Wild animal prevention and control method, device and equipment for transformer substation and storage medium

Abstract

The invention relates to the technical field of wildlife prevention and control, in particular to a transformer substation wildlife prevention and control method, device and equipment and a storage medium, and the transformer substation wildlife prevention and control method comprises the steps of obtaining a shot image of a first monitoring device to recognize a target wildlife, and outputting unmanned aerial vehicle guide prevention and control information; outputting shooting starting information of the second monitoring device and the third monitoring device according to the current position of the target wild animal; acquiring shot images of the second monitoring device and the third monitoring device to recognize target wild animals, and outputting expelling prevention and control information; each monitoring device is provided with a visible light camera and an infrared camera. Wild animals are recognized through monitoring images located on the outer circle of the transformer substation, food guides most of the wild animals to get away, then a small part of the wild animals are driven to get away through sounds, finally individual wild animals are forced to get away through smells, automatic recognition is achieved, expelling in different modes at different positions is carried out, and the casualty probability caused when the wild animals enter the transformer substation is small.

Description

Technical Field

[0001] The present invention relates to the field of wildlife prevention and control, and in particular to a method, device, equipment and storage medium for wildlife prevention and control in a substation. Background Art

[0002] A substation is a location in a power system where voltage and current are transformed, and where electrical energy is received and distributed. Its primary function is to reduce the voltage of high-voltage electricity from transmission lines using transformers and other equipment, so that it can be distributed to distribution lines for consumption.

[0003] Substations built within wildlife reserves are complex projects involving both ecological protection and energy supply. To prevent wildlife from entering and potentially causing electrocution, barriers are typically installed around the substations to prevent them from approaching. However, these barriers can corrode over time, creating holes that can still cause wildlife to enter and pose a risk. Therefore, a method for automatically identifying and repelling wildlife is urgently needed to reduce casualties. Summary of the Invention

[0004] The purpose of the present invention is to provide a method, device, equipment and storage medium for the prevention and control of wild animals in substations, which can automatically identify wild animals around the substation and select different expulsion methods to keep wild animals away from the substation according to their location. The probability of wild animals entering the substation causing casualties is small, and there is no need for staff to frequently inspect whether the baffles are damaged. It can be unmanned and effectively expel wild animals, with high efficiency and high safety for staff.

[0005] In a first aspect, an embodiment of the present invention provides a method for preventing and controlling wild animals in a substation, the method comprising:

[0006] Obtaining images captured by the first monitoring device to identify target wildlife and outputting drone guidance and prevention information;

[0007] Outputting shooting start information of the second monitoring device and the third monitoring device according to the current location of the target wild animal;

[0008] Obtaining images captured by the second monitoring device and the third monitoring device to identify target wild animals and output expulsion and prevention information;

[0009] The third monitoring device comprises a plurality of third monitoring sub-devices arranged at the boundary of the enclosed area of the transformer substation, the second monitoring device comprises a plurality of second monitoring sub-devices at a first preset distance from the third monitoring device, and the first monitoring device comprises a plurality of first monitoring sub-devices at a second preset distance from the second monitoring device; the first monitoring sub-device, the second monitoring sub-device and the third monitoring sub-device are provided with visible light cameras and infrared cameras.

[0010] In an embodiment, the photographed image of the first monitoring device is acquired to identify the target wild animals, and the UAV guidance prevention information is output, specifically including:

[0011] The photographed image of the first monitoring sub-device is acquired to identify the target number of the target wild animals, and the target number is compared with the first preset number;

[0012] If the target number is less than the first preset number, a first UAV guidance route is identified, and the first UAV guidance prevention information is output according to the first UAV guidance route;

[0013] If the target number is greater than or equal to the first preset number, a second UAV guidance route is identified, and the second UAV guidance prevention information is output according to the second UAV guidance route.

[0014] In an embodiment, the first UAV guidance route is identified, and the first UAV guidance prevention information is output according to the first UAV guidance route, specifically including:

[0015] A first connection line segment of the first monitoring sub-device and the target wild animals is constructed;

[0016] A first extension line segment of the first connection line segment in a direction away from the first monitoring sub-device by a first threshold distance is identified as the first UAV guidance route.

[0017] In an embodiment, the second UAV guidance route is identified, and the second UAV guidance prevention information is output according to the second UAV guidance route, specifically including:

[0018] A second connection line segment of the first monitoring sub-device and a center point of the enclosed area of the transformer substation is constructed;

[0019] Two first target line segments having a preset angle with the second connection line segment and extending by a second threshold distance away from the first monitoring sub-device are identified as the second UAV guidance route.

[0020] In an embodiment, according to the current position of the target wild animals, the opening shooting information of the second monitoring device and the third monitoring device is output, specifically including:

[0021] A first target distance between the target wild animals and the first monitoring sub-device is acquired and compared with a third preset distance;

[0022] If the first target distance is less than the third preset distance, the opening shooting information is output to the visible light camera and the infrared camera of the second monitoring sub-device;

[0023] A second target distance between the target wild animal and the second monitoring sub-device is obtained, and compared with a fourth preset distance;

[0024] If the second target distance is less than the fourth preset distance, the opening shooting information is output to the visible light camera and the infrared camera of the third monitoring sub-device.

[0025] In an embodiment, the shooting image of the second monitoring device and the third monitoring device is obtained to identify the target wild animal, specifically including:

[0026] When one image captured by the infrared camera or the visible light camera of the second monitoring sub-device is obtained, the first rotating shooting information of the infrared camera or the visible light camera of the first monitoring sub-device is output;

[0027] When no image captured by the infrared camera and the visible light camera of the second monitoring sub-device is obtained, the second rotating shooting information of the infrared camera and the visible light camera of the first monitoring sub-device is output;

[0028] When one image captured by the infrared camera or the visible light camera of the third monitoring sub-device is obtained, the third rotating shooting information of the infrared camera or the visible light camera of the second monitoring sub-device is output;

[0029] When no image captured by the infrared camera and the visible light camera of the third monitoring sub-device is obtained, the fourth rotating shooting information of the infrared camera and the visible light camera of the second monitoring sub-device is output.

[0030] In an embodiment, the method further includes:

[0031] When the image recognition results of the infrared camera and the visible light camera of each monitoring sub-device are consistent, the identified target wild animal species is output.

[0032] In a second aspect, an embodiment of the present application provides a substation wild animal control device, including a module for executing the substation wild animal control method as described in the first aspect, the substation wild animal control device includes an acquisition and identification module, a shooting opening output module, and an identification output module, wherein,

[0033] The acquisition and identification module is configured to acquire the shooting image of the first monitoring device to identify the target wild animal, and output the unmanned aerial vehicle guidance control information.

[0034] The photographing opening output module is configured to output opening photographing information of the second monitoring device and the third monitoring device according to the current position of the target wild animal.

[0035] The identification output module is configured to identify the target wild animal from photographing images of the second monitoring device and the third monitoring device, and output the repelling prevention information.

[0036] The third monitoring device comprises a plurality of third monitoring sub-devices arranged at the boundary of the enclosed area of the transformer substation, the second monitoring device comprises a plurality of second monitoring sub-devices at a first preset distance from the third monitoring device, and the first monitoring device comprises a plurality of first monitoring sub-devices at a second preset distance from the second monitoring device.

[0037] In a third aspect, an embodiment of the present application provides a transformer substation wild animal prevention device, comprising a processor, a user interface and a memory, the processor, the user interface and the memory are connected to each other, wherein the memory is configured to store a computer program, the computer program comprises program instructions, the processor is configured to invoke the program instructions, and execute the transformer substation wild animal prevention method of any one of the first aspect.

[0038] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium stores a computer program, the computer program comprises program instructions, and the program instructions, when executed by a processor, cause the processor to execute the transformer substation wild animal prevention method of any one of the first aspect.

[0039] In the embodiment of the present application, the photographing images of the first monitoring device are acquired to identify the target wild animal, and the unmanned aerial vehicle guiding prevention information is output; the opening photographing information of the second monitoring device and the third monitoring device is output according to the current position of the target wild animal; the photographing images of the second monitoring device and the third monitoring device are acquired to identify the target wild animal, and the repelling prevention information is output; and the monitoring devices are all provided with visible light cameras and infrared cameras. The wild animals are identified from the monitoring images located outside the transformer substation, most of the wild animals are guided to move away by food, a small part of the wild animals are driven to move away by sound, and finally individual wild animals are forced to move away by smell. The wild animals are automatically identified and repelled in different ways at different positions, and the probability of injury and death of the wild animals is relatively small. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0041] Figure 1 is a flowchart of the substation wild animal prevention method provided by an embodiment of the present application;

[0042] Figure 2 is a flowchart of S101 provided by an embodiment of the present application;

[0043] Figure 3 is a flowchart of S101 provided by another embodiment of the present application;

[0044] Figure 4 is a flowchart of S102 provided by an embodiment of the present application;

[0045] Figure 5 is a flowchart of S103 provided by an embodiment of the present application;

[0046] Figure 6 is a structural schematic diagram of a substation wild animal prevention device provided by an embodiment of the present application;

[0047] Figure 7 is a structural schematic diagram of a substation wild animal prevention device provided by an embodiment of the present application;

[0048] Figure 8 is an example diagram provided by the present application.

[0049] Figure 9 is a structural schematic diagram of a monitoring device provided by the present application.

[0050] In the figure: 400 is a substation wild animal prevention device, 401 is an acquisition and identification module, 402 is a shooting opening output module, 403 is an identification output module, 600 is a substation wild animal prevention device, 601 is a processor, 602 is a memory, 603 is a user interface, 604 is a bus, 1 is a base, 2 is a connecting seat, 3 is an infrared camera, and 4 is a visible light camera. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0052] Please refer to Figure 1 , Figure 1It is a whole flowchart of a substation wild animal prevention method provided by an embodiment of the present application. Specifically, as shown in Figure 1 The substation wild animal prevention method can include the following steps.

[0053] S101, acquire the shooting image of the first monitoring device to identify the target wild animal, and output the UAV guidance prevention information.

[0054] In the first aspect, the third monitoring device includes a plurality of third monitoring sub-devices arranged at the boundary of the substation enclosed area, the second monitoring device includes a plurality of second monitoring sub-devices at a first preset distance from the third monitoring device, and the first monitoring device includes a plurality of first monitoring sub-devices at a second preset distance from the second monitoring device; the first monitoring sub-device, the second monitoring sub-device and the third monitoring sub-device are all provided with a visible light camera and an infrared camera. That is, the distance between each first monitoring sub-device and the corresponding second monitoring sub-device is the same. The distance between each second monitoring sub-device and the corresponding third monitoring sub-device is the same. The third monitoring device, the second monitoring device and the first monitoring device are expanded from inside to outside, including the substation, and the wild animal identification monitoring is carried out in multiple positions in each place of the substation enclosed area, so that the monitoring range is wide and the accuracy is high.

[0055] Specifically, the first monitoring device is arranged at the outer ring of the enclosed area of the transformer substation and includes a plurality of first monitoring sub-devices. Each first monitoring sub-device is provided with a visible light camera and an infrared camera. The visible light camera and the infrared camera of the same first monitoring sub-device capture the same monitoring picture. When the image recognition results of the infrared camera and the visible light camera of the same first monitoring sub-device are consistent, the recognized target wild animal species is output. Specifically, the acquired infrared image and visible light image are preprocessed, including denoising, contrast enhancement, color balance adjustment, etc., to improve the image quality and facilitate subsequent identification and analysis. The feature information of the wild animal, such as shape, texture, color, etc., is extracted from the preprocessed image. These feature information will be used for subsequent category identification. Machine learning or deep learning algorithm is used to classify and identify the extracted features. For infrared light and visible light images, two models can be trained respectively for identification, or a fusion model can be designed to identify the image features of the two types of light at the same time. The classification and identification results of the infrared light and visible light images are compared to determine the consistency of the wild animal category. If the identification results of the two types of light are consistent, it is considered that the identification result is reliable, and the target wild animal species is output. The visible light camera and the infrared camera of the first monitoring sub-device are both directed towards the side away from the transformer substation, i.e. capturing images located far away from the transformer substation, for judging whether the wild animal moves towards the transformer substation. If the target wild animal appears, the unmanned aerial vehicle is used to carry food to guide the wild animal to move away from the transformer substation, so as to avoid the target wild animal entering the transformer substation, realize automatic identification and food guiding and driving away of the wild animal regardless of whether the baffle is damaged or not, reduce the probability of the wild animal approaching and entering the enclosed area of the transformer substation, and reduce the probability of the conflict between the staff and the wild animal. The unmanned aerial vehicle is located in the wild animal management station near the transformer substation, and the staff of the management station places the food that the wild animal likes on the unmanned aerial vehicle. The wild animal management station is located away from the transformer substation where there is no noise and radiation. When one of the images captured by the infrared camera or the visible light camera of the first monitoring sub-device is acquired, the information of the standby shooting unmanned aerial vehicle is output to the first monitoring sub-device. When the images captured by the infrared camera and the visible light camera of the first monitoring sub-device are not acquired, the information of the standby shooting unmanned aerial vehicle is output to the first monitoring sub-device. That is, when the infrared camera and / or the visible light camera fails, the standby shooting unmanned aerial vehicle provided with the infrared camera and the visible light camera can be used to replace the failed first monitoring sub-device, so as to avoid missing identification of the wild animal and failure to guide and drive away the wild animal, thereby avoiding danger in the transformer substation.

[0056] The first embodiment of the first aspect is described below Figure 2, acquire a shooting image of the first monitoring sub-device, identify a target number of the target wild animal, and compare the target number with a first preset number; if the target number is less than the first preset number, identify a first unmanned aerial vehicle guide route, and output first unmanned aerial vehicle guide prevention and control information according to the first unmanned aerial vehicle guide route; specifically, a first connection line segment of the first monitoring sub-device and the target wild animal is constructed; a first threshold distance of an extension line segment of the first connection line segment in a direction away from the first monitoring sub-device is identified as the first unmanned aerial vehicle guide route. The first preset number is two, and the first threshold distance is the shortest distance away from the transformer substation without electromagnetic radiation and noise. When the first monitoring sub-device shooting image identifies only one wild animal, the wild animal species is identified, the favorite food of the target wild animal is learned based on a wild animal database, an unmanned aerial vehicle carrying such food in a wild animal management station flies according to the first unmanned aerial vehicle guide route, and guides the target wild animal away from the transformer substation. For example, please refer to Figure 8 , Q is the center point of the transformer substation; A1, A2, A3, A4, A5, and A6 are third monitoring devices; B1, B2, B3, B4, B5, and B6 are second monitoring devices; C1, C2, C3, C4, C5, and C6 are first monitoring devices. The shooting image of the first monitoring sub-device C1z identifies one white-lipped deer X, the first line segment C1zX is constructed, when the distance X is 100 meters and the position away from C1z is D, the first threshold distance is 100 meters, and the first unmanned aerial vehicle guide route is XD. Based on the wild animal database, it is known that white-lipped deer mainly eat herbaceous plants such as alfalfa and astragalus. Therefore, the unmanned aerial vehicle carries food with the taste of astragalus and moves along the XD route to guide the white-lipped deer to move away from C1z in the direction of X, so that the white-lipped deer moves away from the transformer substation.

[0057] In the second implementation of the first aspect, the photographed images of the second monitoring device and the third monitoring device are used to identify the target wild animals, and if the number of the target wild animals is greater than or equal to the first preset number, the second UAV guiding route is identified, and the second UAV guiding and preventing information is output according to the second UAV guiding route. Specifically, a second connection line segment between the first monitoring sub-device and the center point of the enclosed area of the substation is constructed, and two first target line segments that have a preset angle with the second connection line segment and extend a second threshold distance away from the first monitoring sub-device are identified as the second UAV guiding route. When the number of the target wild animals is two or more, if only one UAV is used to guide the wild animals to move away from the substation in one direction by carrying food, the two or more wild animals will gather together to fight for the food, resulting in attacks among the wild animals and thus causing injuries and deaths of the wild animals. Therefore, when the number of the wild animals is two or more, two UAVs are used to guide the wild animals to move in two directions, so that the wild animals are dispersed, and the fighting for food is avoided. The second threshold distance and the preset angle are set to increase the distance between the target wild animals, reduce the probability that one target wild animal eats the food and then quickly moves to another target wild animal to fight for the food, and increase the distance from the substation, so that the target wild animals do not quickly move close to the substation, and other target wild animals do not move close to the substation, and the number of the UAVs is sufficient. An example is given. The second threshold distance is 60 meters, the preset angle is 45°, the image photographed by the first monitoring sub-device C2z identifies three Tibetan antelopes Y1, Y2 and Y3, the second connection line segment is QC2z, two first target line segments that have the preset angle 45° with the second connection line segment QC2z and extend the second threshold distance 60 meters away from the first monitoring sub-device C2z are C2zN1 and C2zN2, one UAV carries the food that the Tibetan antelopes like and guides Y1 and Y2 to move away from the substation along the second UAV guiding route C2zN1, and the other UAV carries the food that the Tibetan antelopes like and guides Y3 to move away from the substation along the second UAV guiding route C2zN2, so that the fighting for food is avoided.

[0058] In the specific implementation of the first implementation and the second implementation, please refer to Figure 3, obtain the target quantity of the identified target wild animals, and compare the target quantity with a second preset quantity; if the target quantity is greater than the second preset quantity, a third threshold distance of a second target line segment of a preset number of equal angles is constructed as a third UAV guiding route, starting from a scattered point, which is located on an extension line of the second connecting line segment and has a fourth threshold distance from the first monitoring sub-device, and the second preset quantity is greater than the first preset quantity. When the quantity of the target wild animals is large and the food stealing probability is high, if the guiding distance is short, the food stealing risk is high, and the wild animals will stay in the substation for a long time to attack, and the probability of being affected by the noise and radiation of the substation is large, therefore, first, part of the wild animals are guided to disperse along the two sides of the first monitoring sub-device, that is, to move along the direction of the second UAV guiding route, then part of the wild animals are guided to move to the extension line of the second connecting line segment, and finally part of the wild animals are guided to move in multiple directions, that is, to move to multiple third UAV guiding routes, for layer-by-layer dispersion. For example, the second preset quantity is 6, the fourth threshold distance is 50 meters, the scattered point is E, the third threshold distance is 30 meters, and the quantity of the identified target wild animals is 9; wherein, two wild animals are guided by two UAVs to move 60 meters in the directions of C2zN1 and C2zN2 respectively, and food that the wild animals like can be used for guidance. In addition, the other 7 wild animals are guided to move 50 meters along the C2zE route, and then move 30 meters in the directions of EM1, EM2, EM3, EM4, EM5, EM6 and EM7 respectively for dispersion. The wild animals are dispersed layer by layer and move in different directions, the food stealing probability is low, and the distance from the substation is getting farther and farther, and the safety is getting higher and higher.

[0059] In the above specific embodiment, the quantity of different species of the identified target wild animals is arranged in descending order, the quantity of the species corresponding to the target wild animal identification in the first place is selected as a high-risk wild animal, and the prevention and control information for guiding the high-risk wild animal according to the third UAV guiding route is output. When there are more wild animals, the quantity of one kind of wild animal is the largest, then the wild animals with the largest quantity are guided along the third UAV guiding route, that is, the wild animals with the largest quantity are guided to be farthest away from the substation position, so as to avoid that a large quantity of wild animals enter the substation at the same time and cause group electric shock and other dangers, and to avoid mass casualties of wild animals. For example, 7 antelopes and 2 leopards are identified, the antelope is a social animal and generally acts in groups, and the leopard is a solitary animal and generally acts alone, then the leopard is guided to move along the second UAV guiding route first, and then the antelope is guided to move along the third UAV guiding route, so that the antelope is far away from the substation and the group of antelopes is prevented from entering the substation to cause group casualty events.

[0060] S102, according to the current position of the target wild animals, output the opening shooting information of the second monitoring device and the third monitoring device.

[0061] In the second aspect, the second monitoring device and the third monitoring device are controlled to output the shooting information according to the position of the target wild animal between the first monitoring position and the second monitoring position and the position of the target wild animal away from the first monitoring position and towards the second monitoring position. When the target wild animal is not identified in the positions, the second monitoring position and the third monitoring position are in the closed shooting state, so that the energy can be saved. Only when the target wild animal is identified in the positions, the corresponding second monitoring device and / or the third monitoring device are in the open state to shoot.

[0062] In the first embodiment of the second aspect, please refer to Figure 4 , the first target distance between the target wild animal and the first monitoring sub-device is obtained, and compared with the third preset distance. If the first target distance is less than the third preset distance, the shooting information is output to the visible light camera and the infrared camera of the second monitoring sub-device. That is, the first monitoring device is in the open shooting state. When the first target distance between the target wild animal and the first monitoring sub-device is greater than or equal to the third preset distance, the second monitoring sub-device is in the closed state, so that the energy can be saved. Only when the target wild animal is about to enter the shooting range of the second monitoring sub-device, that is, when the first target distance is less than the third preset distance, the shooting function of the visible light camera and the infrared camera of the second monitoring sub-device is opened in advance. The third preset distance is 2 meters.

[0063] In the second embodiment of the second aspect, the second target distance between the target wild animal and the second monitoring sub-device is obtained, and compared with the fourth preset distance. If the second target distance is less than the fourth preset distance, the shooting information is output to the visible light camera and the infrared camera of the third monitoring sub-device. That is, the third monitoring sub-device is in the closed state, so that the energy can be saved. Only when the target wild animal is about to enter the shooting range of the third monitoring sub-device, that is, when the second target distance is less than the fourth preset distance, the shooting function of the visible light camera and the infrared camera of the third monitoring sub-device is opened in advance. The third preset distance is 2 meters. The resources are saved, and the wild animal can be accurately identified, so that the corresponding guiding and driving away can be realized. For example, after the above food guiding, most of the target wild animals have been away from the substation. A small part of the wild animals are not tempted by the food guiding to enter a place 1 meter away from the first monitoring sub-device C6z, that is, to enter the monitoring range of the second monitoring sub-device B6z. The first monitoring sub-device C6z cannot shoot the wild animal, so the second monitoring sub-device B6z opens the shooting function.

[0064] In S103, the shooting image of the second monitoring device and the third monitoring device is obtained to identify the target wild animal, and the driving prevention information is output.

[0065] In the third aspect, please refer to Figure 9The first monitoring device, the second monitoring device and the third monitoring device each comprise a base 1, a connecting seat 2, an infrared camera 3 and a visible light camera 4. The connecting seat 2 is rotatably connected to the top of the base 1. The infrared camera 3 and the visible light camera 4 are rotatably connected to the two sides of the connecting seat 2, and are used to obtain infrared images and visible light images.

[0066] In the first embodiment of the third aspect, referring to Figure 5 When one image captured by the infrared camera or the visible light camera of the second monitoring sub-device is acquired, the first rotating capturing information of the infrared camera or the visible light camera of the first monitoring sub-device is output.

[0067] In the second embodiment of the third aspect, when the images captured by the infrared camera and the visible light camera of the second monitoring sub-device are not acquired, the second rotating capturing information of the infrared camera and the visible light camera of the first monitoring sub-device is output.

[0068] In the third embodiment of the third aspect, when one image captured by the infrared camera or the visible light camera of the third monitoring sub-device is acquired, the third rotating capturing information of the infrared camera or the visible light camera of the second monitoring sub-device is output.

[0069] The fourth implementation of the third aspect outputs the fourth rotating shooting information of the infrared camera and the visible light camera of the second monitoring sub-device when the images shot by the infrared camera and the visible light camera of the third monitoring sub-device are not acquired. That is, when the infrared camera and / or the visible light camera fails to shoot images, the image shooting can be performed by rotating the nearby infrared camera and / or the visible light camera, so as to avoid that no wild animals are shot and no corresponding guiding and driving away into the substation occurs. When the infrared camera fails, the corresponding infrared camera is rotated; when the visible light camera fails, the corresponding visible light camera is rotated; and when both the infrared camera and the visible light camera fail, the corresponding connecting seat 2 is rotated, so that both the infrared camera and the visible light camera are rotated. When the image recognition results of the infrared camera and the visible light camera of each monitoring sub-device are consistent, the recognized target wild animal species is output. The recognition method is as described in S101 above, and will not be described here. When the second monitoring sub-device recognizes the target wild animal, that is, a small part of wild animals are not tempted by food and follow the movement away from the substation, bypassing the first monitoring device and moving towards the substation, such wild animals may be just fed and have no desire to eat or the food carried by the unmanned aerial vehicle has no attraction to the wild animals. The second monitoring device is provided with a player, which uses a high-pitched or noisy device to make an animal-unpleasant sound, which is played from the player to drive them away. For example, a whistle is used to blow a high-decibel sound or high-decibel noise music is played. Some sounds that make animals feel threatened are played, so that the wild animals feel fear and leave, for example, the calls of predators are imitated or special drive devices are used to emit threatening sounds. The sound of wild animals can be recorded or generated by other means and played to drive animals away. For example, playing the calls of foxes, wolves or other predatory animals can make some animals feel uneasy and leave. The third monitoring device is provided with a smell spiller, which is provided with a smart repellent, which is a substance that can stimulate the sense of smell and taste of wild animals, cause animals to feel disgusted, disgusted, nauseated and produce physiological discomfort, so that they actively avoid it. The third monitoring device is arranged at the boundary of the enclosed area of the substation and is close to the substation. There is a certain electromagnetic radiation here, and wild animals exposed to the electromagnetic radiation environment for a long time may have physiological problems such as abnormal immune system and decreased reproductive capacity. These problems may lead to a decrease in the population of wild animals, further affecting the balance of the ecosystem. And in the periphery of the substation, the probability of wild animals being electrocuted when entering the substation is relatively large. Therefore, the smell is used to quickly drive away the wild animals and actively avoid and escape.

[0070] The substation wild animal prevention method provided by the application drives most wild animals to move away from the substation in the direction away from the substation through the food of the unmanned aerial vehicle when the first monitoring device detects the wild animals, a small part of wild animals enter the monitoring area of the second monitoring device, the image captured by the second monitoring device identifies the wild animals, the sound stimulation further drives the wild animals not attracted by the food to move away from the substation, the individual wild animals enter the monitoring area of the third monitoring device, the image captured by the third monitoring device identifies the wild animals, and the smell stimulation makes the wild animals voluntarily escape. Without the need for personnel to frequently patrol whether the baffle is damaged, the wild animals are automatically monitored and identified, and corresponding guidance and driving are performed, the probability of wild animal casualties is reduced, unattended is realized, comprehensive automatic identification and processing are realized, the labor cost is reduced, the event of attack between people and wild animals is reduced, and the safety of people and wild animals is ensured.

[0071] Please refer to Figure 6 , Figure 6 is a structural schematic diagram of a substation wild animal prevention device 400 provided by an embodiment of the application. The substation wild animal prevention device 400 of the embodiment of the application comprises a module for executing the substation wild animal prevention method described above. Specifically, the substation wild animal prevention device 400 of the embodiment of the application can comprise an acquisition and identification module 401, a photographing opening output module 402 and an identification output module 403, wherein

[0072] The acquisition and identification module 401 is configured to acquire the target wild animals identified by the photographing image of the first monitoring device and output the unmanned aerial vehicle guidance prevention information.

[0073] The photographing opening output module 402 is configured to output the opening photographing information of the second monitoring device and the third monitoring device according to the current position of the target wild animals.

[0074] The identification output module 403 is configured to acquire the target wild animals identified by the photographing image of the second monitoring device and the third monitoring device and output the driving prevention information.

[0075] The third monitoring device comprises a plurality of third monitoring sub-devices arranged at the boundary of the enclosed area of the substation, the second monitoring device comprises a plurality of second monitoring sub-devices at a first preset distance from the third monitoring device, and the first monitoring device comprises a plurality of first monitoring sub-devices at a second preset distance from the second monitoring device. The first monitoring sub-device, the second monitoring sub-device and the third monitoring sub-device are all provided with a visible light camera and an infrared camera.

[0076] In an embodiment, when the first monitoring device acquires the photographed image to identify the target wild animals and outputs the UAV guiding and prevention information, the acquisition and identification module 401 is specifically configured to: acquire the photographed image of the first monitoring sub-device, identify the target number of the target wild animals, and compare the target number with the first preset number;

[0077] If the target number is less than the first preset number, a first UAV guiding route is identified, and the first UAV guiding and prevention information is output according to the first UAV guiding route;

[0078] If the target number is greater than or equal to the first preset number, a second UAV guiding route is identified, and the second UAV guiding and prevention information is output according to the second UAV guiding route.

[0079] In an embodiment, when the first UAV guiding route is identified and the first UAV guiding and prevention information is output according to the first UAV guiding route; the identification of the first UAV guiding route and the output of the first UAV guiding and prevention information according to the first UAV guiding route are specifically configured to: construct a first connection line segment of the first monitoring sub-device and the target wild animals;

[0080] The first connection line segment is identified as the first UAV guiding route along an extension line segment of the first threshold distance away from the first monitoring sub-device.

[0081] In an embodiment, when the second UAV guiding route is identified and the second UAV guiding and prevention information is output according to the second UAV guiding route, the acquisition and identification module 401 is specifically configured to: construct a second connection line segment of the first monitoring sub-device and a center point of the substation enclosed area;

[0082] Two first target line segments with a preset angle from the second connection line segment and extending a second threshold distance away from the first monitoring sub-device are identified as the second UAV guiding route.

[0083] In an embodiment, when the second monitoring device and the third monitoring device are output to start photographing according to the current position of the target wild animals, the photographing start output module 402 is specifically configured to: acquire a first target distance between the target wild animals and the first monitoring sub-device, and compare the first target distance with a third preset distance;

[0084] If the first target distance is less than the third preset distance, the start photographing information is output to the visible light camera and the infrared camera of the second monitoring sub-device;

[0085] A second target distance between the target wild animals and the second monitoring sub-device is acquired, and compared with a fourth preset distance;

[0086] If the second target distance is less than the fourth preset distance, the start photographing information is output to the visible light camera and the infrared camera of the third monitoring sub-device.

[0087] In an embodiment, when the second monitoring device and the third monitoring device capture images to identify the target wild animal, the identification output module 403 is specifically configured to: when one image captured by the infrared camera or the visible light camera of the second monitoring device is acquired, output first rotation capturing information of the infrared camera or the visible light camera of the first monitoring device;

[0088] When no image captured by the infrared camera and the visible light camera of the second monitoring device is acquired, output second rotation capturing information of the infrared camera and the visible light camera of the first monitoring device;

[0089] When one image captured by the infrared camera or the visible light camera of the third monitoring device is acquired, output third rotation capturing information of the infrared camera or the visible light camera of the second monitoring device;

[0090] When no image captured by the infrared camera and the visible light camera of the third monitoring device is acquired, output fourth rotation capturing information of the infrared camera and the visible light camera of the second monitoring device.

[0091] In an embodiment, the acquisition and identification module 401 is further configured to: when the image identification results of the infrared camera and the visible light camera of each monitoring device are consistent, output the identified type of the target wild animal.

[0092] Specifically, the substation wild animal prevention device 400 can implement some or all steps of the substation wild animal prevention method in the above-described embodiments through the above-described modules. Figures 1 to 5 It should be understood that the embodiments of the present application are device embodiments corresponding to the method embodiments, and the description of the method embodiments also applies to the embodiments of the present application.

[0093] Please refer to Figure 7 , Figure 7 is a structural schematic diagram of a substation wild animal prevention device 600 provided by an embodiment of the present application. The substation wild animal prevention device 600 is configured to execute the above-described method. As shown in the figure, Figure 7 the substation wild animal prevention device 600 in the embodiment can include one or more processors 601 and memories 602. Optionally, the server can also include one or more user interfaces 603. The above-described processor 601, user interface 603 and memory 602 can be connected through a bus 604, or can be connected in other ways, Figure 7 which are exemplarily illustrated in a bus mode in the description.

[0094] The processor 601 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0095] The user interface 603 can be used for interaction of information or signaling, and reception and transmission of signals, and can include a receiver and a transmitter for communication with other devices. The memory 602 can mainly include a program storage area and a data storage area, where the program storage area can store an operating system and at least one function required by a storage program (such as a text storage function, a location storage function, etc.); the data storage area can store data (such as image data, text data) created according to the use of the server, and can include an application storage program, etc. In addition, the memory 602 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device.

[0096] The memory 602 is also used for storing program instructions. The processor 601 can call the program instructions stored in the memory 602 to realize the substation wild animal control method as shown in the embodiments of the present application.

[0097] The processor 601 can be used to call the program instructions to execute the following steps: acquiring a shooting image of the first monitoring device to identify a target wild animal, and outputting unmanned aerial vehicle guidance control information;

[0098] According to the current position of the target wild animal, the opening shooting information of the second monitoring device and the third monitoring device is outputted;

[0099] Acquiring a shooting image of the second monitoring device and the third monitoring device to identify a target wild animal, and outputting driving control information;

[0100] The third monitoring device includes a plurality of third monitoring sub-devices arranged at the boundary of the enclosed area of the transformer substation, the second monitoring device includes a plurality of second monitoring sub-devices at a first preset distance from the third monitoring device, and the first monitoring device includes a plurality of first monitoring sub-devices at a second preset distance from the second monitoring device; the first monitoring sub-device, the second monitoring sub-device and the third monitoring sub-device are provided with visible light cameras and infrared cameras.

[0101] In an embodiment, when the processor 601 is used to call the program instructions to execute the following steps: acquiring the shooting image of the first monitoring sub-device, identifying the target number of the target wild animals, and comparing the target number with the first preset number, in order to identify the first UAV guiding route and output the first UAV guiding prevention information according to the first UAV guiding route.

[0102] If the target number is less than the first preset number, the first UAV guiding route is identified, and the first UAV guiding prevention information is output according to the first UAV guiding route.

[0103] If the target number is greater than or equal to the first preset number, the second UAV guiding route is identified, and the second UAV guiding prevention information is output according to the second UAV guiding route.

[0104] In an embodiment, when the processor 601 is used to call the program instructions to execute the following steps: constructing the first connection line segment of the first monitoring sub-device and the target wild animals, in order to identify the first UAV guiding route and output the first UAV guiding prevention information according to the first UAV guiding route.

[0105] The first connection line segment is identified as the first UAV guiding route along the extension line segment of the first threshold distance away from the first monitoring sub-device.

[0106] In an embodiment, when the processor 601 is used to call the program instructions to execute the following steps: constructing the second connection line segment of the first monitoring sub-device and the center point of the enclosed area of the transformer substation, in order to identify the second UAV guiding route and output the second UAV guiding prevention information according to the second UAV guiding route.

[0107] The first target line segment with a preset angle from the second connection line segment and extending a second threshold distance away from the first monitoring sub-device is identified as the second UAV guiding route.

[0108] In an embodiment, when the processor 601 is used to call the program instructions to execute the following steps: acquiring the first target distance between the target wild animals and the first monitoring sub-device, and comparing the first target distance with the third preset distance, in order to output the shooting start information of the second monitoring device and the third monitoring device according to the current position of the target wild animals.

[0109] If the first target distance is less than the third preset distance, outputting start shooting information to the visible light camera and the infrared camera of the second monitoring sub-device;

[0110] obtaining a second target distance between the target wild animal and the second monitoring sub-device, and comparing the distance with a fourth preset distance;

[0111] If the second target distance is less than the fourth preset distance, the start-shooting information is output to the visible light camera and the infrared camera of the third monitoring sub-device.

[0112] In one embodiment, when obtaining images captured by the second monitoring device and the third monitoring device to identify target wildlife, the processor 601 may be configured to call the program instructions to execute the following steps: upon obtaining an image captured by the infrared camera or the visible light camera of the second monitoring device, outputting first rotational shooting information of the infrared camera or the visible light camera of the first monitoring device;

[0113] When the image captured by the infrared camera and the visible light camera of the second monitoring sub-device is not acquired, outputting the second rotation shooting information of the infrared camera and the visible light camera of the first monitoring sub-device;

[0114] When an image captured by the infrared camera or visible light camera of the third monitoring sub-device is acquired, third rotation shooting information of the infrared camera or visible light camera of the second monitoring sub-device is output;

[0115] When the images captured by the infrared camera and the visible light camera of the third monitoring sub-device are not acquired, the fourth rotation shooting information of the infrared camera and the visible light camera of the second monitoring device is output.

[0116] In one embodiment, the processor 601 may be configured to call the program instructions to execute the following steps: when the image recognition results obtained from the infrared camera and the visible light camera of each monitoring sub-device are consistent, output the identified target wildlife species.

[0117] In a specific implementation, the processor 601 described in the embodiment of the present invention can execute the above Figures 1 to 5 The implementation described in the method embodiment shown can also be used to implement the embodiment of the present invention. Figure 6 The implementation of each module described is not described here in detail.

[0118] The embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program can realize Figures 1 to 5 Part or all of the steps in the wild animal casualty risk assessment method described in the corresponding embodiment can also be used to implement the present invention. Figure 6The functions of the substation wild animal prevention device 400 of the illustrated embodiment can also be implemented by the substation wild animal prevention device 400 of the foregoing embodiments. Figure 7 The functions of the substation wild animal prevention device 600 of the illustrated embodiment are not described herein.

[0119] The computer readable storage medium can be an internal storage unit of the substation wild animal prevention device 400 or the substation wild animal prevention device 600, such as a hard disk or a memory of the substation wild animal prevention device 400 or the substation wild animal prevention device 600. The computer readable storage medium can also be an external storage device of the substation wild animal prevention device 400 or the substation wild animal prevention device 600, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like.

[0120] The embodiments of the present application also provide a computer program product containing instructions, which, when executed on a computer, cause the computer to perform some or all of the steps of the above method.

[0121] In the present application, the term "and / or" is merely used to describe an association relationship of associated objects, and indicates that there can be three relationships, for example, A and / or B can represent three cases of A alone, A and B together, and B alone. In addition, the character " / " in the present application generally represents an "or" relationship between the front and rear associated objects.

[0122] In various embodiments of the present application, the size of the serial number of each process does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0123] The above is only some embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A method for preventing and treating wild animals in a substation, characterized in that, The method comprises: acquiring a shooting image of the first monitoring device to identify the target wild animal and output unmanned aerial vehicle guidance prevention information; according to the current position of the target wild animal, outputting opening shooting information of the second monitoring device and the third monitoring device; acquiring a shooting image of the second monitoring device and the third monitoring device to identify the target wild animal and output driving prevention information; wherein the third monitoring device comprises a plurality of third monitoring sub-devices arranged at the boundary of the enclosed area of the transformer substation, the second monitoring device comprises a plurality of second monitoring sub-devices at a first preset distance from the third monitoring device, and the first monitoring device comprises a plurality of first monitoring sub-devices at a second preset distance from the second monitoring device; the first monitoring sub-device, the second monitoring sub-device and the third monitoring sub-device are all provided with a visible light camera and an infrared camera.

2. The substation wildlife control method of claim 1, wherein, acquiring a shooting image of the first monitoring device to identify the target wild animal and output unmanned aerial vehicle guidance prevention information, specifically comprising: acquiring a shooting image of the first monitoring sub-device, identifying the target number of the target wild animal, and comparing with the first preset number; if the target number is less than the first preset number, identifying a first unmanned aerial vehicle guidance route and outputting first unmanned aerial vehicle guidance prevention information according to the first unmanned aerial vehicle guidance route; if the target number is greater than or equal to the first preset number, identifying a second unmanned aerial vehicle guidance route and outputting second unmanned aerial vehicle guidance prevention information according to the second unmanned aerial vehicle guidance route.

3. The substation wildlife control method of claim 2, wherein, identifying the first unmanned aerial vehicle guidance route and outputting the first unmanned aerial vehicle guidance prevention information according to the first unmanned aerial vehicle guidance route, specifically comprising: constructing a first connection line segment between the first monitoring sub-device and the target wild animal; identifying an extension line segment of the first connection line segment by a first threshold distance away from the first monitoring sub-device as the first unmanned aerial vehicle guidance route.

4. The substation wildlife control method of claim 3, wherein, identifying the second unmanned aerial vehicle guidance route and outputting the second unmanned aerial vehicle guidance prevention information according to the second unmanned aerial vehicle guidance route, specifically comprising: constructing a second connection line segment between the first monitoring sub-device and the center point of the enclosed area of the transformer substation; identifying two first target line segments extending by a second threshold distance away from the first monitoring sub-device and having a preset angle with the second connection line segment as the second unmanned aerial vehicle guidance route.

5. The substation wildlife control method of claim 1, wherein, according to the current position of the target wild animal, outputting opening shooting information of the second monitoring device and the third monitoring device, specifically comprising: acquiring a first target distance between the target wild animal and the first monitoring sub-device and comparing with a third preset distance; if the first target distance is less than the third preset distance, outputting opening shooting information to the visible light camera and the infrared camera of the second monitoring sub-device; acquiring a second target distance between the target wild animal and the second monitoring sub-device and comparing with a fourth preset distance; if the second target distance is less than the fourth preset distance, outputting opening shooting information to the visible light camera and the infrared camera of the third monitoring sub-device.

6. The substation wildlife control method of claim 5, wherein, acquiring a shooting image of the second monitoring device and the third monitoring device to identify the target wild animal, specifically comprising: when acquiring one kind of image shot by the infrared camera or the visible light camera of the second monitoring sub-device, outputting first rotation shooting information of the infrared camera or the visible light camera of the first monitoring sub-device; When the images captured by the infrared camera and the visible light camera of the second monitoring sub-device are not acquired, the second rotation capturing information of the infrared camera and the visible light camera of the first monitoring sub-device is outputted; When one kind of image captured by the infrared camera or the visible light camera of the third monitoring sub-device is acquired, the third rotation capturing information of the infrared camera or the visible light camera of the second monitoring sub-device is outputted; When the images captured by the infrared camera and the visible light camera of the third monitoring sub-device are not acquired, the fourth rotation capturing information of the infrared camera and the visible light camera of the second monitoring sub-device is outputted.

7. The substation wildlife control method of claim 1, wherein, The method further comprises: When the image recognition results of the infrared camera and the visible light camera of each monitoring sub-device are consistent, the recognized target wild animal species is outputted.

8. A substation wildlife control apparatus, comprising: The substation wild animal control device comprises an acquisition and recognition module, a capturing opening output module and an identification output module, wherein, The acquisition and recognition module is configured to acquire the captured image of the first monitoring device, recognize the target wild animal, and output the unmanned aerial vehicle guidance control information; The capturing opening output module is configured to output the opening capturing information of the second monitoring device and the third monitoring device according to the current position of the target wild animal; The identification output module is configured to acquire the captured image of the second monitoring device and the third monitoring device, recognize the target wild animal, and output the driving control information; The third monitoring device comprises a plurality of third monitoring sub-devices arranged at the boundary of the substation enclosed area, the second monitoring device comprises a plurality of second monitoring sub-devices at a first preset distance from the third monitoring device, and the first monitoring device comprises a plurality of first monitoring sub-devices at a second preset distance from the second monitoring device; the first monitoring sub-device, the second monitoring sub-device and the third monitoring sub-device are all provided with a visible light camera and an infrared camera.

9. A substation wildlife control apparatus, comprising: The computer readable storage medium stores a computer program, and the computer program comprises program instructions; when the program instructions are executed by the processor, the processor executes the substation wild animal control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program comprises program instructions; when the program instructions are executed by the processor, the processor executes the substation wild animal control method according to any one of claims 1 to 7.

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