A substation animal intrusion prevention system and method

Abstract

The embodiment of the application discloses a substation animal invasion prevention system and method, which comprises a control module. When the control module determines animal invasion according to a sound signal, the control module controls a driving module to drive the animal in a first driving form. When the animal cannot be driven away according to the first driving form, the control module determines the category of the invading animal according to an infrared signal, determines the distance between the invading animal and the substation equipment, determines a driving mode, and controls the driving module to drive the animal according to the determined driving mode. The control module also determines the escape path of the animal according to an infrared image captured by an infrared sensor after the animal is driven away according to the sound signal and the infrared sensor, and controls a monitoring module to detect the damage of the substation equipment on the escape path. The application realizes efficient identification, intelligent driving and preventive damage detection of animal invasion behavior, avoids power accidents such as short-circuit tripping caused by equipment failure, and guarantees the stable operation of the substation.

Description

Technical Field

[0001] This invention relates to the field of substation monitoring technology, and in particular to a substation animal intrusion prevention system and method. Background Technology

[0002] During the design and operation of substations, the need for concealed electrical equipment and the complex environmental layout make animal intrusion a significant safety hazard. These animals may enter the substation through concealed structures such as cable trenches and cable trays, damaging critical equipment like high-voltage switchgear and cable layers, causing short circuits, tripping, or even more serious power accidents. Furthermore, animal activity can interfere with the normal operation of secondary systems, leading to communication interruptions or malfunctions. Therefore, effective methods for driving away or capturing animals are necessary. Summary of the Invention

[0003] This invention provides a substation animal intrusion prevention system and method, which realizes efficient identification, intelligent driving away 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, a substation animal intrusion prevention system is provided, comprising:

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

[0006] The recognition module includes multiple sound collectors and multiple 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 method when the animal invasion is determined based on the sound signal; when the animal invasion is determined based on the sound signal or the first driving method cannot drive away the animal, the control module determines the type of the invading animal based on the infrared signal and the distance between the invading animal and the substation equipment, determines the driving method based on the type of the invading animal and the distance between the invading animal and the substation equipment, and controls the driving module to drive away the animal according to the determined driving method.

[0008] The control module is also used to determine the escape path of the animal after it has been driven away based on the sound signal and infrared sensor, and to control the monitoring module to perform damage detection on the substation equipment along the escape path.

[0009] Optionally, the control module is used to: control the deflection module to play ultrasonic signals according to the type of intruding animal when it is determined from the sound signal that no animal has invaded or when the animal cannot be driven away by the first method of deflection; control the deflection module to play sound signals according to the type of intruding animal when the distance between the intruding animal and the substation equipment is less than a first preset distance; control the deflection module to play sound signals according to the type of intruding animal when the distance between the intruding animal and the substation equipment is greater than or equal to the first preset distance and less than a second preset distance; and capture the intruding animal by staff when the distance between the intruding animal and the substation equipment is greater than or equal to the second preset distance.

[0010] Optionally, the control module is used to determine the predicted movement trajectory of the invading animal based on the type 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 the trajectory prediction model based on the historical movement data of different types of animals; wherein, the historical movement data includes infrared thermal video data captured by infrared sensors after different types of animals invade the substation.

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

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

[0014] Ultrasonic detectors are used to emit ultrasonic signals at a set frequency to substation equipment, detect the ultrasonic signals reflected by the equipment, and determine whether there is blockage or damage to the equipment based on the reflected ultrasonic signals.

[0015] Optionally, the identification module also includes a ranging sensor, which measures the distance between the intruding animal and the ranging sensor, and sends the distance between the intruding animal and the ranging sensor to the control module.

[0016] The control module is used to determine the distance between the ranging sensor and the substation equipment based on the distance between the intruding animal and the ranging sensor, as well as the location of the ranging sensor.

[0017] Optionally, the ranging sensor may include an ultrasonic ranging sensor or a laser ranging 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 infrared sensor, so that the staff can assist the monitoring module in detecting damage to the substation equipment along the escape path.

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

[0020] When the control module determines that an animal has invaded based on the sound signal, it controls the driving module to drive the animal away in the first driving method. When it determines that no animal has invaded based on the sound signal or that the first driving method cannot drive the animal away, it determines the type of the invading animal based on the infrared signal and determines the distance between the invading animal and the substation equipment. Based on the type of the invading animal and the distance between the invading animal and the substation equipment, it determines the driving method and controls the driving module to drive the animal away according to the determined driving method.

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

[0022] The substation animal intrusion prevention system provided in this invention includes a control module, an identification module, a deflection module, and a monitoring module. The identification module includes multiple sound collectors and multiple infrared sensors. The sound collectors collect sound and transmit the collected sound signals to the control module. The infrared sensors collect infrared images and transmit the collected infrared images to the control module. When an animal intrusion is determined based on the sound signals, the control module controls the deflection module to drive the animal away using a first deflection method, effectively preventing the animal from further approaching the substation equipment and reducing the risk of equipment damage. When no animal intrusion is determined based on the sound signals, or when the first deflection method fails to drive the animal away, the system determines the type of intruding animal based on the infrared signals and the distance between the intruding animal and the substation equipment. Based on the type of intruding animal and the distance, a deflection method is determined, and the deflection module is controlled to drive the animal away according to the determined method. This efficient identification and intelligent deflection ensures the effectiveness and targeted nature of the deflection measures, reducing unnecessary harm to the animals. The control module is also used to determine the animal's escape path based on the infrared images captured by the infrared sensors after the animal has been driven away, based on sound signals and infrared sensors. The control monitoring module then performs damage detection on substation equipment along the escape path, helping to promptly detect and address potential equipment damage caused by animal intrusion and preventing potential safety hazards. This achieves efficient identification, intelligent deportation, and preventative damage detection of animal intrusion behavior, considering the intrusion situation from multiple perspectives. It effectively drives away small animals while reducing harm to staff, avoiding power accidents such as short circuits and tripping due to equipment failure, and further ensuring the stable operation of the substation.

[0023] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0026] Figure 2 This is a flowchart of a method for preventing animal intrusion into a substation, provided by an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] This invention provides a substation animal intrusion prevention system. Figure 1 This is a schematic diagram of a substation animal intrusion prevention system provided in an embodiment of the present invention. (Refer to...) Figure 1 The substation animal intrusion prevention system includes:

[0030] Control module 10, identification module 20, driving away module 30 and monitoring module 40;

[0031] The identification module 20 includes multiple sound collectors and multiple 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 driving module 30 to drive away the animal in a first driving method when the animal invasion is determined based on the sound signal; when the animal invasion is determined based on the sound signal or the first driving method cannot drive away the animal, the control module 10 determines the type of the invading animal based on the infrared signal and the distance between the invading animal and the substation equipment, determines the driving method based on the type of the invading animal and the distance between the invading animal and the substation equipment, and controls the driving module 30 to drive away the animal according to the determined driving method.

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

[0034] A sound acquisition device is a device used to capture and convert sound signals. It collects sound through a microphone or other sound sensor and converts the sound wave signal into an electrical signal for processing, storage, or transmission. An infrared sensor is a measurement system that uses infrared light as a medium and utilizes the physical properties of infrared light for data processing.

[0035] The identification module 20 contains multiple sound collectors and multiple infrared sensors that collect sound signals and infrared images from the substation. These collectors and sensors are distributed throughout the substation. When an animal intrudes, sound signals and infrared images are collected at each location, and then transmitted to the control module 10 for processing and analysis. When the intruding animal is close to the substation equipment, both the sound collectors and infrared sensors can detect it; when the animal is far away, the sound collectors cannot detect the sound, but the infrared sensors can detect the infrared image. Through the cooperation of these two types of sensors, rapid detection of animal intrusions is achieved.

[0036] The first form of deterrence refers to the initial deterrence measures taken when the system initially determines that an animal has invaded through sound signals. For example, the first form of deterrence may include, but is not limited to, sound deterrence, light deterrence, or scent deterrence. The animal category is determined by extracting features from images collected by infrared sensors, obtaining image features, and then inputting these image features into an animal recognition model for identification. This animal recognition model is pre-trained on a neural network model based on animal image samples and their corresponding categories.

[0037] Specifically, when the control module 10 determines that an animal has invaded based on the sound signal, it first controls the deflection module 30 to initially drive the animal away using a first deflection method. The control module 10 continuously monitors the sound signal. If the sound signal weakens or disappears, it may indicate that the animal has been successfully driven away initially. If the sound signal still exists or strengthens, it may indicate that the initial deflection of the animal has not been successful. The control module 10 will then further analyze the infrared images collected by the infrared sensor. The infrared images are used to identify the type of invading animal and the distance between the invading animal and the substation equipment. Based on the type of invading animal and the distance between the invading animal and the substation equipment, the control module 10 selects an appropriate deflection method and controls the deflection module 30 to drive the animal away.

[0038] The escape route refers to the path an animal chooses to escape the substation after being detected and driven away by the intrusion prevention system. For example, substation equipment along the escape route may include cable trenches, ventilation openings, and gaps in doors and windows inside the substation.

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

[0040] The substation animal intrusion prevention system provided in this embodiment of the invention includes a control module 10, an identification module 20, a deflection module 30, and a monitoring module 40. The identification module 20 includes multiple sound collectors and multiple infrared sensors. The sound collectors collect sound and transmit the collected sound signals to the control module 10. The infrared sensors collect infrared images and transmit the collected infrared images to the control module 10. When an animal intrusion is determined based on the sound signals, the control module 10 controls the deflection module 30 to deflect the animal using a first deflection method, effectively preventing the animal from further approaching the substation equipment and reducing the risk of equipment damage. When no animal intrusion is determined based on the sound signals or the first deflection method fails to drive the animal away, the system determines the type of intruding animal based on the infrared signals and the distance between the intruding animal and the substation equipment. Based on the type of intruding animal and the distance between the intruding animal and the substation equipment, a deflection method is determined, and the deflection module 30 is controlled to deflect the animal according to the determined deflection method. This efficient identification and intelligent deflection ensures the effectiveness and targeting of the deflection measures and reduces unnecessary harm to the animals. The control module 10 is also used to determine the animal's escape path based on the infrared image captured by the infrared sensor after the animal has been driven away, based on the sound signal and infrared sensor. The control monitoring module 40 then performs damage detection on the substation equipment along the escape path, helping to promptly detect and address potential equipment damage caused by animal intrusion and preventing potential safety hazards. This achieves efficient identification, intelligent driving away, and preventative damage detection of animal intrusion behavior, considering the intrusion situation from multiple perspectives. It effectively drives away small animals while reducing harm to staff, avoiding power accidents such as short circuits and tripping due to equipment failure, and further ensuring the stable operation of the substation.

[0041] Optionally, the control module 10 is used to: control the deflection module 30 to play an ultrasonic signal according to the type of intruding animal when it is determined from the sound signal that no animal has invaded or the animal cannot be driven away by the first method of deflection; control the deflection module 30 to play an sound signal according to the type of intruding animal when the distance between the intruding animal and the substation equipment is less than a first preset distance; control the deflection module 30 to play an sound signal according to the type of intruding animal when the distance between the intruding animal and the substation equipment is greater than or equal to the first preset distance and less than a second preset distance; and capture the intruding animal by staff when the distance between the intruding animal and the substation equipment is greater than or equal to the second preset distance.

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

[0043] Specifically, when the control module 10 determines that no animal has invaded or that the first method of driving away the animal fails based on the sound signal, if the distance between the invading animal and the substation equipment is less than the first preset distance, it indicates that the animal and the equipment are very close. 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 indicates that the animal and the equipment are at a certain distance. The system controls the driving module 30 to play the calls of the animal's natural enemies to drive away the animal, or to play a specific warning sound that such animals will emit when threatened, so that the animal will think there is danger and leave. If the distance between the invading animal and the substation equipment is greater than or equal to the second preset distance, it indicates that the animal is far from the substation equipment. The system directly notifies the maintenance personnel 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 type 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] The trajectory prediction model is obtained by training machine learning models, such as random forests, support vector machines, and neural networks, on training data, and then validating the trained models. Predicting a movement trajectory refers to the path that the trajectory prediction model calculates based on the input data, indicating the possible future movement of the animal.

[0046] Specifically, when the distance between the invading animal and the substation equipment is greater than or equal to a second preset distance, the coordinates of the substation equipment and the animal's position are input into the trajectory prediction model to obtain the animal's predicted movement trajectory. Staff then place trapping tools along the predicted trajectory to intelligently capture the animal.

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

[0048] This process involves analyzing historical movement data collected from substations to understand the movement habits and preferred paths of various animals. Animals with similar habits and preferred paths are grouped into a single category. For example, among animals A, B, C, D, and E, animals A, B, and D are classified as category one, while animals C and D are classified as category two. The number of categories is determined based on a similarity score. For each category, historical video footage (historical movement data) is obtained. The coordinates of the substation equipment, the coordinates of a specific frame of the animal within the historical video, and the animal's escape path are determined from the historical video. This data is used as training data. The coordinates of the substation equipment and the coordinates of a specific frame of the animal within the historical video are used as input to a machine learning model to predict the animal's trajectory. The parameters of the machine learning model are optimized based on the difference between the predicted trajectory and the escape path. Finally, the trajectory prediction model for that category is output.

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

[0050] For example, the warning sound can 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] Ultrasonic detectors are used to emit ultrasonic signals at a set frequency to substation equipment, detect the ultrasonic signals reflected by the equipment, and determine whether there is blockage or damage to the equipment based on the reflected ultrasonic signals.

[0053] An ultrasonic detector is a device that uses ultrasonic waves for detection and measurement. It emits ultrasonic pulses towards a target object and receives the signals reflected back from the object's surface or interior. Based on the characteristics of these signals, it analyzes and determines the relevant parameters or state of the target object.

[0054] Specifically, the ultrasonic detector emits ultrasonic signals to the substation equipment at a set frequency. These signals penetrate the surface of the equipment and encounter internal structures or obstacles. When the ultrasonic signals encounter internal structures, blockages, or damaged parts of the equipment, they are reflected. The ultrasonic detector receives the reflected ultrasonic signals and accurately converts them into electrical signals for subsequent processing. The time delay and intensity changes of the signals are analyzed to determine whether there are blockages or damages in key locations inside the cables or equipment.

[0055] Optionally, the identification module 20 also includes a ranging sensor, which measures the distance between the intruding animal and the ranging sensor, and sends the distance between the intruding animal and the ranging sensor to the control module.

[0056] The control module 10 is used to determine the distance between the ranging sensor and the substation equipment based on the distance between the invading animal and the ranging sensor, as well as the location of the ranging sensor.

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

[0058] Optionally, the ranging sensor may include an ultrasonic ranging sensor or a laser ranging 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 infrared sensor, so that the staff can assist the monitoring module 40 in detecting damage to the substation equipment along the escape path.

[0060] Specifically, after the control module 10 determines that the animal has been driven away based on the sound signal and infrared sensor, it determines the animal's escape path based on the tracking data from the infrared sensor and the substation layout diagram. This escape path information is then sent to the staff. Upon receiving the escape path information, the staff uses an ultrasonic transmitter to inspect cables and gaps along the animal's trajectory. The ultrasonic transmitter emits ultrasonic signals of a specific frequency. During propagation, these ultrasonic signals undergo reflection, refraction, and scattering when encountering different media (such as sealing materials or air gaps). The ultrasonic sensor is specifically responsible for capturing the reflected signals and accurately converting them into electrical signals for subsequent processing. Analyzing the signal's time delay and intensity changes determines whether there are blockages or damage at critical locations inside the cables or equipment. The dual inspection by staff and the monitoring module 40 allows for comprehensive inspection of equipment in every corner, ensuring the safe operation of the substation. This embodiment of the invention first determines the initial method of driving away the small animal based on sound, and then further determines the method based on the type of small animal and its distance from the equipment. It considers the animal's intrusion from multiple angles, effectively driving away the small animal while minimizing harm to staff. Furthermore, models can be used to predict the movement trajectories of small animals, enabling intelligent capture of them. Ultrasonic technology can be used to determine whether there are blockages or damage in critical locations inside cables or equipment.

[0061] This invention also provides a method for preventing animal intrusion into substations. Figure 2 This is a flowchart of a method for preventing animal intrusion into a substation, provided by an embodiment of the present invention. (Refer to...) Figure 2 Methods for preventing animal intrusion into substations include:

[0062] S110. When the control module determines that an animal has invaded based on the sound signal, it controls the driving module to drive the animal away in the first driving method. When it determines that no animal has invaded based on the sound signal or that the animal cannot be driven away in the first driving method, it determines the type of the invading animal based on the infrared signal and determines the distance between the invading animal and the substation equipment. Based on the type of the invading animal and the distance between the invading animal and the substation equipment, it determines the driving method and controls the driving module to drive the animal away according to the determined driving method.

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

[0064] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0065] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A substation animal intrusion prevention system, characterized in that, include: Control module, identification module, deflection module, and monitoring module; The identification module includes multiple sound collectors and multiple 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 method when an animal invasion is determined based on the sound signal; when no animal invasion is determined based on the sound signal or the first driving method cannot drive away the animal, the module determines the type of the invading animal based on the infrared signal and the distance between the invading animal and the substation equipment, determines the driving method based on the type of the invading animal and the distance between the invading animal and the substation equipment, and controls the driving module to drive away the animal according to the determined driving method; wherein, the animal type is obtained by extracting features from the image collected by the infrared sensor, and the image features are input into the animal recognition model for recognition; the animal recognition model is obtained by training a neural network model based on animal image samples and corresponding types; The control module is also used to determine the animal's escape path based on the infrared image captured by the infrared sensor after the animal is driven away according to the sound signal and the infrared sensor, and to control the monitoring module to perform damage detection on the substation equipment along the escape path. The control module is used to: when it is determined from the sound signal that no animal has invaded or the animal cannot be driven away by the first method of driving it away; when the distance between the invading animal and the substation equipment is less than a first preset distance, control the driving 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 driving module to play an sound signal according to the type of the invading animal; and when the distance between the invading animal and the substation equipment is greater than or equal to the second preset distance, have it captured by staff. The control module is used to determine the predicted movement trajectory of the invading animal based on the type 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. The control module is used to determine the trajectory prediction model based on the historical movement data of different types of animals; wherein, the historical movement data includes infrared thermal video data captured by infrared sensors after different types of animals invade the substation.

2. The substation animal intrusion prevention system according to claim 1, characterized in that: The first method of driving them away is to play a warning sound.

3. 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 emit 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.

4. The substation animal intrusion prevention system according to claim 1, characterized in that: The identification module also includes a distance sensor, which is used to measure the distance between the intruding animal and the distance sensor, and sends the distance between the intruding animal and the distance sensor to the control module; The control module is used to determine the distance between the ranging sensor and the substation equipment based on the distance between the invading animal and the ranging sensor, as well as the location of the ranging sensor.

5. The substation animal intrusion prevention system according to claim 4, characterized in that: The ranging sensor includes an ultrasonic ranging sensor or a laser ranging sensor.

6. 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 along the escape path.

7. A method for preventing animal intrusion into a substation, characterized in that, The method is performed by the substation animal intrusion prevention system according to any one of claims 1-6, and the method includes: When the control module determines that an animal has invaded based on the sound signal, it controls the driving module to drive the animal away in a first driving method. When it determines that no animal has invaded based on the sound signal or that the first driving method cannot drive the animal away, it determines the type of the invading animal based on the infrared signal and the distance between the invading animal and the substation equipment. Based on the type of the invading animal and the distance between the invading animal and the substation equipment, it determines the driving method and controls the driving module to drive the animal away according to the determined driving method. The control module determines the animal's escape path based on the sound signal and infrared sensor after the animal is driven away, and then determines the animal's escape path based on the infrared image captured by the infrared sensor. The control monitoring module then performs damage detection on the substation equipment along the escape path.

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