Research on Key Technical Difficulties and Optimization Ideas of Transformer Submersible Robots

The use of robots instead of manual labor for the internal inspection of transformers offers numerous advantages. This paper primarily investigates the key technologies to enhance the performance of submersible robots for transformers. It begins with an analysis of the specific working conditions of submersible robots in transformers, followed by an examination of the critical technologies and breakthroughs needed, including the challenges in image recognition in transformer oil, structural design of the robots, high-precision movement and positioning of the robots, as well as management strategies and maintenance procedures for submerged robots. For these four categories of challenges, optimization strategies are proposed, with a focus on resolving the difficulties in image recognition within transformer oil. This is done in conjunction with offline experiments, investigating four aspects: optimization of the lighting system, optimization of the imaging system, combined optimization of the lighting and camera systems, and optimization of image algorithms. Furthermore, the optimization of robot structure is tailored to meet the unique operational demands of oil-filled transformers, as well as proposing a brief optimization approach for high-precision movement and maintenance of the submersible robots. The effectiveness of image optimization in the oil is demonstrated through specific case studies.