Inspection vehicle

Abstract

The invention relates to an inspection vehicle (1) which is designed to be arranged and moved on an at least partially ferromagnetic base (3), comprising: - at least one measuring technology device (7) which is designed to detect physical and / or chemical properties of the surroundings, - a drive unit (8), and - at least one magnet (36), in particular a neodymium magnet, which is arranged at the underside of the inspection vehicle (1) and is designed to hold the inspection vehicle (1) at the base (3), wherein the at least one magnet (36) is guided in a clamping device (37), in particular a rail, in such a way that it can move freely in the direction of movement (38).

Description

Technical Field

[0001] This invention relates to an inspection vehicle designed for mounting and movement on a base that is at least partially ferromagnetic, the inspection vehicle comprising...

[0002] - At least one measuring instrument designed to detect the physical and / or chemical properties of the surrounding environment.

[0003] - Drive unit, and

[0004] - At least one magnet, particularly a neodymium magnet, is arranged on the underside of the inspection vehicle and is designed to hold the inspection vehicle in the base. Background Technology

[0005] At regular inspection intervals and when necessary in the event of abnormal events such as load reduction, the generator rotor and stator are visually inspected to identify and locate, in particular, thermal discoloration, mechanical changes such as scratches, impacts, and displacement of parts, loose parts, and foreign objects. To allow visual inspection, the rotor is removed or pulled from the stator. A visual inspection is then conducted by inspectors. Any findings are photographed and documented. After the inspection is completed and the results are evaluated, and if necessary, maintenance is performed, the generator can be reassembled and put into operation. Pulling the rotor involves significant expense and high costs. In this context, it is desirable to perform inspections while the generator is assembled, thus eliminating the need for rotor removal during inspection.

[0006] Visual inspection in the assembled state is theoretically possible using traditional industrial endoscopes. However, this is not applicable to generators with rotors several meters long.

[0007] Furthermore, the use of inspection vehicles for component diagnosis and / or during inspection operations is becoming increasingly popular. This allows for shorter inspection times due to the accelerated inspection process, and also by eliminating the need to disassemble different equipment components, such as removing the generator rotor. Additionally, inspection vehicles allow for the recording of measurements and inspection results under similar conditions, resulting in consistent quality and excellent long-term comparability. Finally, inspection vehicles offer advantages in terms of environmental, health, and occupational safety, as they often avoid access to confined spaces.

[0008] For a comprehensive inspection, it is important to check that the vehicle can move flexibly on the base, especially on the surface of the rotor, and in particular, can also move upside down.

[0009] The applicant has known an inspection vehicle for inspecting a generator in its assembled state. The inspection vehicle is designed to be mounted on a base that is at least partially ferromagnetic, more precisely, on the outer circumference of the generator's rotor, and to move freely thereon in all directions. For this purpose, such an inspection vehicle, in addition to measuring equipment and a drive unit modified from the aforementioned tracked system, includes at least one magnet disposed on the underside of the inspection vehicle and designed to hold the inspection vehicle in place on the base. The at least one magnet uses its holding force to pull the inspection vehicle toward the base. Thus, the at least one magnet ensures the desired pressing pressure for driving the inspection vehicle and is responsible for enabling the inspection vehicle to move upside down along the ferromagnetic base without falling off.

[0010] If the entire base (on which the inspection vehicle should move) is not ferromagnetic, then areas are created where the magnet for the inspection vehicle is noticeably attracted and areas where the magnet attracts little or no attraction to the inspection vehicle. The rotor of the generator is largely made of, for example, solid steel, with copper rotor keyway wedges machined onto its surface. While copper, with a permeability close to 1, is not ferromagnetic, steel has a higher permeability and is therefore ferromagnetic. The magnet for the inspection vehicle is thus noticeably attracted to the steel areas but not to the copper areas. Whether the previously known inspection vehicle is held upside down by at least one magnet depends on the exact location of said at least one magnet on the base.

[0011] To ensure reliable holding of the inspection vehicle regardless of its current position on the base, a large number of magnets arranged on the underside of the inspection vehicle has been considered to eliminate the aforementioned abrupt change in the base's magnetic permeability. This ensures that a sufficient number of magnets are attached to the base at every point in time the inspection vehicle is moving on it, thus holding the vehicle in place. However, a problem arises in certain sections of the base where only ferromagnetic areas are present, such as in the rotor's pole regions (where the rotor is not equipped with keyway wedges). This can cause the inspection vehicle to stop moving. Summary of the Invention

[0012] Based on this prior art, the objective of this invention is to provide an inspection vehicle of the type described at the beginning of this document, which can reliably move forward in all directions on a non-uniform ferromagnetic base.

[0013] To address this task, the present invention provides an inspection vehicle in which at least one magnet is guided within a clamping device, particularly within a track, in a manner that allows free movement along the direction of motion. The clamping device can be manufactured using additive manufacturing methods, such as a 3D printer. The at least one magnet is automatically oriented due to the magnetic attraction between the magnet, guided in a manner that allows free movement along a direction of motion, and a ferromagnetic region of the base; that is, the magnet automatically moves within its clamping device into a position above the nearest ferromagnetic region of the base. In this way, sufficient pressing or adhesion of the inspection vehicle at the base, within tolerances, is always ensured. When used on a generator rotor, the inspection vehicle according to the invention can reliably travel both axially and radially. The inspection vehicle according to the invention can be used not only on bases of the type described above with non-uniform ferromagnetism, but also on bases that have cut-out areas, perforated areas, or other interfering contour areas in addition to the ferromagnetic areas.

[0014] According to one design of the present invention, a plurality of magnets are provided, each of which is guided within a clamping device in a manner that allows free movement along the direction of motion. The clamping devices are arranged in pairs, staggered from each other along a direction transverse to, and particularly perpendicular to, the direction of motion of the magnets. This arrangement allows the magnets to attach to as many different areas of the base as possible, which helps to reliably hold the inspection vehicle in place.

[0015] The thickness, arrangement, and / or number of magnets can be selected in such a way that the inspection vehicle can move upside down along the base.

[0016] The measuring equipment advantageously includes at least one camera and an illumination unit for illuminating the imaging area of ​​the at least one camera, wherein the illumination unit may be integrated into the camera. However, in addition to one or more cameras, or as an alternative to one or more cameras, the inspection equipment may also include other inspection devices, such as ultrasonic inspection devices or the like.

[0017] The inspection vehicle preferably includes a housing with a generally rectangular construction, having: a front side of the housing pointing in the main direction of travel; an opposing rear side of the housing; longitudinal sides of the housing arranged face to face, connecting the front and rear sides of the housing; a bottom side of the housing pointing towards the base when the inspection vehicle is mounted on the base; and an opposing upper side of the housing.

[0018] The direction of motion of at least one magnet may extend laterally, and in particular perpendicularly, to the main direction of travel. However, it is also possible that the direction of motion of at least one magnet corresponds to the main direction of travel, and the direction of motion of at least one other magnet extends laterally, and in particular perpendicularly, to the main direction of travel.

[0019] According to one design of the present invention, the measuring equipment is at least mostly housed within the housing.

[0020] The inspection vehicle is advantageously designed to be inserted into the air gap between two opposing gap walls and to be positioned and moved on the surface of the first gap wall, which serves as a base, to inspect for damage to the first gap wall and / or the opposing second gap wall. A camera is arranged inside the housing and aligned with a mirror, which is positioned inside the housing between two windows opposing each other, located on the bottom and top sides of the housing, and is held in such a way that it can pivot about the mirror's pivot axis, particularly motorly, so that the camera can observe the first gap wall through the lower window or the second gap wall through the upper window, depending on the pivot position of the mirror. A single camera can be used to inspect both the outer circumferential surface of the rotor and the inner circumferential surface of the stator.

[0021] The camera can move back and forth relative to the mirror, especially mechanically. Because the outer circumferential surface of the rotor and the inner circumferential surface of the stator have different distances from the housing, the camera's focus can be calibrated according to the surface to be inspected in this way.

[0022] The camera is appropriately oriented along the main travel direction. A through-opening is provided on the upper side of the housing above the camera, and the camera can move up and down flexibly through this opening between a first position and a second position. In the first position, the camera is positioned inside the housing and aligned with the mirror; in the second position, the camera is positioned outside the housing. Therefore, in the first position, the camera can be used to inspect the rotor or stator. In the second position, the camera is oriented along the main travel direction, so the operator can see where he must maneuver the vehicle for inspection. Thus, only a single camera is required overall. However, in principle, multiple cameras can certainly be used, for example, one camera for inspecting the rotor surface, one camera for inspecting the stator surface, and another camera for observation along the main travel direction.

[0023] According to another design of the invention, the vehicle is designed to be inserted into the air gap between a rotor of an electric motor, particularly a generator, which defines a first gap wall, and a stator that defines a second gap wall, and to be positioned and moved on the substantially cylindrical outer circumference of the rotor to inspect for damage to the outer circumference of the rotor and / or the inner circumference of the stator. The drive unit comprises at least four drive groups held opposite each other on the longitudinal side of the housing. Each drive group has at least two wheels that can be driven by separate motors to rotate about wheel axes that extend parallel to and perpendicular to the main travel direction. Each drive group is fixed to an intermediate element that can pivot about a first pivot axis extending parallel to the wheel axes. This intermediate element is held in the housing in a manner that allows it to pivot about a second pivot axis extending parallel to the first pivot axis and about a third pivot axis extending perpendicular to the second pivot axis. The pivoting motion of one drive group about its third pivot axis is coupled to the pivoting motion of the opposing drive group about its third pivot axis. This construction and arrangement of the drive unit allows the inspection vehicle according to the invention to travel, maneuver, and steer in any direction on the curved base, for example, on the surface of the rotor. Therefore, the inspection vehicle can move freely in all directions after being mounted on the curved base. This also enables the inspection of the generator's rotor and stator, wherein the air gap between the rotor and stator enters only through a single-sided inlet at the 12 o'clock position, without having to pull the rotor. Inspections can be performed correspondingly faster and at a lower cost compared to previously known tracked systems. Preferably, the inspection vehicle and measuring equipment are operated entirely remotely, i.e., wirelessly. Maneuvering is advantageously achieved in that, similar to tracked vehicles, the wheels of the drive unit on both sides are driven at different speeds.

[0024] At least one magnet is suitably arranged on the bottom side of the housing and / or at least one magnet is arranged on the bottom side of a drive group, particularly each drive group. The arrangement of the magnets as widely as possible helps to reliably hold the inspection vehicle at the base.

[0025] The intermediate elements of the opposing drive groups can be coupled to each other via a lever mechanism, such that when one drive group pivots downward about its corresponding third pivot axis by a predetermined degree, the other drive group pivots upward about its corresponding third pivot axis by a corresponding degree, and vice versa. This ensures that even when traveling at an angle, for example, above the rotor, the drive group, and therefore its corresponding wheel, is always optimally positioned.

[0026] According to another design of the invention, each drive unit has three wheels, which are arranged in pairs, staggered from each other along the main travel direction and / or along the direction of movement of the magnet, and are each driven by a separate motor to rotate about its wheel axis. This ensures that even if one of the wheels is, for example, clamped in an air-cooled bore in the rotor, the other wheels ensure the propulsion of the vehicle.

[0027] The measuring equipment and motor can be powered by at least one battery housed within the casing.

[0028] When the inspection vehicle is mounted on a flat base, the overall height of the inspection vehicle is advantageously less than 20 mm, and even better, less than 16 mm. The inspection vehicle according to the invention can be used to inspect generators in almost all industries. Attached Figure Description

[0029] Further features and advantages of the present invention will be explained below with reference to the accompanying drawings regarding embodiments of the inspection vehicle according to the invention.

[0030] Figure 1 This is a three-dimensional rear view of an inspection vehicle viewed from an oblique angle according to one embodiment of the present invention, wherein the camera is located in a first position below.

[0031] Figure 2 Is with Figure 1 A similar view, in which the camera is in the second position from above;

[0032] Figure 3 yes Figure 2 The image shown is a top view of the vehicle being inspected.

[0033] Figure 4 yes Figure 2 The image shows the front view of the vehicle being inspected.

[0034] Figure 5 yes Figures 1 to 4 The diagram shown is a bottom view of the drive assembly of the vehicle being inspected; and

[0035] Figure 6 yes Figure 1 The image shown is a perspective view of the vehicle being inspected while it is tilted above the rotor. Detailed Implementation

[0036] The accompanying drawings illustrate an inspection vehicle 1 according to one embodiment of the invention, designed to be inserted into the air gap between two opposing gap walls between the rotor 2 and stator of an electric motor, particularly a generator, and to be positioned and moved on a partially ferromagnetic base, on the surface of the first gap wall, more precisely on the substantially cylindrical outer circumference 3 of the rotor 2, in order to inspect damage to the first gap wall, i.e., the outer circumference 3 of the rotor 2, and / or the opposing second gap wall, i.e., the inner circumference of the stator. The outer circumference 3 of the rotor 2 includes a steel ferromagnetic rotor body region 4 and a copper non-ferromagnetic rotor keyway wedge region 5. The inspection vehicle 1 includes a housing 6, measuring equipment 7 housed within the housing 6, and a drive unit 8 with four drive groups 9 as its main components.

[0037] The housing 6 is basically constructed in a rectangular shape. The housing includes: a front side 11 of the housing pointing along the main direction of travel indicated by arrow 10; an opposite back side 12 of the housing; a longitudinal side 13 of the housing arranged face to face with the front side 11 and the back side 12 of the housing connected to each other; a bottom side 14 of the housing pointing toward the rotor when the inspection vehicle 1 is inserted; and an opposite upper side 15 of the housing.

[0038] The housing 6 houses a measuring instrument 7 designed to detect the physical and / or chemical properties of the surrounding environment. The measuring instrument currently includes a camera 16 and a mirror 17. The camera has an integrated illumination unit for illuminating the imaging area of ​​the camera 16. The camera 16 is positioned along the main travel direction 10, pointing towards the mirror 17. The mirror is arranged inside the housing 6 between two windows 18 opposite each other, located on the bottom side 14 and the top side 15 of the housing. It is held in such a way that it can pivot about a pivot axis 19 extending transversely to the main travel direction 10, allowing the camera 16 to selectively observe the rotor 2 through the lower window 18 or the stator through the upper window 18, depending on the pivot position of the mirror 17, when the inspection vehicle 1 is mounted on the rotor 2. The camera 16 can move back and forth relative to the mirror 17 along a guide structure (not shown in detail) in the direction of arrow 20 to optimally set the focus of the camera 16. Alternatively, this mobility can be eliminated, and a fixed focus can be set. Furthermore, the camera 16 can move flexibly up and down between a lower first position and an upper second position. In the lower first position, the camera is positioned inside the housing 6 and aligned with the mirror 17. In the upper second position, the camera is guided out of the housing 6 through a through opening 21 located on the upper side 15 of the housing above the camera 16. The first position is... Figure 1 As shown in the diagram, the second position is... Figure 2As shown in the diagram, the up-and-down movement is currently achieved via a motorically driven rocker arm 22. Therefore, in the first position, the rotor 2 or stator can be inspected using the camera 16. In the second position, the camera 16 is oriented along the main travel direction 10, allowing the operator to see where he must maneuver the vehicle for inspection.

[0039] The drive units 9 are held in pairs opposite each other on the longitudinal side 8 of the housing. Each drive unit 9 currently has three wheels 23 staggered from each other along the main travel direction 10, wherein the wheel portions are also staggered from each other in a direction perpendicular to the main travel direction 10. The wheels 23 are each driven by a separate motor 24 in a manner that rotates about wheel axes 25 that extend parallel to each other and perpendicular to the main travel direction 10. Each drive unit 9 is fixed to an intermediate element 27 in a manner that allows it to pivot about a first pivot axis 26 extending parallel to the wheel axis 25, which in turn is fixed to the housing 6 in a manner that allows it to pivot about a second pivot axis 28 extending parallel to the first pivot axis 26 and about a third pivot axis 29 extending perpendicular to the second pivot axis 28 along the main travel direction 10. The pivoting motion of drive unit 9 about its third pivot axis 29 is coupled to the pivoting motion of the opposite drive unit 9 about its third pivot axis 29. This coupling is currently accomplished via lever mechanisms 30, wherein the lever mechanisms 30 of the two front drive groups 9 extend along the front side 11 of the housing and the lever mechanisms 30 of the two rear drive groups 9 extend along the back side 12 of the housing. Each lever mechanism 30 includes two L-shaped levers 31, which are fixed at the front side 11 or the back side 12 of the housing respectively, in a manner rotatable about rotation axes 32 that extend parallel to each other along the main travel direction 10. The laterally outward-oriented arms of the corresponding levers 31 are provided with elongated holes 33, into which the free end of the operating section 34 of the associated intermediate element 27 acts. The levers 31 of the lever mechanisms 30 are hinged to each other at their respective other arms via connecting rods 35. Therefore, if one of the two drive groups 9 arranged face-to-face pivots downward to a predetermined degree about its associated third pivot axis 29, then the other drive group 9 pivots upward to a corresponding degree about its associated pivot axis 29, and vice versa, especially in Figure 6 As can be clearly seen in the middle.

[0040] The dimensions of housing 6 and drive assembly 9 are chosen such that when camera 16 is in its first position, the total height H of inspected vehicle 1 is less than 20 mm, and more preferably less than 16 mm.

[0041] Furthermore, the inspection vehicle 1 includes multiple magnets 36, currently neodymium magnets, arranged on the underside of the housing 6 and the drive assembly 9 and designed to hold the inspection vehicle 1 in the base. More precisely, currently three magnets 36 are arranged on the underside of the housing 6 and on the underside of each drive assembly 9, such as... Figure 5 As exemplarily shown for drive group 9. According to the invention, magnets 36 are guided in a freely movable manner within clamping devices 37, within a currently straight track, along a direction of movement extending perpendicular to the main travel direction 10, as indicated by double arrows 38. Here, clamping devices 37 are arranged in pairs, offset from each other along the main travel direction 10 of the inspection vehicle 1 and along the direction of movement 38 of the magnets 36, so that the inspection vehicle 1 can reliably move forward in all directions on a non-uniform ferromagnetic base. Due to the magnetic attraction between the magnets 36 and the ferromagnetic rotor body region 4 of the outer circumference 3 of the rotor 2, the magnets 36 automatically move within their clamping devices 37 into a position above the nearest ferromagnetic rotor body region 4, i.e., simultaneously away from the non-ferromagnetic rotor keyway wedge region 5. The resulting positions of the three magnets 36 are, for example, determined by... Figure 5 It can be seen that, in Figure 5 In the diagram, a ferromagnetic rotor body region 4 and two non-ferromagnetic rotor keyway wedge regions 5 are shown as shaded areas solely for orientation purposes. This ensures that the matching pressing force on the outer circumference 3 of the inspection vehicle 1 to the rotor 2 is always guaranteed. The thickness, arrangement, and / or number of magnets 36 are thus selected so that when the inspection vehicle 1 presses... Figure 6 When mounted on rotor 2, the vehicle can be held in place on rotor 2 by means of magnet 36 and can also move upside down along the outer circumference 3 of rotor 2.

[0042] The measurement technology equipment 7 and the drive group 9 are currently controlled by radio or remote control, that is, wirelessly.

[0043] Although the invention has been drawn and described in more detail by way of preferred embodiments, the invention is not limited to the disclosed examples and other variations can be derived by those skilled in the art without departing from the scope of protection of the invention.

[0044] Visually inspect the generator within its casing without removing the generator rotor, by driving an inspection vehicle over the generator's interior.

[0045] The inspection vehicle was then fed into the generator and driven on the generator rotor.

[0046] The inspection of the vehicle involves checking both the generator rotor and the generator stator inside the generator.

[0047] Therefore, the area to be inspected is illuminated by a light source located at the vehicle inspection point.

[0048] There are cooling holes at the generator rotor, through which a large part of the cooling effect is achieved during operation in air-cooled generators.

[0049] Cooling air can enter from both sides, especially through the slotted channel of the generator rotor on one side of the cooling air vent.

[0050] When these cooling boreholes become blocked by foreign objects, dirt, or other deposits, thus preventing the continuous airflow from being ensured, there is a risk of localized overheating or overheating of the generator rotor.

[0051] This can, for example, create an imbalance, which in itself may cause substantial damage to the entire machine.

[0052] In order to inspect these cooling boreholes using the aforementioned inspection vehicle, it is necessary to observe the cooling boreholes and the rotor windings behind them very closely in order to determine the complete structure of the slotted channels behind them.

[0053] Therefore, it is particularly difficult to inspect the vehicle simply by checking this illumination, because the space inside the generator is extremely narrow.

[0054] By directing a lighting source into the slotted channel, the inspection results of the cooling boreholes can be significantly improved, ensuring a complete overview down to the bottom of the slot. To this end, in an alternative embodiment, the method involves inspecting the cooling air vents of the generator rotor, wherein the cooling air vents can be accessed (or approached) through the slotted channel of the generator rotor on one side, or from both sides, wherein a lighting source is directed into the slotted channel of the generator rotor on one side of the cooling air vent, and the vehicle is inspected while moving on the other side of the cooling air vent.

[0055] Illumination can be achieved here, in particular, by an arrangement of light-emitting diodes (LEDs) that are directed into slotted channels in the generator rotor below the generator cover, while the inspection vehicle drives on the surface of the rotor.

[0056] Commonly available LED tubes can be used here.

[0057] The method is performed in such a way that the lighting source is brought into the slotted channel of the generator while the inspection vehicle simultaneously travels on the surface of the generator rotor.

[0058] The key idea is to illuminate the cooling boreholes not only “from the front” (from the perspective of inspecting the vehicle), but also additionally from the slotted channel.

[0059] This allows for a significantly deeper understanding of the internal structure and state of the generator rotor windings.

[0060] If one compares this approach, especially to the necessity of removing the rotor ("pulling the rotor") before introducing a robotic system, then to date, some compromises have been made when inspecting a generator rotor using a robotic system. These compromises can, of course, be eliminated by ensuring that the inspection results are grounded in an equally valuable assessment basis.

Claims

1. Inspect the vehicle (1), The inspection vehicle is designed for, It is placed and moved on a base (3) that is at least partially ferromagnetic. The inspection vehicles include: - At least one measuring device (7), said measuring device being designed to detect the physical and / or chemical properties of the surrounding environment, - Drive unit (8) and - At least one magnet (36). The magnet is arranged on the underside of the inspection vehicle (1) and is designed to hold the inspection vehicle (1) at the base (3). Its features are, At least one magnet (36) is guided within the clamping device (37) in a manner that allows it to move freely along the direction of motion (38), wherein, Multiple magnets (36) are provided, and the magnets are guided in the clamping device in a manner that allows them to move freely along the direction of motion (38). The clamping devices (37) of the magnet are arranged in pairs along the direction (38) transverse to the direction of movement (38) of the magnet (36) and / or along the direction of movement of the magnet (36), respectively, staggered from each other.

2. The vehicle inspection vehicle (1) according to claim 1, characterized in that, At least one magnet (36) is guided within the track in a manner that allows it to move freely along the direction of motion (38).

3. The vehicle inspection vehicle (1) according to claim 1, characterized in that, The thickness, arrangement and / or number of the magnets (36) are selected in this way so that the inspection vehicle (1) can move upside down along the base (3).

4. The vehicle inspection vehicle (1) according to claim 1, characterized in that, The measuring equipment (7) has at least one camera (16) and an illumination unit for illuminating the imaging area of ​​the at least one camera (16), wherein the illumination unit can be integrated into the camera (16).

5. The inspection vehicle (1) according to any one of claims 1 to 4, characterized in that, The inspection vehicle (1) includes a rectangular shell (6). The housing has: a front side (11) of the housing pointing toward the main driving direction (10); an opposite back side (12) of the housing; a longitudinal side (13) of the housing arranged opposite to each other, connecting the front side (11) and the back side (12) of the housing; a bottom side (14) of the housing, which points toward the base (3) when the inspection vehicle (1) is placed on the base (3); and an opposite upper side (15) of the housing.

6. The vehicle inspection vehicle (1) according to claim 5, characterized in that, The direction of motion (38) of the at least one magnet (36) extends laterally to the main direction of travel (10).

7. The vehicle inspection vehicle (1) according to claim 5, characterized in that, The measuring equipment (7) is at least mostly housed in the housing (6).

8. The vehicle inspection vehicle (1) according to claim 5, characterized in that, The inspection vehicle (1) is designed for, Inserted into the air gap between two opposing gap walls and positioned and moved on the surface of the first gap wall, which serves as a base, to inspect for damage to the first gap wall and / or the opposing second gap wall. The camera (16) is arranged inside the housing (6) and aligned with the mirror (17). The mirror is arranged inside the housing (6) between two windows (18) located opposite each other on the bottom side (14) and top side (15) of the housing, and is held in such a way that it can pivot flexibly about the mirror's pivot axis (19). This allows the camera (16) to observe the first gap wall through the lower window (18) or the second gap wall through the upper window (18) depending on the pivot position of the mirror (17).

9. The vehicle inspection vehicle (1) according to claim 8, characterized in that, The camera (16) can move back and forth relative to the mirror (17).

10. The inspection vehicle (1) according to claim 8 or 9, characterized in that, The camera (16) is oriented along the main driving direction (10). The upper side (15) of the housing is provided with a through opening (21) above the camera (16), and The camera (16) can move up and down through a through opening (21) between a first position and a second position. In the first position, the camera is arranged inside the housing (6) and aligned with the mirror (17). In the second position, the camera is arranged outside the housing (6).

11. The vehicle inspection vehicle (1) according to claim 8, characterized in that, The inspection vehicle (1) is designed to be inserted into the air gap between the rotor (2) of the motor, which defines the first gap wall, and the stator, which defines the second gap wall, and to be positioned and moved on the substantially cylindrical outer circumference of the rotor (2) in order to inspect for damage to the outer circumference of the rotor (2) and / or the inner circumference of the stator. The drive unit (8) includes at least four drive groups (9). The drive components are positioned opposite each other on the longitudinal side (13) of the housing. Each drive unit (9) has at least two wheels (23), which are driven by individual motors (24) to rotate about wheel axes (25) that are parallel to each other and perpendicular to the main direction of travel (10). Each drive assembly (9) is fixed to the intermediate element (27) in a manner that allows it to pivot about a first pivot axis (26) extending parallel to the wheel axis (25). The intermediate element is fixed to the housing (6) in a manner that allows it to pivot about a second pivot axis (28) extending parallel to the first pivot axis (26) and to pivot up and down about a third pivot axis (29) extending perpendicular to the second pivot axis (28). The pivoting motion of the drive group (9) about its third pivot axis (29) is coupled with the pivoting motion of the opposite drive group (9) about its third pivot axis (29).

12. The vehicle inspection vehicle (1) according to claim 11, characterized in that, At least one magnet (36) is arranged on the bottom side (14) of the housing (6), and / or At least one magnet (36) is arranged on the bottom side of the drive group (9).

13. The vehicle inspection vehicle (1) according to claim 11, characterized in that, The intermediate elements (27) of the opposing drive groups (9) are coupled to each other by a lever mechanism (30) such that when one of the drive groups (9) pivots downward about a predetermined degree about its corresponding third pivot axis (29), the other drive group (9) pivots upward about a corresponding degree about its corresponding third pivot axis (29), and vice versa.

14. The inspection vehicle (1) according to any one of claims 11 to 13, characterized in that, Each drive group (9) has three wheels (23). The wheels are arranged in pairs, staggered from each other along the main travel direction (10) and / or along the movement direction (38) of the magnet (36), and are driven by separate motors (24) to rotate about their wheel axes (25).

15. The inspection vehicle (1) according to any one of claims 11 to 13, characterized in that, The measuring equipment (7) and the motor (24) are powered by at least one battery arranged in the housing (6).

16. The inspection vehicle (1) according to any one of claims 1 to 4, characterized in that, When the inspection vehicle is mounted on the flat base (3), the total height of the inspection vehicle is less than 20 mm.

17. The inspection vehicle (1) according to any one of claims 1 to 4, characterized in that, When the inspection vehicle is mounted on the flat base (3), the total height of the inspection vehicle is less than 16 mm.

18. The inspection vehicle (1) according to any one of claims 1 to 4, characterized in that, The magnet (36) is a neodymium magnet.

19. A method for inspecting a component, the component being at least partially constructed to be ferromagnetic, wherein the method uses an inspection vehicle according to any one of claims 1 to 18.

20. The method according to claim 19, In the method described, the cooling air holes of the generator rotor are inspected. in, Cooling air can enter through a slotted channel on one side of the generator rotor, or it can enter from both sides. The lighting source is introduced into the slotted channel of the generator rotor through one side of the cooling air vent. And check that the vehicle is on the other side of the cooling air vent and moving on it.

21. The method according to claim 20, wherein, The lighting source is an LED chain.

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