Transformer submersible robot image enhancement system

Abstract

The invention discloses a transformer submersible robot image enhancement system, which comprises floodlighting devices and a transformer submersible robot, and is characterized in that the floodlighting devices are arranged at four corners of a transformer, and each floodlighting device comprises a Fresnel lens, so that light is diffused within a certain angle instead of being completely emitted in parallel; light rays are dispersed, so that the light rays are distributed more uniformly; the transformer submersible robot comprises a low-illumination high-sensitivity miniature camera and a plurality of groups of LED flash light sources. The system for enhancing the image shot by the robot is realized, so that the robot replaces people to carry out transformer internal detection in a dark environment in the transformer, the field working efficiency is improved, the working quality is improved, and the working risk is reduced.

Description

Technical Field

[0001] This invention belongs to the field of transformer submersible robots, and specifically relates to an image enhancement system for a transformer submersible robot. Background Technology

[0002] Large oil-immersed power transformers are core equipment of the power grid, characterized by their large capacity, high value, and complex structure, making them a key focus in substation operation. When a transformer malfunctions, a power outage is often required to inspect and locate internal defects in order to confirm the type of fault and determine a repair plan. Because the transformer tank is enclosed and the internal environment is dark, direct observation of the internal conditions is impossible. Internal inspections often require draining the oil, followed by specialized technicians wearing full-body protective suits climbing into the equipment enclosure through manholes to manually locate the fault. This means that transformer internal inspection is a complex maintenance task, time-consuming, labor-intensive, and inherently dangerous.

[0003] Taking a 220kV transformer as an example, the cost of oil drainage and inspection for the maintenance of a transformer is about 300,000 yuan, and the maintenance time is about 10 days.

[0004] Therefore, it is of great significance to find a way to replace humans in performing transformer internal inspections using industrial robot technology without draining oil or with minimal oil draining. However, this requires the robot to obtain high-quality images of the transformer interior that are recognizable by workers, which poses a challenge to image processing in the dim environment inside the transformer.

[0005] This means that there is an urgent need in the field to develop an image enhancement system for transformer submersible robots to replace manual inspection of the inside of transformers. Summary of the Invention

[0006] In view of this, the present invention discloses an image enhancement system for a transformer submersible robot, comprising:

[0007] Floodlighting fixtures, and,

[0008] Transformer submersible robot

[0009] in,

[0010] Floodlights are arranged at the four corners of the transformer.

[0011] Floodlighting devices include Fresnel lenses, which diffuse light at a certain angle rather than shooting it out completely parallel, in order to disperse the light and make the light distribution more uniform;

[0012] Transformer submersible robots include:

[0013] Low-light high-sensitivity miniature camera

[0014] Multiple LED flashlight sources.

[0015] Preferred,

[0016] For floodlighting installations, select appropriate lighting equipment, installation locations, brightness control, and color temperature settings to ensure that the illuminated area inside the transformer has the required brightness and visual effect.

[0017] Preferred,

[0018] The transformer is designed with floodlighting.

[0019] Preferred,

[0020] Floodlights are installed at the four corners of the transformer to ensure that the entire interior of the transformer is effectively illuminated, reducing shadows and blind spots, and making it easier for staff to operate robots for maintenance and repair.

[0021] Preferred options also include:

[0022] A tracking device is used to track and adjust the illumination direction and / or intensity of multiple sets of LED flashlights for floodlighting devices and / or transformer submersible robots to ensure that the illuminated target area inside the transformer always maintains appropriate brightness and visibility.

[0023] Preferred,

[0024] The tracking device is primarily used to detect the surrounding environment inside the transformer and the location of the target object.

[0025] Preferred,

[0026] Sensors, cameras, or computer vision techniques are used to detect the surrounding environment and the location of target objects inside a transformer.

[0027] Preferred,

[0028] The tracking light device is also used to automatically adjust the direction and / or intensity of multiple sets of LED flashing light sources for floodlighting devices and / or transformer submersible robots to ensure that target objects inside the transformer are always properly illuminated.

[0029] Preferred,

[0030] Operators can remotely control floodlighting devices and / or multiple LED flashing light sources for transformer submersible robots.

[0031] Preferred,

[0032] The beam tracking system is also used to create specific lighting effects, such as beam tracking, dynamic lighting and special light paths, to enhance visual effects.

[0033] Beneficial effects of this invention:

[0034] This invention provides a system for image enhancement of images captured by a robot, enabling robots to perform internal transformer inspections in dimly lit environments, thereby improving on-site work efficiency, enhancing work quality, and reducing work risks. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of an image enhancement system for a transformer submersible robot disclosed in this invention;

[0036] Figure 2 A diagram illustrating the use of floodlighting design for the transformer, with floodlights installed at the four corners of the transformer to ensure that the entire interior of the transformer is effectively illuminated, reducing shadows and blind spots, and facilitating the operation of robots by staff for maintenance and repair.

[0037] Figure 3 The camera module includes five cameras (camera 1 to camera 5), ​​five LED flash light sources (LED1 to LED5), five vector thrusters, a pressure sensor for depth, and a corresponding MEMS device for inertial navigation (i.e., inertial navigation module). The power supply of each LED flash light source is controlled by PWM pulse width control. Each camera is connected to the processor (i.e., the RK3588 and its core control board in the figure) via MIPI DSI.

[0038] Figure 4 This is a schematic diagram of a transformer-diving robot. Figures 5 to 7 This is a schematic diagram of the corresponding upper, middle, and lower layers. Detailed Implementation

[0039] To enable those skilled in the art to understand the technical solutions disclosed in this invention, the following will describe them in conjunction with embodiments and related appendices. Figures 1 to 7 The technical solutions of various embodiments are described herein. These described embodiments are only a part of, not all, of the embodiments of the present invention. The term "embodiment" as used herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. Those skilled in the art will understand that the embodiments described herein can be combined with other embodiments.

[0040] It should be noted that the underwater robot referred to in this invention is a robot used for underwater swimming in the oil tank of a transformer.

[0041] In one embodiment, see Figure 1 This invention discloses an image enhancement system for a transformer submersible robot, comprising:

[0042] Floodlighting fixtures, and,

[0043] Transformer submersible robot

[0044] in,

[0045] The floodlighting devices are arranged at the four corners of the transformer.

[0046] The floodlight illumination device includes:

[0047] The improved Fresnel lens diffuses the light rays, rather than projecting them in a perfectly parallel manner, thus dispersing the light and making the light distribution more uniform.

[0048] The transformer submersible robot includes:

[0049] Low-light, high-sensitivity miniature camera, and

[0050] Multiple LED flashlight sources.

[0051] It's understandable that floodlighting design is needed to support robots in performing various tasks in the dimly lit environment inside transformers. Floodlighting design refers to the process of creating uniform, shadow-free, omnidirectional lighting for a specific area or scene to meet lighting requirements.

[0052] In another embodiment,

[0053] For floodlighting installations, select appropriate lighting equipment, installation locations, brightness control, and color temperature settings to ensure that the illuminated area inside the transformer has the required brightness and visual effect.

[0054] For example, the transformer employs a floodlighting design, with floodlights installed at the four corners to ensure the entire interior of the transformer is effectively illuminated, reducing shadows and blind spots, and facilitating robot operation for maintenance and repair by staff. Figure 2 As shown.

[0055] In another embodiment, the transformer submersible robot image enhancement system further includes:

[0056] A tracking device is used to track and adjust the illumination direction and / or intensity of multiple sets of LED flashlights for floodlighting devices and / or transformer submersible robots to ensure that the illuminated target area inside the transformer always maintains appropriate brightness and visibility.

[0057] For the tracking light device, it first detects the surrounding environment inside the transformer and the position of the target object (e.g., using sensors, cameras or computer vision technology to detect), and then automatically adjusts the direction and / or intensity of the floodlight device and / or the multiple sets of LED flashing light sources of the transformer submersible robot to ensure that the target object inside the transformer is always properly illuminated.

[0058] It should be noted that operators can remotely control the floodlighting device and / or multiple sets of LED flashing light sources for the transformer submersible robot to adjust as needed.

[0059] Furthermore, in another embodiment,

[0060] The beam tracking system can also be used to create specific lighting effects, such as beam tracking, dynamic lighting and special light paths, to enhance visual effects.

[0061] In summary, the light-tracking device of this invention integrates robotics and lighting technologies, aiming to remotely and intelligently adjust all adjustable light sources and provide suitable illumination to meet diverse and flexible needs, thereby improving the working efficiency, visibility, and visual effects of the transformer-diving robot. By combining the light-tracking device with the adjustment of multiple sets of high-brightness, wide-range LED flash sources carried by the robot and the floodlight device installed in the transformer, an optimal shooting environment for the corresponding target object can be created. It is understood that the multiple sets of LED flash sources of this invention, compared to the floodlight device, serve as supplementary lighting sources.

[0062] Furthermore, in another embodiment,

[0063] The light-tracking device can also adjust the position of the Fresnel lens to find the best lighting effect for transformer oil with different refractive indices.

[0064] Even better, Fresnel lenses are designed with adjustable curvature and thickness. They are further designed with adjustable diffusion angles. For example, Fresnel lenses can be implemented as MEMS (Micro-Electro-Mechanical Systems) devices. By changing the shape of the lens surface, the focal length of the Fresnel lens can be adjusted, thereby changing the focal point of light. Changing the thickness of the Fresnel lens can affect its optical performance, such as altering the refraction path of light. By changing the lens's geometry or material properties, the diffusion angle of light can be adjusted, allowing the light to be distributed more evenly in the desired area. The above adjustments to the curvature, thickness, and diffusion angle of the Fresnel lens can be achieved using various existing MEMS technologies, such as using electrothermal effects, electrostatic actuation, or magnetic actuation to change the shape and position of the lens.

[0065] In another embodiment,

[0066] In addition to a low-light, high-sensitivity miniature camera used as a camera module and multiple LED flash sources used as supplementary lighting, the transformer-diving robot also includes:

[0067] Processor, WiFi module, depth sensor, thruster, inertial navigation system (i.e., inertial navigation module), battery module and its power-on module, and wireless charging module.

[0068] For example, the camera module includes five cameras (cameras 1 to camera 5), ​​five LED flash light sources (LEDs 1 to LEDs 5), five vector thrusters, a pressure sensor for depth, and a corresponding MEMS device for inertial navigation (i.e., inertial navigation module). See also Figure 3 As shown.

[0069] It can be observed that the power supply of each LED flash source is controlled by PWM pulse width control, and each camera is connected to the processor (i.e., the RK3588 and its core control board in the figure) via MIPI DSI.

[0070] See Figure 4 In another embodiment, a schematic diagram of the transformer-diving robot is shown below. Figure 4 As shown:

[0071] Its upper section houses a forward-looking illumination observation system (illuminator + camera) and a 45° upward-facing illumination observation system (illuminator + camera), and internally contains a main control circuit board, a WIFI module, MEMS, etc. It is made of POM machined material; see reference [link / reference needed]. Figure 5 The middle layer houses three horizontal thrusters and two vertical thrusters, with internal thruster ESCs. To meet heat dissipation requirements, the middle layer is made of aluminum alloy, with a pre-drilled groove for a sealing ring to ensure a tight seal. Figure 6 As shown. The lower section houses a 45° downward-facing lighting and observation system (lighting lamp + camera), a lower camera + lighting system pressure sensor, a power switch, and a charging port. These are machined from POM material to improve precision and ensure a tight seal. An internal battery (e.g., for 2 hours of continuous use) is included. Figure 7 As shown.

[0072] It should be noted that the thruster and its drive are existing technologies, and commercially available vector thruster solutions can be purchased; the LED light source and its PWM drive are also existing technologies; the key innovation of this invention lies in proposing a structure for an image enhancement system for a transformer submersible robot.

[0073] Furthermore, in another embodiment, the present invention also discloses an image enhancement system for a transformer submersible robot, comprising:

[0074] A floodlighting device, suitable for placement at the four corners inside a transformer, the floodlighting device including Fresnel lenses; A transformer submersible robot, comprising a low-light, highly sensitive miniature camera and multiple LED flash light sources; and,

[0075] A light-tracking device is configured to control the floodlight and / or the multiple sets of LED flash sources to adjust the illumination direction and / or intensity based on the position of a target object inside the transformer. Preferably, the light-tracking device is configured to: detect the position of the target object using sensors, cameras, or computer vision technology; and automatically adjust the illumination direction and / or the illumination intensity based on the detected position. Preferably, the Fresnel lens is an adjustable Fresnel lens. Preferably, at least one parameter of the adjustable Fresnel lens is adjustable, and the parameter is selected from the group consisting of curvature, thickness, and diffusion angle. Preferably, the adjustable Fresnel lens is a microelectromechanical system (MEMS) device. Preferably, the multiple sets of LED flash sources are configured as supplementary light sources relative to the floodlight. Preferably, a remote controller is also included, configured to control the floodlight and / or the multiple sets of LED flash sources.

[0076] It can be observed that the transformer submersible robot image enhancement system provided by this invention aims to solve the technical problem that submersible robots are unable to obtain clear, high-quality inspection images in dimly lit and space-constrained environments inside transformers by constructing an intelligent lighting environment in which background light field and dynamic target supplementary lighting work in concert. Specifically:

[0077] The floodlight is suitable for placement at the four corners inside the transformer. Its function is to provide a uniform background lighting without large-area shadows for the entire interior space of the transformer. In order to achieve uniform light diffusion, the floodlight includes a Fresnel lens, which enables the light emitted by the light source to be effectively diffused within a certain angle, rather than forming a glaring parallel beam, thereby making the light distribution more uniform and reducing light spots and dark areas.

[0078] The transformer submersible robot is the main body of this system that performs inspection tasks inside the transformer. Its core components include a low-light, high-sensitivity miniature camera and multiple sets of LED flash light sources. The low-light, high-sensitivity miniature camera ensures that effective image signals can still be captured under limited lighting conditions. The multiple sets of LED flash light sources serve as mobile, directional supplementary lighting sources, which, relative to the background light provided by the floodlight illumination device, play a role in providing localized enhanced illumination for specific inspection targets.

[0079] A key innovation of this system lies in the tracking device, which is configured to coordinately control the floodlighting devices and / or multiple sets of LED flashlights on the transformer submersible robot based on the position of the target object inside the transformer, so as to dynamically adjust the lighting direction and / or lighting intensity. Specifically, the tracking device can use sensors (such as laser or ultrasonic rangefinders) and the robot's built-in camera to detect and track the position of the target object (such as a weld, insulator, or winding) in real time. For example, once the target position is obtained, the tracking device, controlled by a remote operator or based on a trained artificial intelligence model or integrated existing automatic flashlight tracking technology, adjusts the brightness of one or more floodlighting devices, as well as the on / off status, brightness, and illumination angle of one or more sets of LED flashlights on the robot, to ensure that the target object is always under optimal lighting conditions, clearly illuminated without losing detail due to overexposure or strong reflections from certain angles. In addition, to balance the flexibility of automation and manual operation, as mentioned above, the system may also include a remote controller; the operator can... The remote controller allows manual control of the floodlight and / or the multiple LED flash sources outside of automatic mode, enabling fine adjustments based on complex situations and testing experience. The beam tracking system can also be programmed to create specific lighting effects, such as beam tracking, dynamic light and shadow, and special light paths, to highlight certain defect features through special lighting methods, further enhancing visual effects. To further improve the system's adaptability and imaging performance, the Fresnel lens is preferably an adjustable Fresnel lens. This means that at least one optical parameter of the lens is adjustable, and these parameters can be selected from a group consisting of curvature, thickness, and diffusion angle. By adjusting these parameters, the focal length, refraction path, and diffusion range of the light can be changed, thereby adapting to the optical environment of different types of transformer oil (with different refractive indices), or finely controlling the light field distribution according to the detection distance to achieve optimal lighting effects. For example, the adjustable Fresnel lens can be a microelectromechanical system (MEMS) device, which precisely and rapidly changes its microstructure through electrical signals to achieve dynamic adjustment of optical parameters. In summary, this invention combines a static background light field created by floodlight devices with Fresnel lenses arranged at the four corners of the transformer with an LED supplementary light source that is carried by the robot and can dynamically track the target, and uses a light-tracking device for intelligent collaborative control, thus constructing a complete, dynamic, and intelligent image enhancement lighting system. Example 1

[0080] This embodiment provides a transformer submersible robot image enhancement system, applied to the internal inspection of a 220kV oil-immersed power transformer.

[0081] The system consists of four floodlighting units, a transformer submersible robot, and tracking light software integrated into the robot's main control unit. The floodlighting units comprise four sets, magnetically fixed to the top corners of the transformer tank. Each set includes an 80W LED light source (4500K color temperature) and an adjustable Fresnel lens. This lens is a MEMS device; its surface microstructure can be altered by applying different voltages (0-5V) to change its curvature and effective thickness, thus continuously adjusting its diffusion angle between 30° and 90°. The principle is to use electrostatic actuation to change the shape of the flexible thin film on the lens surface, thereby adjusting the light path. (Transformer submersible robot) Figure 4-7 As shown, the upper and lower layers are machined from POM material, and the middle layer is aluminum alloy. Its core configuration includes: a main control processor (RK3588) that runs the computer vision and control algorithms for the light-tracking device. For example, the main control processor receives real-time video streams from the camera and uses the YOLOv5 target detection algorithm to identify pre-trained target features (such as "welds" and "insulation damage"). Once the operator selects the target on the remote interface, the device activates the KCF (Kernelized Correlation Filters) tracking algorithm, outputting the target's position (x, y) and size (w, h) in the image coordinate system in real time. Based on this information, combined with depth sensor readings, the device calculates the target's three-dimensional spatial position and optimal lighting direction and intensity, and generates control commands. It should be noted that the YOLOv5 and KCF algorithms are open-source; those skilled in the art can train them based on publicly available code and existing technology. For the purposes of this invention, this requires no creative effort. More importantly, this invention also explicitly mentions that the light-tracking can be remotely operated and controlled by an operator based on experience. Camera module: Five low-light, high-sensitivity miniature cameras (Sony IMX415, sensitivity 0.01 Lux), namely, an upper 45° camera + illumination, a lower 45° camera + illumination, a front upper camera + illumination, a front lower camera + illumination, and a left main observation camera + left illumination. Five LED flash light sources are observed, each corresponding to one of the cameras. For example, each group consists of four 10W LEDs, with brightness independently controlled by a PWM signal (0-100% duty cycle). Other configurations include: five sets of thrusters (e.g., vector thrusters), counterweight mounting positions (as the name suggests, for mounting counterweights), and a charging interface.

[0082] The transformer submersible robot image enhancement system disclosed in this embodiment is exemplary, and its implementation steps are as follows:

[0083] Four sets of floodlights were installed at the four corners inside the transformer to facilitate the deployment of the equipment and the robot's descent.

[0084] After the system starts up, it first commands the MEMS lens of the floodlight illumination device to perform scanning adjustment (e.g., the diffusion angle changes from 30° to 90°), while the camera evaluates the brightness uniformity of the entire field of view: for example, it calculates the standard deviation of the image grayscale histogram; when the standard deviation is the smallest, the driving voltage of the current MEMS lens is locked, at which point it is considered that the background light field has reached the optimal uniformity state for the current transformer oil refractive index and internal structure. The operator uses a remote control interface to guide the robot closer to the area to be inspected (such as a winding support component); the operator clicks and selects a target suspected of having a crack on the screen; the tracking device immediately starts tracking and executes the following collaborative control logic: based on the target's position in the field of view, the brightness of the robot's built-in LED light source facing the target is prioritized to be increased (such as the front upper camera + illumination light); it is determined whether the background light will form a high-gloss reflection on the target surface; if so, the brightness of the floodlight device in the corresponding direction (such as the left side of the target) is appropriately reduced; if the target is located below the side of the robot, the front lower camera + illumination light and the corresponding LED light source are activated simultaneously, and their brightness ratio is adjusted to ensure that the target receives three-dimensional, shadow-free illumination; after the collaborative lighting stabilizes, the system automatically acquires multiple frames of high-definition images and transmits them to the remote workstation for the operator to analyze and judge. Example 2

[0085] This embodiment describes a relatively simplified system, the main difference being the floodlighting device and control method.

[0086] The tracking device does not run any automatic tracking algorithm; instead, it completely hands over control to the operator. The remote controller's user interface has four sliders, each corresponding to the brightness (0-100%) of the four floodlights; and five other sliders, each corresponding to the brightness (0-100%) of the five LED supplementary lighting groups on the robot.

[0087] The simplified system performs the following implementation steps:

[0088] Deployment device and robot descend (same as in Example 1);

[0089] The operator first adjusts the brightness of the four floodlights to a medium level (e.g., 50%) to establish the basic background light; The operator controls the robot to move to the target area; Observe the real-time transmitted images and manually adjust them based on experience. For example, if the target is too dark, increase the brightness of the robot's LED lights facing the target; if the target has glaring reflections, try reducing the brightness of the floodlight in the direction causing the reflection, or increase supplementary lighting from other directions to balance it. After repeated fine-tuning to find an acceptable lighting effect, take the picture.

[0090] Taking the above embodiment 2 as an example, a test was conducted with a traditional submersible robot that only has its own light source to compare the two:

[0091] Experimental method: A simulated transformer oil tank (2m*2m*3m) was filled with a certain type of transformer oil. An ISO 12233 resolution test chart was fixed at the center of one side wall of the tank as the detection target. Ten images were acquired facing the center of the test chart.

[0092] When using the system described in Example 2, the horizontal distance between the robot's upper front camera and the test card is maintained at 50 cm, facing the center of the test card, and the light-tracking device is activated. Experimental results: 10 images were acquired. The average brightness of the central region of the images was 180 LSB, the average brightness of the edge region was 165 LSB, the standard deviation of the overall image brightness was 12.8, the image signal-to-noise ratio (SNR) was 45.2 dB, and lines of 2000 LW / PH (linewidth per pixel height) could be clearly distinguished on the resolution test card.

[0093] When a traditional submersible robot with only its own light source was used for testing, the experimental method was exactly the same as that in Example 2 above (same tank, oil, test card, robot, distance). The difference was that all floodlights were removed, and only the robot's own forward-facing LED light source (adjusted to maximum brightness) was used for illumination. Experimental results: 10 images were acquired. The average brightness of the central area (center of the light spot) was 230 LSB (overexposed), while the average brightness of the edge area was only 40 LSB. The standard deviation of the overall brightness was as high as 65.3, and the image signal-to-noise ratio (SNR) was only 28.5 dB. Due to the overexposure in the center and the darkness at the edges, only lines of about 1200 LW / PH could be distinguished on the resolution test card, and the edge lines were blurry.

[0094] It can be seen that the present invention has significant advantages over the prior art.

[0095] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An image enhancement system for a transformer submersible robot, comprising: Floodlighting fixtures, and, Transformer submersible robot in, Floodlights are placed at the four corners of the transformer. Floodlighting devices include Fresnel lenses, which diffuse light at a certain angle rather than shooting it out completely parallel, in order to disperse the light and make the light distribution more uniform; Transformer submersible robots include: Low-light high-sensitivity miniature camera Multiple LED flashlight sources.

2. The system according to claim 1, wherein, For floodlighting installations, select appropriate lighting equipment, installation locations, brightness control, and color temperature settings to ensure that the illuminated area inside the transformer has the required brightness and visual effect.

3. The system according to claim 1, wherein, The transformer is designed with floodlighting.

4. The system according to claim 1, wherein, Floodlights are installed at the four corners of the transformer to ensure that the entire interior of the transformer is effectively illuminated, reducing shadows and blind spots, and making it easier for staff to operate robots for maintenance and repair.

5. The system according to claim 1, wherein, Also includes: A tracking device, used to track and adjust the illumination direction of multiple sets of LED flashlights for floodlighting devices and / or transformer submersible robots.

6. The system according to claim 5, wherein, Also includes: The tracking device can also be used to track and adjust the illumination intensity of multiple LED flash sources in the floodlighting device and / or the transformer submersible robot to ensure that the illuminated target area inside the transformer always maintains appropriate brightness and visibility.

7. The system according to claim 5, wherein, The tracking device is primarily used to detect the surrounding environment inside the transformer and the location of the target object.

8. The system according to claim 7, wherein, Sensors, cameras, or computer vision techniques are used to detect the surrounding environment and the location of target objects inside a transformer.

9. The system according to claim 7, wherein, The tracking light device is also used to automatically adjust the direction and / or intensity of multiple sets of LED flashing light sources for floodlighting devices and / or transformer submersible robots to ensure that target objects inside the transformer are always properly illuminated.

10. The system according to claim 1, wherein, Operators can remotely control floodlighting devices and / or multiple LED flashing light sources for transformer submersible robots.

11. The system according to claim 5, wherein, The beam tracking system is also used to create specific lighting effects, such as beam tracking, dynamic lighting and special light paths, to enhance visual effects.

Images