Animal invasion prevention system and method for transformer substation

Abstract

The embodiment of the invention discloses an animal invasion prevention system and method for a transformer substation, and the system comprises a control module which controls a driving module to drive an animal in a first driving mode when determining animal invasion according to a sound signal, and determines the type of the invaded animal according to an infrared signal when the animal cannot be driven away according to the first driving mode, the distance between the invading animal and the substation equipment is determined to determine a driving mode, and the driving module is controlled to drive the animal according to the determined driving mode; and the control module also determines an escape path of the animal according to an infrared image shot by the infrared sensor after determining that the animal is driven away according to the sound signal and the infrared sensor, and controls the monitoring module to perform damage detection on the substation equipment on the escape path. According to the invention, efficient identification, intelligent driving and preventive damage detection of animal invasion behaviors are realized, electric power accidents such as short-circuit tripping caused by equipment faults are avoided, and stable operation of a transformer substation is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of substation monitoring, and in particular to a substation animal invasion prevention system and method. Background Art

[0002] During the design and operation of substations, due to the concealed requirements of electrical equipment and the complex environmental layout, animal invasion has become a potential safety hazard that cannot be ignored. These animals may enter the substation through hidden structures such as cable trenches and cable trays, causing damage to key equipment such as high-voltage switchgear and cable layers, causing short circuits, tripping, or even more serious power accidents. In addition, the activities of animals may also interfere with the normal operation of the secondary system, causing communication interruption or malfunction, so effective methods need to be taken to drive away or capture the animals. Summary of the invention

[0003] The present invention provides a substation animal intrusion prevention system and method, which realizes efficient identification, intelligent expulsion and preventive damage detection of animal intrusion behavior, avoids power accidents such as short circuit tripping caused by equipment failure, and further ensures the stable operation of the substation.

[0004] According to one aspect of the present invention, there is provided a substation animal intrusion prevention system, comprising:

[0005] Control module, identification module, expulsion module and monitoring module;

[0006] The recognition module includes a plurality of sound collectors and a plurality of infrared sensors; the sound collectors are used to collect sound and transmit the collected sound signals to the control module, and the infrared sensors are used to collect infrared images and transmit the collected infrared images to the control module;

[0007] The control module is used to control the driving module to drive away the animal in a first driving form when it is determined according to the sound signal that there is an animal invasion, determine the type of the invading animal according to the infrared signal, and determine the distance between the invading animal and the substation equipment when it is determined according to the sound signal that there is no animal invasion or the first driving form cannot drive away the animal, determine the driving mode according to the type of the invading animal and the distance between the invading animal and the substation equipment, and control the driving module to drive away the animal according to the determined driving mode;

[0008] The control module is also used to determine the animal's escape path based on the infrared image taken by the infrared sensor after the animal is driven away based on the sound signal and the infrared sensor, and control the monitoring module to perform damage detection on the substation equipment on the escape path.

[0009] Optionally, the control module is used to, when it is determined based on the sound signal that there is no animal invasion or the animal cannot be driven away by the first expulsion method: when the distance between the invading animal and the substation equipment is less than a first preset distance, control the expulsion module to play an ultrasonic signal according to the type of the invading animal; when the distance between the invading animal and the substation equipment is greater than or equal to the first preset distance and less than a second preset distance, control the expulsion module to play a sound signal according to the type of the invading animal; when the distance between the invading animal and the substation equipment is greater than or equal to the second preset distance, have the staff capture the animal.

[0010] Optionally, the control module is used to determine the predicted movement trajectory of the invading animal based on the category of the invading animal and the trajectory prediction model when the distance between the invading animal and the substation equipment is greater than or equal to a second preset distance, and send the predicted movement trajectory to the staff so that the staff can capture the animal according to the predicted movement trajectory.

[0011] Optionally, the control module is used to determine a trajectory prediction model based on historical movement data of animals of different categories; wherein the historical movement data includes infrared thermal imaging video data captured by an infrared sensor after animals of different categories invade into the substation.

[0012] Optionally, the first expulsion form is to play a warning sound.

[0013] Optionally, the monitoring module includes an ultrasonic detector;

[0014] The ultrasonic detector is used to transmit ultrasonic signals of a set frequency to the substation equipment, detect the ultrasonic signals reflected by the substation equipment, and determine whether the substation equipment is blocked or damaged based on the reflected ultrasonic signals.

[0015] Optionally, the identification module further includes a distance measuring sensor, which is used to measure the distance between the invading animal and the distance measuring sensor, and send the distance between the invading animal and the distance measuring sensor to the control module;

[0016] The control module is used to determine the distance between the distance measuring sensor and the substation equipment according to the distance between the intruding animal and the distance measuring sensor and the position of the distance measuring sensor.

[0017] Optionally, the distance measuring sensor includes an ultrasonic distance measuring sensor or a laser distance measuring sensor.

[0018] Optionally, the control module is also used to send the escape path to the staff after determining that the animal has been driven away based on the sound signal and the infrared sensor, so that the staff can assist the monitoring module in detecting damage to the substation equipment on the escape path.

[0019] According to another aspect of the present invention, there is provided a method for preventing animal intrusion in a substation, comprising:

[0020] When the control module determines that an animal has invaded according to the sound signal, the control module controls the expelling module to expel the animal in a first expelling form; when it is determined that there is no animal invasion according to the sound signal or the animal cannot be expelled in the first expelling form, the control module determines the type of the invading animal according to the infrared signal, and determines the distance between the invading animal and the substation equipment; determines the expelling mode according to the type of the invading animal and the distance between the invading animal and the substation equipment, and controls the expelling module to expel the animal according to the determined expelling mode;

[0021] After the control module determines that the animal has been driven away based on the sound signal and the infrared sensor, it determines the animal's escape path based on the infrared image taken by the infrared sensor, and controls the monitoring module to perform damage detection on the substation equipment on the escape path.

[0022] The substation animal intrusion prevention system provided by the embodiment of the present invention includes a control module, an identification module, a driving module and a monitoring module; the identification module includes multiple sound collectors and multiple infrared sensors; the sound collector is used to collect sound and transmit the collected sound signal to the control module, and the infrared sensor is used to collect infrared images and transmit the collected infrared images to the control module; the control module is used to control the driving module to drive the animal in the first driving form when determining that the animal is intruding according to the sound signal, effectively preventing the animal from further approaching the substation equipment and reducing the risk of equipment damage. When it is determined that there is no animal invasion according to the sound signal or the animal cannot be driven away in the first driving form, the category of the intruding animal is determined according to the infrared signal, and the distance between the intruding animal and the substation equipment is determined, and the driving method is determined according to the category of the intruding animal and the distance between the intruding animal and the substation equipment, and the driving module is controlled to drive the animal according to the determined driving method, and efficient identification and intelligent driving are achieved, ensuring the effectiveness and pertinence of the driving measures and reducing unnecessary harm to animals. The control module is also used to determine the animal's escape path based on the infrared image taken by the infrared sensor after the animal is driven away based on the sound signal and infrared sensor, and to control the monitoring module to detect damage to the substation equipment on the escape path, which helps to timely discover and deal with equipment damage that may be caused by animal invasion, and prevent potential safety hazards. It realizes efficient identification of animal invasion behavior, intelligent expulsion and preventive damage detection, considers the invasion of small animals from multiple angles, reduces harm to staff, and effectively drives away small animals, avoids power accidents such as short circuit tripping caused by equipment failure, and further ensures the stable operation of the substation.

[0023] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 It is a module schematic diagram of a substation animal intrusion prevention system provided by an embodiment of the present invention;

[0026] Figure 2 The present invention provides a flowchart of a method for preventing animal intrusion in a substation. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] The embodiment of the present invention provides a substation animal intrusion prevention system. Figure 1 is a schematic diagram of a module of a substation animal intrusion prevention system provided by an embodiment of the present invention, with reference to Figure 1 , the substation animal intrusion prevention system includes:

[0030] A control module 10, an identification module 20, a driving module 30 and a monitoring module 40;

[0031] The recognition module 20 includes a plurality of sound collectors and a plurality of infrared sensors; the sound collectors are used to collect sound and transmit the collected sound signals to the control module 10, and the infrared sensors are used to collect infrared images and transmit the collected infrared images to the control module 10;

[0032] The control module 10 is used to control the expelling module 30 to expel the animal in a first expelling form when it is determined according to the sound signal that there is an animal invasion, and to determine the type of the invading animal according to the infrared signal and the distance between the invading animal and the substation equipment when it is determined according to the sound signal that there is no animal invasion or the animal cannot be expelled in the first expelling form, and to control the expelling module 30 to expel the animal according to the determined expelling form;

[0033] The control module 10 is also used to determine the animal's escape path based on the infrared image taken by the infrared sensor after the animal is driven away based on the sound signal and the infrared sensor, and control the monitoring module 40 to perform damage detection on the substation equipment on the escape path.

[0034] Among them, a sound collector is a device used to capture and convert sound signals. It collects sound through a microphone or other sound sensor and converts sound wave signals into electrical signals for processing, storage or transmission. An infrared sensor is a measurement system that uses infrared rays as a medium. It uses the physical properties of infrared rays to process data.

[0035] The multiple sound collectors and multiple infrared sensors in the identification module 20 collect sound signals and infrared images in the substation. The multiple sound collectors and multiple infrared sensors are distributed at various locations of the substation. When an animal invades each location, the sound signal and infrared image can be collected, and the collected sound signal and infrared image are transmitted to the control module 10 for processing and analysis. When the invading animal is close to the substation equipment, both the sound collector and the infrared sensor can detect it; when the invading animal is far away from the substation equipment, the sound collector cannot detect the sound, but the infrared sensor can detect the infrared image. Through the cooperation of the two sensors, the sound collector and the infrared sensor, rapid detection of animal invasion is achieved.

[0036] The first expulsion form refers to the first expulsion measure taken when the system preliminarily determines that there is an animal invasion through sound signals. For example, the first expulsion form may include but is not limited to sound expulsion, light expulsion or odor expulsion. The category of the animal is determined by extracting features from the image collected by the infrared sensor, obtaining image features, and inputting the image features into the animal recognition model for identification. The animal recognition model is obtained by pre-training the neural network model based on animal image samples and corresponding categories.

[0037] Specifically, when the control module 10 determines that an animal has invaded based on the sound signal, it first controls the expelling module 30 to preliminarily expel the animal in the first expelling form; the control module 10 continuously monitors the sound signal. If the sound signal weakens or disappears, it may indicate that the animal has been preliminarily expelled successfully. If the sound signal still exists or strengthens, it may indicate that the animal has not been preliminarily expelled successfully. The control module 10 will further use the infrared image collected by the infrared sensor for analysis. The type of the invading animal and the distance between the invading animal and the substation equipment are identified through the infrared image; according to the type of the invading animal and the distance between the invading animal and the substation equipment, the control module 10 selects a suitable expelling method and controls the expelling module 30 to expel the animal.

[0038] The escape path refers to the path that animals choose to escape from the substation after being discovered and driven away by the anti-intrusion system. For example, the substation equipment on the escape path may be cable trenches, vents, door and window gaps, etc. inside the substation.

[0039] Specifically, the control module 10 again confirms whether the animal has been successfully driven away based on the sound signal and the infrared image. If it is confirmed that the animal has been driven away, the control module 10 will use the infrared image taken by the infrared sensor. The control module 10 analyzes and determines the escape path of the animal. The control module 10 controls the monitoring module 40 to perform damage detection on the substation equipment on the escape path.

[0040] The substation animal intrusion prevention system provided by the embodiment of the present invention includes a control module 10, an identification module 20, a driving module 30 and a monitoring module 40; the identification module 20 includes a plurality of sound collectors and a plurality of infrared sensors; the sound collector is used to collect sound and transmit the collected sound signal to the control module 10, and the infrared sensor is used to collect infrared images and transmit the collected infrared images to the control module 10; the control module 10 is used to control the driving module 30 to drive the animal in the first driving form when determining that the animal is intruding according to the sound signal, effectively preventing the animal from further approaching the substation equipment and reducing the risk of equipment damage. When it is determined that there is no animal invasion according to the sound signal or the animal cannot be driven away in the first driving form, the category of the intruding animal is determined according to the infrared signal, and the distance between the intruding animal and the substation equipment is determined, and the driving method is determined according to the category of the intruding animal and the distance between the intruding animal and the substation equipment, and the driving module 30 is controlled to drive the animal according to the determined driving method, and the efficient identification and intelligent driving ensure the effectiveness and pertinence of the driving measures and reduce unnecessary harm to the animals. The control module 10 is also used to determine the animal's escape path based on the infrared image taken by the infrared sensor after the animal is driven away based on the sound signal and the infrared sensor, and control the monitoring module 40 to perform damage detection on the substation equipment on the escape path, which helps to timely discover and deal with equipment damage that may be caused by animal invasion, and prevent potential safety hazards. It realizes efficient identification of animal invasion behavior, intelligent expulsion and preventive damage detection, considers the invasion of small animals from multiple angles, reduces the harm to staff, and effectively drives away small animals, avoids power accidents such as short circuit tripping caused by equipment failure, and further ensures the stable operation of the substation.

[0041] Optionally, the control module 10 is used to control the expulsion module 30 to play an ultrasonic signal according to the type of the invading animal when it is determined based on the sound signal that there is no animal invasion or the animal cannot be driven away by the first expulsion form: when the distance between the invading animal and the substation equipment is less than a first preset distance, according to the type of the invading animal, when the distance between the invading animal and the substation equipment is greater than or equal to the first preset distance and less than a second preset distance, according to the type of the invading animal, to control the expulsion module 30 to play a sound signal; when the distance between the invading animal and the substation equipment is greater than or equal to the second preset distance, the invading animal is captured by staff.

[0042] The first preset distance is a relatively close distance between the animal and the substation equipment, and the second preset distance is a safe distance farther than the first preset distance.

[0043] Specifically, when the control module 10 determines based on the sound signal that there is no animal invasion or the animal cannot be driven away in the first driving form, if the distance between the invading animal and the substation equipment is less than the first preset distance, it means that the animal is very close to the equipment, and the system controls the driving module 30 to play an ultrasonic signal to quickly drive away the animal; if the distance between the invading animal and the substation equipment is between the first preset distance and the second preset distance, it means that there is a certain distance between the animal and the equipment, and the system controls the driving module 30 to play the call of the animal's natural enemy to drive the animal away, or play a specific warning sound that the animal will emit when encountering a threat, so that the animal thinks there is danger and leaves; if the distance between the invading animal and the substation equipment is greater than or equal to the second preset distance, it means that the animal is far away from the substation equipment, and the operation and maintenance personnel are directly notified to capture the animal.

[0044] Optionally, the control module 10 is used to determine the predicted movement trajectory of the invading animal based on the category of the invading animal and the trajectory prediction model when the distance between the invading animal and the substation equipment is greater than or equal to a second preset distance, and send the predicted movement trajectory to the staff so that the staff can capture the animal according to the predicted movement trajectory.

[0045] Among them, the trajectory prediction model is obtained by training machine learning models such as random forests, support vector machines, neural networks, etc. based on training data, and verifying the trained models. The predicted movement trajectory refers to the path that the animal may move in the future calculated by the trajectory prediction model based on the input data.

[0046] Specifically, when the distance between the invading animal and the substation equipment is greater than or equal to the second preset distance, the coordinates of the substation equipment and the position of the animal are input into the trajectory prediction model to obtain the predicted movement trajectory of the animal. The staff places a trapping tool on the predicted movement trajectory to intelligently capture the animal.

[0047] Optionally, the control module 10 is used to determine a trajectory prediction model based on historical movement data of animals of different categories; wherein the historical movement data includes infrared thermal imaging video data captured by an infrared sensor after animals of different categories invade into the substation.

[0048] Among them, the movement habits and preferred paths of various animals are analyzed according to the historical movement data collected in the substation, and animals with similar movement habits and preferred paths are classified as a large category. For example, among animal A, animal B, animal C, animal D, and animal E, animal A, animal B, and animal D are classified into the first category, and animal C and animal D are classified into the second category. The number of classifications is determined according to the setting of similarity. For each large category of animals, the corresponding historical video (historical movement data) is obtained, and the coordinates of the location of the substation equipment, the coordinates of a specified frame of the small animal in the historical video, and the escape path of the animal are determined in the historical video. The above data is used as a set of training data, and the coordinates of the location of the substation equipment and the coordinates of a specified frame of the animal in the historical video are used as the input of the machine learning model to predict the movement trajectory of the small animal. The parameters of the machine learning model are optimized according to the difference between the predicted movement trajectory and the escape path, and finally the trajectory prediction model of the large category is output.

[0049] Optionally, the first expulsion form is to play a warning sound.

[0050] Exemplarily, the warning sound may be a high-frequency sound wave, a sharp and piercing sound, or an alarm sound of a specific frequency.

[0051] Optionally, the monitoring module 40 includes an ultrasonic detector;

[0052] The ultrasonic detector is used to transmit ultrasonic signals of a set frequency to the substation equipment, detect the ultrasonic signals reflected by the substation equipment, and determine whether the substation equipment is blocked or damaged based on the reflected ultrasonic signals.

[0053] Among them, an ultrasonic detector is a device that uses ultrasonic waves for detection and measurement. The ultrasonic detector transmits ultrasonic pulses to the target object and receives the signal reflected from the surface or inside of the object, and analyzes and determines the relevant parameters or status of the target object based on the characteristics of the signal.

[0054] Specifically, the ultrasonic detector transmits ultrasonic signals to the substation equipment at a set frequency. These signals will penetrate the surface of the equipment and encounter internal structures or obstacles. The ultrasonic signals will be reflected when encountering the internal structure, blockage or damaged parts of the equipment. The ultrasonic detector receives the reflected ultrasonic signals and accurately converts them into electrical signals for subsequent processing. The signal's time delay and intensity changes are analyzed to determine whether there is blockage or damage at key locations inside the cable or equipment.

[0055] Optionally, the identification module 20 further includes a distance measuring sensor, which is used to measure the distance between the invading animal and the distance measuring sensor, and send the distance between the invading animal and the distance measuring sensor to the control module;

[0056] The control module 10 is used to determine the distance between the distance measuring sensor and the substation equipment according to the distance between the invading animal and the distance measuring sensor and the position of the distance measuring sensor.

[0057] Specifically, the ranging sensor measures the distance between the invading animal and the ranging sensor, and sends the measured distance data to the control module 10. The control module 10 stores the position information of each ranging sensor. The control module 10 determines the distance between the invading animal and the substation equipment based on the received distance data and the position information of the ranging sensor.

[0058] Optionally, the distance measuring sensor includes an ultrasonic distance measuring sensor or a laser distance measuring sensor.

[0059] Optionally, the control module 10 is also used to send the escape path to the staff after determining that the animal has been driven away based on the sound signal and the infrared sensor, so that the staff can assist the monitoring module 40 in performing damage detection on the substation equipment on the escape path.

[0060] Specifically, after the control module 10 determines that the animal has been driven away according to the sound signal and the infrared sensor, the control module 10 determines the animal's escape path according to the tracking data of the infrared sensor and the layout diagram of the substation, and sends the determined escape path information to the staff. After the staff receives the escape path information, the staff holds an ultrasonic transmitter to check the cable and the gap along the animal's movement trajectory. The ultrasonic sound source transmitter will emit an ultrasonic signal of a specific frequency. During the propagation process, once the ultrasonic signal encounters different media (such as blocking materials, air gaps, etc.), physical phenomena such as reflection, refraction and scattering will occur. The ultrasonic sensor is specifically responsible for capturing the reflected signal and accurately converting it into an electrical signal for subsequent processing, analyzing the time delay and intensity change of the signal to determine whether there is blockage or damage at the key position inside the cable or equipment. The staff and the monitoring module 40 perform double detection on the equipment, and can perform comprehensive detection on the equipment in each corner, thereby ensuring the safe operation of the substation. In the embodiment of the present invention, the initial expulsion method of the small animal is first determined according to the sound, and then the expulsion method is further determined according to the type of the small animal and the distance from the equipment, considering the invasion of the small animal from multiple angles, reducing the harm to the staff and effectively expelling the small animal. Furthermore, the model is used to predict the movement trajectory of small animals and intelligently capture them. Ultrasonic technology is used to determine whether there is blockage or damage at key locations inside cables or equipment.

[0061] The embodiment of the present invention also provides a method for preventing animal invasion in a substation. Figure 2 is a flowchart of a method for preventing animal intrusion in a substation provided by an embodiment of the present invention, with reference to Figure 2 , methods to prevent animal invasion in substations include:

[0062] S110. When the control module determines that there is an animal invasion based on the sound signal, the control module controls the expelling module to expel the animal in the first expelling form. When it is determined that there is no animal invasion based on the sound signal or the animal cannot be expelled by the first expelling form, the control module determines the type of the invading animal based on the infrared signal and determines the distance between the invading animal and the substation equipment. The expelling method is determined according to the type of the invading animal and the distance between the invading animal and the substation equipment, and the expelling module is controlled to expel the animal according to the determined expelling method.

[0063] S120, after the control module determines that the animal has been driven away according to the sound signal and the infrared sensor, it determines the escape path of the animal according to the infrared image taken by the infrared sensor, and controls the monitoring module to perform damage detection on the substation equipment on the escape path.

[0064] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0065] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A substation animal intrusion prevention system, characterized in that: include: Control module, identification module, expulsion module and monitoring module; The recognition module includes a plurality of sound collectors and a plurality of infrared sensors; the sound collectors are used to collect sound and transmit the collected sound signals to the control module, and the infrared sensors are used to collect infrared images and transmit the collected infrared images to the control module; The control module is used to control the driving module to drive away the animal in a first driving form when it is determined according to the sound signal that there is an animal invasion, and to determine the type of the invading animal according to the infrared signal and the distance between the invading animal and the substation equipment when it is determined according to the sound signal that there is no animal invasion or the animal cannot be driven away in the first driving form, and to determine the driving mode according to the type of the invading animal and the distance between the invading animal and the substation equipment, and to control the driving module to drive away the animal according to the determined driving mode; The control module is also used to determine the animal's escape path based on the infrared image taken by the infrared sensor after the animal is driven away based on the sound signal and the infrared sensor, and control the monitoring module to perform damage detection on the substation equipment on the escape path.

2. The substation animal intrusion prevention system according to claim 1, characterized in that: The control module is used to control the expelling module to play an ultrasonic signal according to the type of the invading animal when it is determined according to the sound signal that there is no animal invasion or the animal cannot be driven away in the first expelling form: when the distance between the invading animal and the substation equipment is less than a first preset distance, according to the type of the invading animal; when the distance between the invading animal and the substation equipment is greater than or equal to the first preset distance and less than a second preset distance, according to the type of the invading animal, control the expelling module to play a sound signal; when the distance between the invading animal and the substation equipment is greater than or equal to the second preset distance, the invading animal is captured by staff.

3. The substation animal intrusion prevention system according to claim 2, characterized in that: The control module is used to determine the predicted movement trajectory of the invading animal according to the category of the invading animal and the trajectory prediction model when the distance between the invading animal and the substation equipment is greater than or equal to a second preset distance, and send the predicted movement trajectory to the staff so that the staff can capture the animal according to the predicted movement trajectory.

4. The substation animal intrusion prevention system according to claim 3, characterized in that: The control module is used to determine the trajectory prediction model according to the historical movement data of animals of different categories; wherein the historical movement data includes infrared thermal imaging video data captured by the infrared sensor after animals of different categories invade the substation.

5. The substation animal intrusion prevention system according to claim 1, characterized in that: The first driving away form is playing a warning sound.

6. The substation animal intrusion prevention system according to claim 1, characterized in that: The monitoring module includes an ultrasonic detector; The ultrasonic detector is used to transmit an ultrasonic signal of a set frequency to the substation equipment, detect the ultrasonic signal reflected by the substation equipment, and determine whether the substation equipment is blocked or damaged according to the reflected ultrasonic signal.

7. The substation animal intrusion prevention system according to claim 1, characterized in that: The identification module further comprises a distance measuring sensor, which is used to measure the distance between the invading animal and the distance measuring sensor, and send the distance between the invading animal and the distance measuring sensor to the control module; The control module is used to determine the distance between the distance measuring sensor and the substation equipment according to the distance between the invading animal and the distance measuring sensor and the position of the distance measuring sensor.

8. The substation animal intrusion prevention system according to claim 7, characterized in that: The distance measuring sensor includes an ultrasonic distance measuring sensor or a laser distance measuring sensor.

9. The substation animal intrusion prevention system according to claim 1, characterized in that: The control module is also used to send the escape path to the staff after determining that the animal has been driven away based on the sound signal and the infrared sensor, so that the staff can assist the monitoring module in detecting damage to the substation equipment on the escape path.

10. A method for preventing animal invasion in a substation, characterized in that: The method is performed by the substation animal intrusion system according to any one of claims 1 to 9, and the method comprises: When the control module determines that an animal has invaded according to the sound signal, the control module controls the expelling module to expel the animal in a first expelling form; when it is determined that there is no animal invasion according to the sound signal or the animal cannot be expelled in the first expelling form, the control module determines the type of the invading animal according to the infrared signal, and determines the distance between the invading animal and the substation equipment; determines the expelling mode according to the type of the invading animal and the distance between the invading animal and the substation equipment, and controls the expelling module to expel the animal according to the determined expelling mode; After the control module determines that the animal has been driven away based on the sound signal and the infrared sensor, it determines the animal's escape path based on the infrared image taken by the infrared sensor, and controls the monitoring module to perform damage detection on the substation equipment on the escape path.

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