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.

For large oil-immersed transformers, their metal-enclosed structure poses significant challenges for direct visual inspection of internal defects. To ensure the effective detection of internal insulation defects, this study employs a self-developed micro-robot for internal visual inspection. Given the substantial morphological and dimensional variations of target defects (e.g., carbon traces produced by surface discharge inside the transformer), the intelligent and efficient extraction of carbon trace features from complex backgrounds becomes critical for robotic inspection. To address these challenges, we propose the DCMC-UNet, a semantic segmentation model for carbon traces containing adaptive illumination enhancement and dynamic feature fusion. For blurred carbon trace images caused by unstable light reflection and illumination in transformer oil, an improved CLAHE algorithm is developed, incorporating learnable parameters to balance luminance and contrast while enhancing edge features of carbon traces. To handle the morphological diversity and edge complexity of carbon traces, a dynamic deformable encoder (DDE) was integrated into the encoder, leveraging deformable convolutional kernels to improve carbon trace feature extraction. An edge-aware decoder (EAD) was integrated into the decoder, which extracts edge details from predicted segmentation maps and fuses them with encoded features to enrich edge features. To mitigate the semantic gap between the encoder and the decoder, we replace the standard skip connection with a cross-level attention connection fusion layer (CLFC), enhancing the multi-scale fusion of morphological and edge features. Furthermore, a multi-scale atrous feature aggregation module (MAFA) is designed in the neck to enhance the integration of deep semantic and shallow visual features, improving multi-dimensional feature fusion. Experimental results demonstrate that DCMC-UNet outperforms U-Net, U-Net++, and other benchmarks in carbon trace segmentation. For the transformer carbon trace dataset, it achieves better segmentation than the baseline U-Net, with an improved mIoU of 14.04%, Dice of 10.87%, pixel accuracy (P) of 10.97%, and overall accuracy (Acc) of 5.77%. The proposed model provides reliable technical support for surface discharge intensity assessment and insulation condition evaluation in oil-immersed transformers.

Restricted by a metal-enclosed structure, the internal defects of large transformers are difficult to visually detect. In this paper, a micro-robot is used to visually inspect the interior of a transformer. For the micro-robot to successfully detect the discharge level and insulation degradation trend in the transformer, it is essential to segment the carbon trace accurately and rapidly from the complex background. However, the complex edge features and significant size differences of carbon traces pose a serious challenge for accurate segmentation. To this end, we propose the Hadamard production-Spatial coordinate attention-PixelShuffle UNet (HSP-UNet), an innovative architecture specifically designed for carbon trace segmentation. To address the pixel over-concentration and weak contrast of carbon trace image, the Adaptive Histogram Equalization (AHE) algorithm is used for image enhancement. To realize the effective fusion of carbon trace features with different scales and reduce model complexity, the novel grouped Hadamard Product Attention (HPA) module is designed to replace the original convolution module of the UNet. Meanwhile, to improve the activation intensity and segmentation completeness of carbon traces, the Spatial Coordinate Attention (SCA) mechanism is designed to replace the original jump connection. Furthermore, the PixelShuffle up-sampling module is used to improve the parsing ability of complex boundaries. Compared with UNet, UNet++, UNeXt, MALUNet, and EGE-UNet, HSP-UNet outperformed all the state-of-the-art methods on both carbon trace datasets. For dendritic carbon traces, HSP-UNet improved the Mean Intersection over Union (MIoU), Pixel Accuracy (PA), and Class Pixel Accuracy (CPA) of the benchmark UNet by 2.13, 1.24, and 4.68 percentage points, respectively. For clustered carbon traces, HSP-UNet improved MIoU, PA, and CPA by 0.98, 0.65, and 0.83 percentage points, respectively. At the same time, the validation results showed that the HSP-UNet has a good model lightweighting advantage, with the number of parameters and GFLOPs of 0.061 M and 0.066, respectively. This study could contribute to the accurate segmentation of discharge carbon traces and the assessment of the insulation condition of the oil-immersed transformer.