Because large oil-immersed transformers are enclosed by a metal shell, the on-site localization means it is difficult to achieve the accurate location of the patrol micro-robot inside a given transformer. To address this issue, a spatial ultrasonic localization method based on wavelet decomposition and PHAT-β-γ generalized cross correlation is proposed in this paper. The method is carried out with a five-element stereo ultrasonic array for the location of a transformer patrol robot. Firstly, the localization signal is decomposed into wavelet coefficients of different scales, which would realize the adaptive decomposition of the frequency of the localization signal from low frequencies to high frequencies. Then, the wavelet coefficients are denoised and reconstructed by using the semi-soft threshold function. Second, a modified phase transform-beta-gamma (PHAT-β-γ) method is used to calculate the exact time delay between different sensors by increasing the weights of the PHAT weighting function and introducing a correlation function. Finally, by using the proposed method, the accurate localization of the transformer patrol micro-robot is achieved with a five-element stereo ultrasonic array. The simulation and test results show that inside a transformer experimental oil tank (120 cm × 100 cm × 100 cm, L × W × H), the relative error of transformer patrol micro-robot spatial localization is within 4.1%, and the maximum localization error is less than 3 cm, which meets the requirement of engineering localization.

In the detection process of the internal defects of large oil-immersed transformers, due to the huge size of large transformers and metal-enclosed structures, the positional localization of miniature inspection robots inside the transformer faces great difficulties. To address this problem, this paper proposes a three-dimensional positional localization method based on adaptive denoising and the SCOT weighting function with the addition of the exponent β (SCOT-β) generalized cross-correlation for L-type ultrasonic arrays of transformer internal inspection robots. Aiming at the strong noise interference in the field, the original signal is decomposed by an improved Empirical Mode Decomposition (EMD) method, and the optimal center frequency and bandwidth of each mode are adaptively searched. By extracting the modes in the frequency band of the positional localization signal, suppressing the modes in the noise frequency band, and reconstructing the Intrinsic Mode Function (IMF) of the independently selected superior modal components, a signal with a high signal-to-noise ratio is obtained. In addition, for the traditional mutual correlation algorithm with a large delay estimation error at a low signal-to-noise ratio, this paper adopts an improved generalized joint weighting function, SCOT-β, which improves the anti-jamming ability of the generalized mutual correlation method at a low signal-to-noise ratio by adding an exponential function to the denominator term of the SCOT weighting function’s generalized cross-correlation. Finally, the accurate positional localization of the transformer internal inspection robot is realized based on the quadratic L-array and search-based maximum likelihood estimation method. Simulation and experimental results show the following: the improved EMD denoising method better improves the signal-to-noise ratio of the positional localization signal with a lower distortion rate; in the transformer test tank, which is 120 cm in length, 100 cm in width, and 100 cm in height, based on the positional localization method in this paper, the average relative positional localization error of the transformer internal inspection robot in three-dimensional space is 2.27%, and the maximum positional localization error is less than 2 cm, which meets the requirements of engineering positional localization.

For crop protection, electrostatic spraying technology significantly improves deposition uniformity and pesticide utilization through the “wraparound-adsorption” effect of charged droplets. However, existing electrostatic nozzles using hydraulic atomization suffer from low charge-to-mass ratios due to unclear principles for optimizing electrode parameters. To this end, this study designs and evaluates a novel air-assisted hydraulic-atomization hollow-cone electrostatic nozzle. First, the air-assisted hollow-cone nozzle was designed. High-speed imaging was then employed to obtain morphological parameters of the liquid film (length: 2.14 mm; width: 1.96 mm; and spray angle: 49.25°). Based on these parameters, an electric field simulation model of the electrostatic nozzle was established to analyze the influence of electrode parameters on the charging performance and identify the optimal parameter combination. Finally, feasibility and efficiency evaluation experiments were conducted on the designed electrostatic nozzle. The experimental results demonstrate that cross-sectional dimensions of the electrode exhibit a positive correlation with the surface charge density of the pesticide liquid film. In addition, optimal charging performance is obtained when the electrode plane coincides with the tangent plane of the liquid film leading edge. Based on these charging laws, the optimal electrode parameters were determined as follows: 2.0 × 2.0 mm cross-section with an electrode-to-nozzle tip distance of 3.8 mm. With these parameters, the nozzle achieved a droplet charge-to-mass ratio of 4.9 mC/kg at a charging voltage of 3.0 kV. These charged droplets achieved deposition coverages of 12.19%, 5.72%, and 5.91% on abaxial leaf surfaces in the upper, middle, and lower soybean canopies, respectively, which is a significant improvement in deposition uniformity. This study designed a novel air-assisted hollow-cone electrostatic nozzle, elucidated the optimization principles for annular induction electrodes, and achieved improved spraying performance. The findings contribute to enhanced pesticide application efficiency in crops, providing valuable theoretical guidance and technical references for electrostatic nozzle design and application.

For cost-sensitive Chinese solar greenhouses (CSGs) with an uneven spatial distribution in temperature and humidity, there is a lack of effective strategies for sensor configuration that can reduce sensor usage while monitoring the microclimate precisely. A configuration strategy for integrated temperature–humidity sensors (THSs) based on the improved weighted Hilbert–Schmidt independence criterion (HSIC) is proposed in this paper. The data independence of the THSs in different sites was analyzed based on the improved HSIC, and the selection priority of the THSs was ranked based on the weighted independence of temperature and humidity. Then, according to different cost constraints and monitoring requirements, suitable THSs could be selected sequentially and constitute the monitoring solution. Compared with the original monitoring solution containing twenty-two THSs, the optimized solution used only four THSs (S6, S9 and H6, H5) under strict cost constraints, with a maximum RMSE of the temperature and relative humidity of 0.6 °C and 2.30%, as well as a maximum information gain rate (IGR) of 9.47% and 10.0%. If higher monitoring precision is required, we can increase the THS usage with a greater budget. The optimized solution with six THSs (S6, S9, S8 and H6, H5, H2) could further reduce the maximum RMSE of the temperature and relative humidity to 0.33 °C and 1.10% and the IGR to 6.9% and 8.7%. This indicated that the proposed strategy could use much fewer THSs to achieve accurate and comprehensive monitoring, which would provide efficient and low-cost solutions for CSG microclimate monitoring.

It is difficult to visually detect internal defects in a large transformer with a metal closure. For convenient internal inspection, a micro-robot was adopted, and an inspection method based on an image-enhancement algorithm and an improved deep-learning network was proposed in this paper. Considering the dim environment inside the transformer and the problems of irregular imaging distance and fluctuating supplementary light conditions during image acquisition with the internal-inspection robot, an improved MSRCR algorithm for image enhancement was proposed. It could analyze the local contrast of the image and enhance the details on multiple scales. At the same time, a white-balance algorithm was introduced to enhance the contrast and brightness and solve the problems of overexposure and color distortion. To improve the target recognition performance of complex carbon-trace defects, the SimAM mechanism was incorporated into the Backbone network of the YOLOv8 model to enhance the extraction of carbon-trace features. Meanwhile, the DyHead dynamic detection Head framework was constructed at the output of the YOLOv8 model to improve the perception of local carbon traces with different sizes. To improve the defect target recognition speed of the transformer-inspection robot, a pruning operation was carried out on the YOLOv8 model to remove redundant parameters, realize model lightness, and improve detection efficiency. To verify the effectiveness of the improved algorithm, the detection model was trained and validated with the carbon-trace dataset. The results showed that the MSH-YOLOv8 algorithm achieved an accuracy of 91.80%, which was 3.4 percentage points higher compared to the original YOLOv8 algorithm, and had a significant advantage over other mainstream target-detection algorithms. Meanwhile, the FPS of the proposed algorithm was up to 99.2, indicating that the model computation and model complexity were successfully reduced, which meets the requirements for engineering applications of the transformer internal-inspection robot.