prevention device for EHV substation according to claim 2, characterized in that, The bird driving control instruction sent by the inspection server to the bird driving inspection robot comprises position information of each bird driving power equipment and single bird driving duration.

4. The automatic bird prevention device for EHV substation according to claim 3, characterized in that, The inspection server is further used to obtain a bird driving mode set by a user for each power equipment, match the bird driving mode with coding information configured for each power equipment, and form a bird driving mode list; The inspection server sends the bird driving mode list to the bird driving inspection robot.

5. The automatic bird prevention device for EHV substation according to claim 4, characterized in that, The electric control board is further provided with a storage; The storage is connected with the microcontroller, and the bird driving mode list, the bird driving control instruction sent by the inspection server and the bird driving inspection robot operation information are stored.

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