Research and Application of Intelligent Inspection De‍vices for Overcoming Obstacles in Substations

doi:10.3969/j.issn.1008-0198.2026.03.020

Abstract

Abstract: Substation inspection is an effective measure to ensure the safe operation of power equipment. The existing fixed monitoring, manual inspection and robot intelligent inspection methods have problems such as single monitoring indicators, high inspection work intensity and low efficiency, and limited inspection angles. In response to this, this paper develops an obstacle-crossing substation inspection device based on intelligent recognition technology. Firstly,the study designs the various hardware components that make up the intelligent inspection device.Secondly, the study provides a schematic diagram of the operating principle of the intelligent inspection device and designs the visual module and motion module of the intelligent inspection device using YOLOv5 image recognition algorithm and motion system algorithm that integrates improved A*(A-star) and dynamic window approach(DMA). Then, the paper develops a software system platform that can conveniently control the movement of intelligent inspection devices, adjust the perspective and focal length of the image acquisition cloud platform, and transmit video streams. Finally, the image acquisition pan-tilt, wireless communication module and the body of the intelligent inspection device are assembled. The rationality and effectiveness of the intelligent inspection device and its control method are verified through practical application on site.

Key words: substation, intelligent identification, YOLOv5, A*, dynamic window approach

CLC Number:

TM63

ZHANG Jiahao, LI Qi, SUN Yuanhang, HAN Liang. Research and Application of Intelligent Inspection De‍vices for Overcoming Obstacles in Substations[J]. Hunan Electric Power, 2026, 46(3): 153-158.

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