A MultiModal Detection Method for UHV Substation Faults Based on Robot Inspection and Deep Learning

Table 1

Data statistics of the dataset.

Target	Number of images	Label	Number of instances
Insulator string	2000	I	2357
Lightning arrester	2000	LA	2163
Breaker	2000	B	2462
Isolating switch	2000	IS	2711
Current transformer	2000	CT	2593
Voltage transformer	2000	PT	2479
High voltage bushings	2000	HVB	2831