Inspection vehicle and inspection method thereof

Abstract

The invention discloses an inspection vehicle and an inspection method, the inspection vehicle is used for inspecting a fastener above a rotor of a large hydroelectric generator, and a control host is used for controlling the inspection vehicle to start from a specified initial position above the rotor of the large hydroelectric generator and run according to running parameters given by the control host and a pre-planned track; the image acquisition module is used for performing image acquisition at a plurality of pre-specified inspection point positions according to given shooting parameters when the inspection vehicle runs according to the pre-planned track, the different inspection point positions are mapped with respective corresponding shooting parameters, and the router is used for sending the acquired bolt images to the remote computer and sending the bolt images to the remote computer. And the remote computer judges whether the bolt is loosened based on the bolt image. The purpose of automatically monitoring the fastener is achieved, and the problem that manual detection is difficult in the prior art is solved.

Description

Technical Field

[0001] The invention relates to the field of control, and in particular to an inspection vehicle and an inspection method thereof. Background Art

[0002] The fasteners on the rotor of a hydroelectric generator should usually be monitored to ensure that they are in normal condition. However, due to the high temperature environment and real-time operation environment, manual on-site inspections are difficult and pose safety risks.

[0003] For this type of site, it is not possible to monitor it by installing cameras. This is because the fasteners are arranged in a circle, and the rotating shaft in the middle usually keeps rotating. Monitoring cannot identify whether the fasteners are in a tightened state.

[0004] The invention is suitable for automatically inspecting the fasteners above the rotor of the hydroelectric generator when the generator is in a shutdown state. Summary of the invention

[0005] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0006] In view of the problems existing in the prior art, the present invention is proposed.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: an inspection vehicle, a method and a device for inspecting fasteners above a hydroelectric generator rotor.

[0008] In order to achieve the above-mentioned purpose, according to a first aspect of the present invention, there is provided an inspection vehicle, comprising: a control host, a router, and an image acquisition module, wherein: the control host is used to control the inspection vehicle to start from an initial position specified above the rotor of the large hydroelectric generator and travel according to the driving parameters and pre-planned trajectory given by the control host; the image acquisition module is used to perform image acquisition according to given shooting parameters at a plurality of pre-specified inspection points when the inspection vehicle travels according to the pre-planned trajectory to obtain bolt images, wherein different inspection points are mapped with their own corresponding shooting parameters, and the shooting parameters required by the image acquisition module at different points are given by the control host; the router is used to send the acquired bolt images to a remote computer, so that the remote computer can determine whether the bolts are loose based on the bolt images.

[0009] As a preferred embodiment of the inspection vehicle of the present invention, the inspection vehicle is further provided with a laser radar, wherein: when inspecting the distributed bolts above the rotor of a large hydroelectric generator, the inspection vehicle travels along the pre-planned outer ring trajectory, and the laser radar scans different labels pre-set above the rotor of the large hydroelectric generator to obtain different label contents; after the label contents are transmitted to the control host, the control host performs positioning based on the different label contents.

[0010] As a preferred embodiment of the inspection vehicle described in the present invention, the inspection vehicle further comprises an infrared transceiver, wherein: when inspecting the rotating bolts on the central rotating shaft of a large hydroelectric generator in real time, the inspection vehicle switches from the outer circle track to the pre-planned inner circle track during driving, and transmits infrared rays to the central rotating shaft through the infrared transceiver, and receives infrared rays reflected by the reflective object preset on the central rotating shaft and infrared rays reflected by the surface of the central rotating shaft; after the reflected infrared rays are transmitted to the control host, the control host performs positioning based on the reflected infrared rays, so as to control the image acquisition module to acquire images of the bolts on the central rotating shaft based on the positioning information; during the image acquisition process, different labels pre-set above the rotor of the large hydroelectric generator are scanned by the laser radar to obtain different label contents; after the label contents are transmitted to the control host, the control host performs positioning based on the different label contents.

[0011] As a preferred embodiment of the inspection vehicle of the present invention, the image acquisition module includes a mechanical arm and a pan-tilt head connected to the mechanical arm and provided with an image acquisition device, wherein when inspecting multiple circles of bolts distributed above the rotor of a large hydroelectric generator, when the inspection vehicle travels along the outer circle track, the pan-tilt head, under the control of the control host, acquires images of the multiple circles of bolts in a pitch or tilt manner based on the given shooting parameters.

[0012] As a preferred embodiment of the inspection vehicle of the present invention, the image acquisition module includes a mechanical arm and a pan-tilt platform connected to the mechanical arm and provided with an image acquisition device, wherein: when inspecting multiple circles of bolts distributed on the central rotating axis above the rotor of a large hydroelectric generator, when the inspection vehicle travels along the inner circle track, the mechanical arm drives the pan-tilt platform to move up or down under the control of the control host to capture images of the multiple circles of bolts based on the given shooting parameters.

[0013] Another object of the present invention is to provide an inspection method, which aims to solve the problem.

[0014] To solve the above technical problems, the present invention also provides the following technical solutions: a patrol method, comprising a patrol vehicle; and comprising: under the control of a patrol vehicle control host, the patrol vehicle starts from an initial position specified above a rotor of a large hydroelectric generator and travels according to the driving parameters and pre-planned trajectory given by the control host; when the patrol vehicle travels according to the pre-planned trajectory, image acquisition is performed at a plurality of pre-specified patrol points according to given shooting parameters to obtain bolt images, wherein different patrol points are mapped with their respective corresponding shooting parameters, and an image acquisition module on the patrol vehicle adjusts the shooting parameters according to the shooting parameters given by the control host to collect bolt images that meet the specifications; the collected bolt images are sent to a remote computer through a router, so that the remote computer can determine whether the bolts are loose based on the bolt images.

[0015] As a preferred embodiment of the inspection method of the present invention, the step of driving according to the driving parameters and pre-planned trajectory given by the control host includes: starting from a specified initial position in the area between the outer edge above the hydroelectric generator rotor and the central rotation axis, driving according to the driving parameters given by the control host and the pre-planned outer circle trajectory above the hydroelectric generator rotor under the control of the control host; when driving to a given switching position point, driving from the outer circle trajectory to a specified point on the pre-planned inner circle trajectory according to the pre-planned switching trajectory, and then driving from the specified point according to the pre-planned inner circle trajectory.

[0016] As a preferred embodiment of the inspection method of the present invention, when inspecting the bolts above the rotor of a large hydroelectric generator, the inspection vehicle travels along the pre-planned outer ring trajectory, and the laser radar on the inspection vehicle scans different labels pre-set above the rotor of the large hydroelectric generator under the control of the control host to obtain different label contents; the control host performs positioning based on the different label contents.

[0017] As a preferred embodiment of the inspection method of the present invention, when inspecting the rotating bolts on the central rotating shaft of a large hydroelectric generator in real time, the inspection vehicle switches from the outer circle track to the pre-planned inner circle track during driving, and the infrared transceiver on the inspection vehicle emits infrared rays under the control of the control host, and receives infrared rays reflected by the reflective objects preset on the central rotating shaft of the large hydroelectric generator; the control host performs positioning based on the reflected infrared rays, so as to control the image acquisition module to acquire images of the bolts on the central rotating shaft based on the positioning information.

[0018] As a preferred embodiment of the inspection method of the present invention, when the inspection vehicle travels along the outer circle track, the pan-tilt head on the inspection vehicle, under the control of the control host, collects images of the bolts with multiple circles distributed above the rotor of the large hydroelectric generator in a pitch or tilt manner based on given shooting parameters; when the inspection vehicle travels along the inner circle track, the mechanical arm on the inspection vehicle, under the control of the control host, drives the connected pan-tilt head to move up or down to collect images of the bolts with multiple circles distributed on the central rotating axis based on given shooting parameters.

[0019] The inspection method of the present invention has the following beneficial effects: by inspecting the fasteners above the rotor of a large hydroelectric generator in operation through an inspection vehicle and making status judgments based on images, the purpose of automated bolt status monitoring is achieved, overcoming the defect of the difficulty of manual detection in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0021] Figure 1 It is a schematic diagram of the structure of the inspection vehicle in the present invention.

[0022] Figure 2 It is a schematic diagram of the application of the inspection vehicle in the present invention.

[0023] Figure 3 It is a cross-sectional view of the inspection vehicle used in the present invention.

[0024] Figure 4 This is a schematic diagram of the distribution of bolts on the central rotating axis of the present invention.

[0025] Figure 5 It is a schematic diagram of the overall structure of the inspection vehicle in the present invention.

[0026] Figure 6 This is a system architecture diagram applicable to the inspection vehicle in the present invention.

[0027] Figure 7 It is a schematic diagram of the process of the inspection method in the present invention. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0030] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0031] Example 1

[0032] Reference Figure 1 , which is the first embodiment of the present invention, includes a control host, a router, and an image acquisition module. Under the instruction of a remote computer, the inspection vehicle can complete the trial teaching. After the trial teaching is completed, the inspection is completed under the control of the inspection vehicle control host. The parameters obtained in the trial teaching stage can be directly used in the control process of the formal inspection. In the trial teaching stage, different shooting parameters are obtained at different inspection points, forming a point information table. Through the point information table, the inspection vehicle can shoot bolts at different points in the formal inspection stage according to the shooting parameters of the trial teaching.

[0033] When the inspection vehicle is driving, the image acquisition module is used to capture images of the bolts above the rotor of a large hydroelectric generator. The captured images are sent to a remote computer through a router. The remote computer detects the status of the fasteners in the image, such as whether the bolts are loose.

[0034] Above the rotor of a large hydroelectric generator, there are multiple circles of bolts distributed inside and outside near the inner side of the stator along the circumferential direction of the generator rotor, and there are multiple layers of bolts distributed up and down in any circle. On the central rotating shaft of a large hydroelectric generator, there are multiple circles of bolts distributed up and down along the cylindrical side, and the bolts on the central rotating shaft rotate in real time with the rotation of the rotating shaft. For this inspection scenario, two tracks, the outer circle track and the inner circle track, can be pre-planned, which are used to inspect the bolts above the generator rotor near the inner wall of the stator and the bolts on the central rotating shaft. It should be understood that there is a switching track between the outer circle track and the inner circle track, which is used for the inspection vehicle to switch from the outer circle track to the inner circle track along the switching track.

[0035] With respect to the bolts above the rotor of the hydroelectric generator, under the control of the host control, starting from the specified initial position in the area between the outer edge of the circumference above the rotor and the central rotation axis of the generator, the vehicle drives according to the driving parameters given by the host control and the pre-planned outer circle trajectory above the rotor; when driving to a given switching position point, the vehicle drives from the outer circle trajectory to a specified point on the pre-planned inner circle trajectory according to the pre-planned switching trajectory, and then drives from the specified point according to the pre-planned inner circle trajectory.

[0036] Reference Figures 1 to 7 The schematic diagram of the structure of a large hydroelectric generator includes a large hydroelectric generator rotor (the outermost circle in the figure) and the central rotating shaft of the generator, where the rotor is represented by the outermost circle. Above the rotor, near the inner wall of the stator, there are multiple symmetrical, circularly distributed, similar or identical bolts with a diameter of more than 100 mm; the central rotating shaft of the generator is represented by a circle in the center, and multiple bolts are also distributed on the outside of the central rotating shaft. The driving area of ​​the inspection vehicle belongs to the area between the outer edge of the rotor circumference and the central rotating shaft. The inspection vehicle inspects the bolts at different inspection points according to the planned outer circle trajectory; the inspection vehicle inspects the bolts at different inspection points of the central rotating shaft according to the inner circle trajectory; when the outer circle trajectory switches to the inner circle trajectory, it switches through the planned switching trajectory.

[0037] When the inspection vehicle is inspecting, image acquisition is completed based on the driving parameters and shooting parameters determined in the trial teaching stage. When driving based on the driving parameters, the bolt shooting parameters are shot at the given inspection points according to the shooting parameters, and the shot images are sent to the remote computer through the router. The driving parameters here include the wheel deflection angle, multiple inspection points, that is, multiple parking positions (the positions are expressed in terms of the mileage of the inspection vehicle); the shooting parameters include the parameters of the image acquisition module, the image acquisition module includes a mechanical arm, and a pan-tilt with an image acquisition device connected to the mechanical arm. The shooting parameters include the posture of the mechanical arm in the parking position (i.e., the XYZ coordinates of the end of each section of the mechanical arm, with the lower end of the lowest section of the mechanical arm as point O), the posture of the pan-tilt (pitch, horizontal rotation parameters), and the parameters of the image acquisition device (focal length, aperture, etc.).

[0038] Further, multiple methods can be used to determine whether the bolts are loose. Preferably, for bolts at different positions on the rotor, whether the bolts are loose is determined based on the position of the inspection vehicle when the bolt image is collected and the bolt image, wherein the position of the inspection vehicle is determined based on the mileage of the inspection vehicle in the outer ring track; for bolts on the central rotating shaft, whether the bolts are loose is determined based on whether the nut of each bolt on the central rotating shaft and the pre-aligned identification lines on the attachments that the nut contacts are aligned in the bolt image. The nut of each bolt and the pre-aligned identification lines on the attachments that the nut contacts are aligned.

[0039] Specifically, the captured images should be in compliance with the specifications. For example, for the bolts on the stator, the shooting direction and the stator radius are at a predetermined fixed angle to prevent the inner bolts from blocking the outer bolts. In addition, the position of the bolts is relatively fixed in each photo, and the remote computer software can identify the position in the photo to reduce the computational workload. The content of the photos of the bolts on the central rotating axis also needs to comply with the specifications. For example, it is pre-specified that each photo has only one bolt in the center, or that each photo has only two bolts in the center. This is also for the purpose of performing image recognition according to a consistent pattern during software processing. In order to determine whether the bolts are loose, a tangential line is manually drawn on the nut of each bolt and the attachment that the nut contacts along a direction perpendicular to the rotation direction of the nut. After the marking is completed and the rotating machine has been running for a period of time, if the nut remains tight, the line on the nut is aligned with the line on the attachment.

[0040] As an optional implementation method of this embodiment, the inspection vehicle is also provided with a laser radar, wherein: when inspecting the bolts above the rotor of a large hydroelectric generator, the inspection vehicle travels along a pre-planned outer ring trajectory, and uses the laser radar to scan different labels pre-set above the rotor of the large hydroelectric generator to obtain different label contents; after the label content is transmitted to the control host, the control host performs positioning based on the different label contents.

[0041] In this optional implementation, whether the bolts are distributed near the inner wall of the stator above the generator rotor or the bolts are distributed along the central rotation axis, the bolts are similar or identical and their distribution is symmetrical, so it is not possible to determine which bolt it is based on the structure.

[0042] Therefore, a circle of labels is pre-set on the inner surface of the stator, and the labels are scanned by laser radar during formal inspections. When positioning, different label contents represent different positions, so that the outer circle with the original consistent visual effect can be changed into a different state at each place. The inspection vehicle scans which label, that is, confirms that its own position corresponds to the label, thereby determining the position of the inspection vehicle itself. Furthermore, if the inspection vehicle changes the wheel angle or the position of the vehicle body due to a small external force (friction, uneven ground) during operation, then continuing to operate according to the pre-planned driving parameters will gradually deviate from the established trajectory. The self-position obtained by scanning the label can further confirm whether it has deviated from the established trajectory, and adjust the wheel angle to return to the established trajectory in the case of deviating from the established trajectory. Preferably, two laser radars can be set at the front and rear of the inspection vehicle, one each.

[0043] The inspection vehicle is operated according to these parameters during the formal inspection. This is an open-loop control method. Correcting the trajectory based on the scanned tags belongs to closed-loop control. This control method is a combination of open-loop control and closed-loop control. Open-loop control can reduce the amount of calculation and the power consumption of the inspection vehicle. Closed-loop control can ensure that the trajectory of the inspection vehicle meets the requirements.

[0044] As an optional implementation method of this embodiment, the inspection vehicle also includes an infrared transceiver. When inspecting the rotating bolts on the central rotating shaft of a large hydroelectric generator in real time, the inspection vehicle switches from the outer circle trajectory to the pre-planned inner circle trajectory during driving, and transmits infrared rays to the central rotating shaft through the infrared transceiver, and receives infrared rays reflected by the reflective objects preset on the central rotating shaft and the infrared rays reflected by the surface of the central rotating shaft; after the reflected infrared rays are transmitted to the control host, the control host performs positioning based on the reflected infrared rays, so as to control the image acquisition module to capture the image of the bolts on the central rotating shaft based on the positioning information. During the image acquisition process, different labels pre-set above the rotor of the large hydroelectric generator are scanned by a laser radar to obtain different label contents; after the label contents are transmitted to the control host, the control host performs positioning based on the different label contents.

[0045] In this optional implementation, in order to find a certain bolt on an uncertain rotor as a starting position, an infrared transceiver may be provided.

[0046] Reference Figures 1 to 7 For large hydroelectric generators, bolts are distributed along the inner diameter direction of the circumference near the inner wall of the stator above the rotor.

[0047] Among them, the outer circle track, i.e., line 11, the inner circle track, i.e., line 12, and the switching track line 13 are pre-defined patrol vehicle tracks, i.e., the patrol vehicle can only move on this circular track and cannot move to other locations. In this way, given the initial point, the mileage recorded by the patrol vehicle on the current track can uniquely characterize its position. For example, the patrol vehicle is first placed at the specified starting position on the predetermined outer circle track line 11, so that the mileage of the patrol vehicle uniquely determines its position. The wheel deflection angle of the patrol vehicle given in the trial teaching stage can ensure that it moves strictly along the track.

[0048] When switching from the outer circle track to the inner circle track, it is also from the specified point of the outer circle track line 11, according to the specified switching track line 13 to reach the inner circle track line 12. When reaching the inner circle track line 12, since the central rotating shaft is always in a rotating state, for the position where the inspection vehicle reaches the inner circle, the photos taken directly at this position may not meet the aforementioned pre-specified content. And because the inspection vehicle changes its environment from the outer circle to the inner circle after reaching the inner circle, the original parameters (mileage, wheel deflection angle, etc.) cannot help determine its position in the inner circle. Therefore, a reflective object is fixed on the surface of the central rotating shaft, and its size is about 5 to 10 cm. An infrared transceiver is set on the inspection vehicle, which can emit infrared rays and receive reflected infrared rays. By adjusting the recognition threshold for the reflected infrared rays, the infrared rays reflected by the above-mentioned reflective object and the infrared rays reflected by the surface of the central rotating shaft can be distinguished, thereby realizing the recognition of the reflective object. When the inspection vehicle reaches the inner circle and identifies the reflective object for the first time, it is confirmed that the bolts in the inner circle have started to be photographed. When the reflective object is identified for the second time, it is confirmed that the central rotating shaft has rotated one circle. The above method is used to achieve that after the inspection vehicle reaches the inner circle, the central rotating shaft in the rotating state can be photographed in accordance with the requirements described in this embodiment.

[0049] Furthermore, the bolts of the central rotating shaft can be photographed while driving on the inner circle track, and the position correction can also be achieved by scanning the label above the rotor through the laser radar during the shooting.

[0050] As an optional implementation method of this embodiment, the image acquisition module includes a robotic arm and a pan-tilt head connected to the robotic arm and provided with an image acquisition device, wherein: when inspecting multiple circles of bolts distributed above the rotor of a large hydroelectric generator, when the inspection vehicle travels along the outer circle track, the pan-tilt head, under the control of the control host, captures images of the multiple circles of bolts in a pitch or tilt manner based on given shooting parameters.

[0051] In this optional implementation, the image acquisition module includes a robotic arm and a pan-tilt head. Above the rotor, near the inner wall of the stator, there are multiple circles of bolts distributed inside and outside and in the upper and lower layers along the inner diameter direction. When the inspection vehicle photographs the bolts in this situation along the outer circle trajectory, the pan-tilt head is far away from the bolts. Therefore, in each parking position, the pan-tilt head can be tilted to achieve the photography of all the bolts in the upper and lower positions of the position.

[0052] As an optional implementation method of this embodiment, the image acquisition module includes a robotic arm and a pan-tilt head connected to the robotic arm and provided with an image acquisition device, wherein: when inspecting multiple circles of bolts distributed on the central rotating axis above the rotor of a large hydroelectric generator, when the inspection vehicle travels along the inner circle track, the robotic arm drives the pan-tilt head to move up or down under the control of the control host to capture images of the multiple circles of bolts based on given shooting parameters.

[0053] In this optional implementation, the bolts distributed on the outside of the central rotating axis rotate multiple times along the cylindrical direction. When the inspection vehicle takes pictures of the bolts in this situation on the inner circle trajectory, because the inner circle is close to the rotating axis, the pitch angle is too large when shooting with the gimbal, and it is not easy to judge the status of the bolts from the photos taken. The gimbal can be driven by the up and down movement of the robotic arm to realize the shooting of the bolts in the upper and lower positions. In order to avoid the up and down movement of the robotic arm at each parking point, the upper layer can be photographed once, and then the lower layer can be photographed once.

[0054] Reference Figures 1 to 7 The overturning moments of the center gimbal and the robotic arm can be calculated based on their respective masses, the size of the inspection vehicle, and the size of the robotic arm; the maintaining moment of the inspection vehicle can be calculated based on the mass and size of the inspection vehicle.

[0055] In this embodiment, for the inspection above the rotor of a large water-turbine generator, the inspection vehicle is placed at the designated outer ring track starting position during the trial teaching stage, and the personnel remotely control the inspection vehicle to move on the outer ring track and the inner ring track, and stop at multiple parking positions and take photos of the bolts. The parameters that need to be determined during the trial teaching stage are: wheel deflection angle, multiple parking positions (the positions are expressed in terms of the mileage of the inspection vehicle), the mechanical arm posture at the parking position (i.e., the XYZ coordinates of the end of each section of the mechanical arm, with the lower end of the outermost mechanical arm as point O), the pan-tilt posture (pitch, horizontal rotation parameters), and shooting parameters (focal length, aperture, etc.). When the inspection vehicle reaches the inner ring and identifies the reflective object for the first time, as before, it starts shooting the bolts of the inner ring. At this time, the various parameters of the inspection vehicle must first be adjusted to enable it to be in a state where it can take a photo that meets the requirements of the aforementioned content, and then the adjusted parameters of the inspection vehicle in this state are recorded. For example, when the inspection vehicle identifies a reflective object, it can take a photo that meets the above requirements by deflecting the pan / tilt head by 5 degrees, and the angle after the pan / tilt head is deflected is recorded.

[0056] During the inspection phase, the inspection vehicle is placed at the designated starting position of the outer circle track. The inspection vehicle runs on the outer circle track according to the parameters determined in the trial teaching phase and takes photos of the bolts. Among them, after the inspection vehicle reaches the inner circle and recognizes the reflective object for the first time, its parameters need to be set to the above-mentioned adjusted parameters before starting to shoot. The image data is transmitted to the remote computer via the inspection vehicle control host and router, and the remote computer performs image analysis and determines the tightening status of the bolts. Through the above process, the inspection vehicle realizes automatic inspection and automatic judgment of the rotating machinery in operation.

[0057] Reference Figures 1 to 7, illustrates a system architecture diagram of the inspection vehicle of this embodiment when used for factory inspection. After the pan / tilt of the inspection vehicle collects the bolt image in the above manner, it is sent to the wireless AP on the mobile cabinet side through the wireless AP of the inspection robot, and then can be sent to the data server and the intelligent gateway respectively through the switch, and after passing through the intelligent gateway, it passes through the optical distribution rack in the factory and the optical distribution rack in the control building, and then is received and processed by the server and sent to the remote computer.

[0058] According to an embodiment of the present invention, there is also provided a patrol inspection method, comprising:

[0059] Step 101: Under the control of the inspection vehicle control host, the inspection vehicle starts from a designated initial position above the rotor of the large hydroelectric generator and travels according to the driving parameters and pre-planned trajectory given by the control host.

[0060] In this step, the inspection vehicle may be firstly trial-taught, and formal parameters may be determined in the trial-taught stage so that the inspection vehicle can drive according to the driving parameters during the formal inspection.

[0061] Step 102: When the inspection vehicle travels along a pre-planned trajectory, image acquisition is performed at a plurality of pre-designated inspection points according to given shooting parameters to obtain bolt images, wherein different inspection points are mapped with corresponding shooting parameters, and the image acquisition module on the inspection vehicle adjusts the shooting parameters by controlling the shooting parameters given by the host to acquire bolt images that meet the specifications.

[0062] Step 103: The collected bolt image is sent to a remote computer via a router, so that the remote computer can determine whether the bolt is loose based on the bolt image.

[0063] In this step, during the driving process, the shooting parameters corresponding to the points taught are used to shoot, and the shot bolt images are sent to the remote computer for judgment by the remote computer.

[0064] Take photos of the bolts, and the content of the photos is pre-specified. For example, for the bolts on the stator, the shooting direction is at a predetermined fixed angle with the stator radius to prevent the inner bolts from covering the outer bolts, and the position of the bolts is relatively fixed in each photo, and the software can identify them at that position in the photo, reducing the computational workload. The content of the photos of the bolts on the shaft is also pre-specified, for example, it is pre-specified that each photo has only one bolt in the center, or that each photo has only two bolts in the center, which is also for the purpose of performing image recognition according to a consistent pattern during software processing. In advance, manually draw a tangential line perpendicular to the rotation direction of the nut on the nut of each bolt and the attachment that the nut contacts. After the marking is completed and the rotating machine runs the outer circle time, if the nut remains tight, the lines on the nut and the lines on the attachment are aligned. If the nut is loose and rotates, the lines are not aligned.

[0065] As an optional implementation method of this embodiment, the step of driving according to the driving parameters and pre-planned trajectory given by the control host includes: under the control of the control host, starting from a specified initial position in the area between the outer edge above the hydroelectric generator rotor and the central rotation axis of the generator, driving according to the driving parameters given by the control host and the pre-planned outer circle trajectory above the hydroelectric generator rotor; when driving to a given switching position point, driving from the outer circle trajectory to a designated point on the pre-planned inner circle trajectory according to the pre-planned switching trajectory, and then driving from the designated point according to the pre-planned inner circle trajectory.

[0066] Before driving according to the driving parameters and pre-planned trajectory given by the control host, the control host obtains a trial teaching instruction to drive according to the pre-planned trajectory, and obtains the driving parameters given by the control host and the shooting parameters given by the control host after the trial teaching is completed; wherein, when the inspection vehicle can drive according to the outer circle trajectory and when the inspection vehicle can drive according to the inner circle trajectory, the control host records the driving parameters of the inspection vehicle during the driving process and the shooting parameters of the image acquisition device that can capture bolt images that meet the specifications at each inspection point; when the inspection vehicle can drive according to the planned switching trajectory, the control host records the driving parameters of the inspection vehicle during the switching trajectory; the driving parameters include the wheel deflection angle and the inspection point position; the shooting parameters include the posture data of the robotic arm, the pan-tilt posture data, and the acquisition parameters of the image acquisition device.

[0067] During the trial teaching stage, the inspection vehicle is placed at the designated starting position of the outer circle track. The personnel remotely controls the inspection vehicle to move on the outer circle track and the inner circle track, and stops at multiple parking positions and takes photos of the bolts. The parameters that need to be determined during the trial teaching stage include: wheel deflection angle, multiple parking positions (positions are expressed in terms of inspection vehicle mileage) and other driving parameters, the attitude of the robotic arm at the parking position (i.e., the XYZ coordinates of the end of each section of the robotic arm, with the lower end of the lowest outer circle robotic arm as point O), the attitude of the pan-tilt head (pitch, horizontal rotation parameters), the acquisition parameters of the image acquisition device (focal length, aperture, etc.) and other shooting parameters. For the inner circle, when the inspection vehicle reaches the inner circle and identifies the reflective object for the first time, as before, it starts to shoot the bolts of the inner circle. At this time, the various parameters of the inspection vehicle must first be adjusted to enable it to be in a state where it can take a photo that meets the requirements of the aforementioned content, and then the adjusted parameters of the inspection vehicle in this state are recorded. For example, when the inspection vehicle identifies a reflective object, it can take a photo that meets the above requirements by deflecting the pan / tilt head by 5 degrees, and the angle after the pan / tilt head is deflected is recorded.

[0068] Reference Figures 1 to 7The inspection vehicle can only move on a circular track and cannot go to other locations. In this way, given an initial point, the mileage recorded by the inspection vehicle on the current track can uniquely represent its position. For example, the inspection vehicle is first placed at a specified starting position on a predetermined outer circle track, so that the mileage of the inspection vehicle uniquely determines its position. By giving the inspection vehicle a wheel deflection angle, it can be ensured that it moves strictly along the track. According to the switching track between the outer circle track and the inner circle track, the inspection vehicle switches from the outer circle track to the inner circle track, and also reaches the inner circle from a specified point on the outer circle according to the specified switching path.

[0069] As an optional implementation method of this embodiment, when inspecting the bolts above the rotor of a large hydroelectric generator, the inspection vehicle travels along a pre-planned outer circle trajectory, and the laser radar on the inspection vehicle scans different labels pre-set on the rotor of the large hydroelectric generator under the control of the control host, and obtains different label contents; the control host performs positioning based on the different label contents.

[0070] As an optional implementation method of this embodiment, when inspecting the bolts on the central rotating shaft of a large hydroelectric generator that rotates in real time, the inspection vehicle switches from the outer circle trajectory to the pre-planned inner circle trajectory. The infrared transceiver on the inspection vehicle emits infrared rays under the control of the control host, and receives infrared rays reflected by reflective objects preset on the central rotating shaft of the large hydroelectric generator; the control host locates the reflective object based on the reflected infrared rays, and controls the image acquisition module to capture the image of the bolts on the central rotating shaft based on the located reflective object.

[0071] As an optional implementation method of this embodiment, when the inspection vehicle travels along the outer circle track, the pan-tilt head on the inspection vehicle, under the control of the control host, performs image acquisition of multiple circles of bolts distributed above the rotor of a large hydroelectric generator in a pitch or tilt manner based on given shooting parameters; when the inspection vehicle travels along the inner circle track, the robotic arm on the inspection vehicle, under the control of the control host, drives the connected pan-tilt head to move up or down to perform image acquisition of multiple circles of bolts distributed on the central rotating axis above the rotor of the large hydroelectric generator based on given shooting parameters.

[0072] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0073] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0074] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0075] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A patrol vehicle, characterized in that: The inspection vehicle is used to inspect the fasteners above the rotor of a large hydroelectric generator. The inspection vehicle includes a control host, a router, and an image acquisition module, wherein: The control host is used to control the inspection vehicle to start from the initial position specified above the rotor of the large hydroelectric generator and travel according to the travel parameters and pre-planned trajectory given by the control host; The image acquisition module is used to acquire images according to given shooting parameters at a plurality of pre-specified inspection points when the inspection vehicle is traveling along the pre-planned trajectory, so as to obtain bolt images, wherein different inspection points are mapped with their own corresponding shooting parameters, and the shooting parameters required by the image acquisition module at different points are given by the control host; The router is used to send the collected bolt image to the remote computer, so that the remote computer can judge whether the bolt is loose based on the bolt image.

2. The inspection vehicle according to claim 1, characterized in that: The inspection vehicle is also provided with a laser radar, wherein: When inspecting the bolts distributed above the rotor of a large hydroelectric generator, the inspection vehicle is traveling along the pre-planned outer circle track; different labels pre-set above the rotor of the large hydroelectric generator are scanned by the laser radar to obtain different label contents; After the tag content is transmitted to the control host, the control host performs positioning based on the different tag contents.

3. The inspection vehicle according to claim 2, characterized in that: The inspection vehicle also includes an infrared transceiver, wherein: When inspecting the rotating bolts on the central rotating shaft of a large hydroelectric generator in real time, the inspection vehicle switches from the outer circle track to the pre-planned inner circle track during driving, and transmits infrared rays to the central rotating shaft through the infrared transceiver, and receives infrared rays reflected by the reflective object preset on the central rotating shaft and infrared rays reflected by the surface of the central rotating shaft; After the reflected infrared rays are transmitted to the control host, the control host performs positioning based on the reflected infrared rays, so as to control the image acquisition module to acquire images of the bolts on the central rotating shaft based on the positioning information; during the image acquisition process, different labels pre-set on the rotor of the large hydroelectric generator are scanned by the laser radar to obtain different label contents; after the label contents are transmitted to the control host, the control host performs positioning based on the different label contents.

4. The inspection vehicle according to claim 2, characterized in that: The image acquisition module includes a mechanical arm and a pan-tilt platform connected to the mechanical arm and provided with an image acquisition device, wherein: When inspecting multiple circles of bolts distributed above a large hydroelectric generator rotor, when the inspection vehicle travels along the outer circle track, the pan / tilt head, under the control of the control host, captures images of the multiple circles of bolts in a pitch or tilt manner based on the given shooting parameters.

5. The inspection vehicle according to claim 3, characterized in that: The image acquisition module includes a mechanical arm and a pan-tilt platform connected to the mechanical arm and provided with an image acquisition device, wherein: When inspecting multiple circles of bolts distributed on the central rotating shaft above the rotor of a large hydroelectric generator, when the inspection vehicle travels along the inner circle track, the robotic arm drives the pan-tilt head to move up or down under the control of the control host to capture images of the multiple circles of bolts based on the given shooting parameters.

6. A patrol inspection method, characterized in that: The method is used to inspect fasteners above a hydroelectric generator rotor and comprises: Under the control of the inspection vehicle control host, the inspection vehicle starts from a designated initial position above the rotor of the large hydroelectric generator and travels according to the driving parameters and pre-planned trajectory given by the control host; When the inspection vehicle travels along the pre-planned trajectory, image acquisition is performed at a plurality of pre-designated inspection points according to given shooting parameters to obtain bolt images, wherein different inspection points are mapped with respective corresponding shooting parameters, and the image acquisition module on the inspection vehicle adjusts the shooting parameters according to the shooting parameters given by the control host to acquire bolt images that meet the specifications; The collected bolt image is sent to a remote computer through a router, so that the remote computer can determine whether the bolt is loose based on the bolt image.

7. The inspection method according to claim 6, characterized in that: The step of driving according to the driving parameters given by the control host and the pre-planned trajectory comprises: starting from a designated initial position in the area between the outer edge above the hydroelectric generator rotor and the central rotation axis under the control of the control host, driving according to the driving parameters given by the control host and the pre-planned outer circle trajectory above the hydroelectric generator rotor; When driving to a given switching position point, the vehicle drives from the outer circle trajectory to a designated point on the pre-planned inner circle trajectory according to the pre-planned switching trajectory, and then drives from the designated point according to the pre-planned inner circle trajectory.

8. The inspection method according to claim 7, characterized in that: When inspecting the bolts on the rotor of a large hydroelectric generator, the inspection vehicle is traveling along the pre-planned outer circle track, and the laser radar on the inspection vehicle scans different labels pre-set on the rotor of the large hydroelectric generator under the control of the control host to obtain different label contents; The control host performs positioning based on the different tag contents.

9. The inspection method according to claim 7, characterized in that: When inspecting the rotating bolts on the central rotating shaft of a large-scale hydroelectric generator in real time, the inspection vehicle switches from the outer circle track to the pre-planned inner circle track during driving, and the infrared transceiver on the inspection vehicle emits infrared rays under the control of the control host, and receives infrared rays reflected by the reflective objects preset on the central rotating shaft of the large-scale hydroelectric generator; The control host performs positioning based on the reflected infrared rays, so as to control the image acquisition module to acquire images of the bolts on the central rotating shaft based on the positioning information.

10. The inspection method according to claim 7, characterized in that: When the inspection vehicle travels along the outer circle track, the pan / tilt on the inspection vehicle collects images of bolts distributed in multiple circles above the rotor of the large hydroelectric generator in a pitch or elevation manner based on given shooting parameters under the control of the control host; When the inspection vehicle travels along the inner circle track, the mechanical arm on the inspection vehicle drives the connected pan-tilt head to move up or down under the control of the control host to collect images of the bolts distributed in multiple circles on the central rotating axis based on given shooting parameters.

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