Lock ingot input method and device for speed regulator servomotor

Abstract

The invention provides a lock ingot input method and device of a speed regulator servomotor, and relates to the technical field of water turbine speed regulators. The method comprises the steps that after a servomotor is completely closed, initial input clearance information, collected by a distance measuring sensor, of a lock ingot between the tail end of a piston rod and a fixed base is obtained; correcting the initial input gap information according to the interference factor information to obtain input gap information; the input gap information is compared with a preset gap threshold value, and when the input gap information is larger than the gap threshold value, the lock ingot is input into the lock ingot groove. The real situation before the lock ingot is put can be determined through the infrared distance measuring sensor, and whether the lock ingot collides with the guide vane servomotor during falling or not is preliminarily judged. And based on interference factors of the gap, the initial input gap information is corrected, so that the precision of gap measurement and the safety of lock ingot input are improved, major unit accidents caused by impact on a servomotor due to mistaken input of the lock ingot are reduced, accident hidden dangers are reduced, and the safety of the unit is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of turbine speed governors, and in particular to a method and device for inserting a locking spindle of a speed governor servomotor. Background Art

[0002] After the servomotor of a hydropower plant's speed governor is fully closed, a locking block needs to be deployed to secure the servomotor's piston rod in the fully closed position to prevent the water-guiding mechanism from accidentally opening and causing malfunction of the unit. This creates a physical constraint. Traditionally, the fully closed state of the servomotor is detected by a travel switch installed at the front end of the servomotor. The fully closed position of the servomotor is determined by the travel switch's displacement caused by the servomotor's extension and contraction. The locking block is then deployed after the servomotor is confirmed to be fully closed. However, in practice, travel switches exhibit large errors, are prone to malfunction, and suffer from node damage, leading to misjudgments of the servomotor's closed position. If the locking block is deployed before the servomotor is fully closed, it can lead to the servomotor being mistakenly deployed, scratching or damaging the servomotor's piston rod, and causing oil leakage from the servomotor piston. Alternatively, the locking block can be knocked crooked, causing the hydraulic pipe joints of the servomotor's control oil system to break or become loose, resulting in oil spraying and the governor losing control, leading to major unit accidents. Therefore, how to accurately determine the true condition of the servomotor before the locking block is deployed and reduce potential safety hazards is one of the pressing issues in this field. Summary of the Invention

[0003] The present disclosure aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, a first embodiment of the present disclosure provides a method for inserting a lock spindle into a speed regulator servomotor. The speed regulator includes a piston rod of the servomotor and a fixed base for the piston rod. A lock spindle slot corresponding to the lock spindle after insertion is formed between the end of the piston rod and the fixed base. The method includes the following steps:

[0005] When receiving the full-close signal of the guide vane servomotor, the initial insertion gap information of the lock spindle between the end of the piston rod and the fixed base is collected by a distance measuring sensor;

[0006] Obtaining interference factor information of the input gap information;

[0007] Correcting the initial input gap information according to the interference factor information to obtain input gap information;

[0008] The input gap information is compared with a preset gap threshold, and when the input gap information is greater than the gap threshold, the locked ingot is input into the locking ingot slot.

[0009] In some embodiments of the present disclosure, the interference factor information is the temperature information of the ingot locking slot; the initial input gap information is corrected according to the interference factor information to obtain the input gap information, including: calculating the deformation of the ingot locking slot corresponding to the temperature information according to the temperature information and the thermal expansion coefficient of the ingot locking slot; and correcting the initial input gap information using the deformation of the ingot locking slot to obtain the input gap information.

[0010] In some embodiments of the present disclosure, the interference factor information is the oil pressure information of the relay; and the correcting the initial input gap information based on the interference factor information to obtain the input gap information includes: obtaining a predetermined first curve, the first curve representing a mapping relationship between the relay oil pressure and the piston rod displacement; determining the piston rod displacement compensation information based on the oil pressure information and the first curve; and correcting the initial input gap information using the piston rod displacement compensation information to obtain the input gap information.

[0011] In some embodiments of the present disclosure, it also includes: using industrial television to collect image information of the ingot locking slot; using a deep learning model to perform target recognition on the image information to determine whether there are debris in the ingot locking slot; when there are debris in the ingot locking slot, generating an ingot locking slot cleaning reminder information, and sending the ingot locking slot cleaning reminder information to a terminal device held by a staff member.

[0012] In some embodiments of the present disclosure, it also includes: determining the historical input gap range of the locking spindle; when the input gap information exceeds the historical input gap range, generating a relay maintenance alarm information, and sending the relay maintenance alarm information to a terminal device held by a staff member.

[0013] A second embodiment of the present disclosure provides a locking spindle insertion device for a speed regulator servomotor, wherein the speed regulator includes a piston rod of the servomotor and a fixed base for the piston rod, wherein a locking spindle slot corresponding to the locking spindle after insertion is formed between the end of the piston rod and the fixed base; the device includes:

[0014] an infrared ranging module, configured to collect information on the initial insertion gap of the lock spindle between the end of the piston rod and the fixed base via a ranging sensor upon receiving a fully closed signal from the guide vane servomotor;

[0015] A determination module, configured to obtain interference factor information of the input gap information;

[0016] a correction module, configured to correct the initial input gap information according to the interference factor information to obtain input gap information;

[0017] The delivery module is used to compare the delivery gap information with a preset gap threshold, and when the delivery gap information is smaller than the gap threshold, deliver the locked ingot into the locking ingot slot.

[0018] In some embodiments of the present disclosure, the device also includes a debris alarm module; wherein the debris alarm module is used to: use industrial television to collect image information of the ingot locking slot; use a deep learning model to perform target recognition on the image information to determine whether there is debris in the ingot locking slot; when there is debris in the ingot locking slot, generate an ingot locking slot cleaning reminder message, and send the ingot locking slot cleaning reminder message to the terminal device held by the staff.

[0019] In some embodiments of the present disclosure, the device also includes a gap abnormality alarm module; wherein, the gap abnormality alarm module is used to: determine the historical input gap range of the lock spindle; when the input gap information exceeds the historical input gap range, generate a relay maintenance alarm information, and send the relay maintenance alarm information to the terminal device held by the staff.

[0020] A third embodiment of the present disclosure provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0021] The memory stores computer-executable instructions;

[0022] The processor executes the computer-executable instructions stored in the memory to implement the method described in the first aspect.

[0023] The fourth aspect of the present disclosure provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, which are used to implement the method described in the first aspect when executed by a processor.

[0024] The disclosed method for inserting a locking spindle into a speed governor servomotor utilizes a distance-measuring sensor to collect information about the initial insertion gap between the piston rod end and the fixed base. This information determines the actual situation before the locking spindle is inserted, allowing for a preliminary assessment of whether the current locking spindle slot meets the insertion conditions and determining whether the falling locking spindle will collide with the guide vane servomotor. This method, taking into account interference factors, corrects the initial insertion gap information, improving gap measurement accuracy and locking spindle insertion safety. This reduces the risk of serious unit accidents caused by inadvertent locking spindles striking the servomotor, mitigates potential accidents, and improves unit safety.

[0025] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present disclosure will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0027] Figure 1 A schematic flow chart of a method for inserting a locking spindle into a speed regulator servomotor according to an embodiment of the present disclosure;

[0028] Figure 2 A schematic diagram of an installation of an infrared ranging sensor provided in an embodiment of the present disclosure;

[0029] Figure 3 A schematic diagram of an ingot lock slot monitoring system provided by an embodiment of the present disclosure;

[0030] Figure 4 A schematic diagram of a spindle locking device for a speed regulator servomotor provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] The following describes in detail embodiments of the present disclosure, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0032] Specifically, the method and device for locking the spindles of the speed regulator servomotor according to the embodiment of the present disclosure will be described below with reference to the accompanying drawings.

[0033] Figure 1 This is a flow chart of a method for inserting a lock spindle into a speed regulator servomotor according to an embodiment of the present disclosure. The speed regulator includes a piston rod of the servomotor and a fixed base for the piston rod, with a corresponding lock spindle slot formed between the end of the piston rod and the fixed base after the lock spindle is inserted.

[0034] like Figure 1 As shown, the method for locking the spindle of the speed regulator servomotor may include the following steps:

[0035] Step 101: When a full-close signal of the guide vane servomotor is received, the initial insertion clearance information of the locking spindle between the end of the piston rod and the fixed base is collected by a distance measuring sensor.

[0036] Optionally, the ranging sensor may be an infrared ranging sensor, a laser ranging sensor, an ultrasonic ranging sensor, a millimeter radar ranging sensor, an optical ranging sensor, etc.

[0037] Figure 2 This is a schematic diagram of the installation of an infrared ranging sensor provided by an embodiment of the present disclosure. Figure 2As shown, the receiving end of the infrared distance measuring sensor is provided at the end of the piston rod of the relay, and the transmitting end of the infrared distance measuring sensor is provided at the fixed base of the piston rod. A corresponding locking slot is formed between the end of the piston rod and the fixed base after the locking spindle is put in. It should be noted that the fixed base of the piston rod includes a chassis and a boss ( Figure 2 (Not shown), the upper surface of the boss forms the contact point between the fixed base and the piston rod end during operation. The infrared ranging sensor's receiving end is positioned to the side of the piston rod end, while the infrared ranging sensor's transmitting end is positioned on the chassis at a corresponding position to the receiving end, preventing damage to the infrared ranging sensor from piston rod movement during operation.

[0038] When the guide vane servo piston rod extends and retracts, the infrared ranging sensor's receiving and transmitting terminals move relative to each other. By measuring the distance between the piston rod's end and the fixed base, the sensor determines whether the locking spindle slot meets the safe entry conditions. Safe entry conditions require that the locking spindle does not collide with the piston rod after it descends.

[0039] Step 102: Obtain interference factor information of input gap information.

[0040] Due to the complex internal environment of the speed regulator, some environmental factors or operating conditions may interfere with the detected initial gap information, resulting in errors between the measured gap and the actual gap. Therefore, to improve the accuracy of the gap information, the initial gap information measured by the distance sensor can be compensated to make it closer to the actual gap.

[0041] Step 103: correct the initial input gap information according to the interference factor information to obtain the input gap information.

[0042] Optionally, the interference factor information may include one or more of the following: temperature information of the ingot locking groove, oil pressure information of the relay, and local deformation information of the ingot locking groove.

[0043] Among them, when the internal temperature of the speed regulator relay or the ambient temperature rises, it may cause the fixed base and the piston rod to expand. Due to the setting position of the distance measuring sensor, there is a slight difference between the measured distance and the actual distance with a gap between the end of the piston rod and the fixed base. For example, the measured distance collected by the distance measuring sensor is greater than the actual gap distance, and there is not enough space for the lock spindle to be put in. In this case, the lock spindle may hit or scratch the relay after it is put in. In some embodiments of the present disclosure, when the interference factor information is the temperature information of the lock spindle slot, the deformation of the lock spindle slot corresponding to the temperature information can be calculated based on the temperature information and the thermal expansion coefficient of the lock spindle slot. The deformation of the lock spindle slot is used to correct the initial input gap information to obtain the corrected input gap information.

[0044] In addition, the pressure of the high-pressure oil provided to the relay may also cause micro-deformation of the relay piston rod and flexible displacement in the pressing stroke, causing the distance measured by the distance measuring sensor to deviate from the actual gap. In some embodiments of the present disclosure, when the interference factor information is the oil pressure information of the relay, a predetermined first curve can be obtained, and the first curve represents the mapping relationship between the oil pressure of the relay and the displacement of the piston rod. Based on the oil pressure information and the first curve, the piston rod displacement compensation information is determined, and the initial input gap information is corrected using the piston rod displacement compensation information to obtain the input gap information. As an example, for every 1MPa increase in oil pressure, the piston rod retracts 0.02mm, and the measured gap value needs to be increased by 0.02mm.

[0045] The guide vane force or unit vibration may cause local deformation of the lock slot (such as micron-level bending). Therefore, when the interference factor information is the local deformation information of the lock slot, the surface deformation of the lock slot can be detected by strain gauges or laser scanning. The deformation amount is predicted based on the detected deformation information combined with the model, and the predicted deformation amount is used to perform the initial input gap information to obtain the input gap information.

[0046] Step 104 : Compare the input gap information with a preset gap threshold. When the input gap information is greater than the gap threshold, the locked ingot is input into the locking ingot slot.

[0047] When the input gap information is greater than the gap threshold, it means that the relay meets the closing condition and there is enough space for the lock spindle to be input with the fixed base. At this time, the input lock spindle will not hit the relay, and the lock spindle input condition is met.

[0048] In some embodiments of the present disclosure, a distance measuring sensor and an industrial television may be combined to determine whether the spindle locking slot meets the conditions for inserting the spindle. Figure 3 This is a schematic diagram of a lock slot monitoring system provided by an embodiment of the present disclosure. Figure 3 As shown, the ingot lock slot monitoring system includes an industrial television and a distance measuring sensor.

[0049] Industrial television is used to capture images of the ingot slots, and deep learning models are used to identify objects in these images to determine whether there are any debris inside. If debris is present, a reminder to clean the slot is generated and sent to the terminal device held by the staff.

[0050] In one embodiment, when the input gap information is greater than the gap threshold, but there is a foreign object in the locking ingot slot, it can be regarded as not meeting the locking ingot input condition, and the locking ingot is prohibited from being put into the locking ingot slot.

[0051] In one embodiment, the status of the high-pressure oil pipe in the hydraulic system used to control the launch of the locking spindle can also be monitored. If there is an oil leak in the high-pressure oil pipe, the locking spindle may complete the launch operation due to its own weight. Therefore, when there is an oil leak in the high-pressure oil pipe, a leak inspection and processing prompt message can be generated and sent to the staff terminal.

[0052] Optionally, the industrial TV can also be used to monitor whether the relay is in the closed position. When a relay full-close signal is received but an action message is received, the relay position can be remotely observed through the industrial TV.

[0053] In some embodiments of the present disclosure, the input gap information can also be compared with the historical input gap information to obtain the change trend of the gap information, so as to indirectly determine the closing position of the relay. In one implementation, the historical input gap range of the locked spindle can be determined, and the historical input gap range is determined based on multiple historical input gap information. When the input gap information exceeds the historical input gap range, even if the input gap information is greater than the gap threshold and the locked spindle input condition is met, a relay maintenance alarm message is still generated and sent to the terminal device held by the staff to remind the staff to pay attention to the changes in the relay closing position and to promptly troubleshoot the fault.

[0054] By implementing the disclosed embodiments, a distance measuring sensor collects information about the initial insertion gap between the piston rod end and the fixed base, determining the actual situation before the insertion of the locking spindle. This allows for a preliminary assessment of whether the current locking spindle slot meets the insertion conditions and determines whether the falling locking spindle block will collide with the guide vane servomotor. By taking into account interference factors related to the gap, the initial insertion gap information is corrected, improving the accuracy of gap measurement and the safety of locking spindle insertion. This reduces the risk of major unit accidents caused by the accidental insertion of a locking spindle and its impact on the servomotor, mitigates potential accidents, and improves unit safety.

[0055] Figure 4 This is a schematic diagram of a locking spindle feeding device of a speed regulator servomotor provided by an embodiment of the present disclosure. Figure 4 As shown, the spindle-locking device of the speed regulator relay may include: a distance measurement module 401 , a determination module 402 , a correction module 403 and a delivery module 404 .

[0056] The distance measuring module 401 is used to collect the initial input clearance information of the lock spindle between the end of the piston rod and the fixed base through the distance measuring sensor when receiving the full-close signal of the guide vane relay.

[0057] The determination module 402 is used to obtain interference factor information of the input gap information.

[0058] The correction module 403 is configured to correct the initial input gap information according to the interference factor information to obtain the input gap information.

[0059] In some embodiments of the present disclosure, when the interference factor information is the temperature information of the ingot locking slot, the correction module 403 is specifically used to: calculate the deformation of the ingot locking slot corresponding to the temperature information based on the temperature information and the thermal expansion coefficient of the ingot locking slot; use the deformation of the ingot locking slot to correct the initial input gap information to obtain the input gap information.

[0060] In some embodiments of the present disclosure, when the interference factor information is the oil pressure information of the servomotor, the correction module 403 is specifically used to: obtain a predetermined first curve, the first curve representing the mapping relationship between the oil pressure of the servomotor and the piston rod displacement; determine the piston rod displacement compensation information based on the oil pressure information and the first curve; and use the piston rod displacement compensation information to correct the initial input gap information to obtain the input gap information.

[0061] The delivery module 404 is used to compare the delivery gap information with a preset gap threshold, and when the delivery gap information is smaller than the gap threshold, deliver the locked ingot into the locking ingot slot.

[0062] In some embodiments of the present disclosure, Figure 4 Based on the illustrated embodiment, the ingot insertion device of the speed regulator relay can also include a debris alarm module. The debris alarm module is configured to: use an industrial television to capture image information of the ingot slot; use a deep learning model to perform target recognition on the image information to determine whether there is debris in the slot; and if there is debris in the slot, generate a reminder to clean the slot and send the reminder to the terminal device held by the staff.

[0063] In some embodiments of the present disclosure, Figure 4 Based on the illustrated embodiment, the servomotor's spindle insertion device may further include a gap anomaly alarm module. This module is configured to determine the historical gap range for the servomotor insertion; if the insertion gap exceeds this historical gap range, generate a servomotor maintenance alarm message and send it to a terminal device held by a staff member.

[0064] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0065] In order to implement the above embodiments, the present disclosure also proposes an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method provided by the above embodiments.

[0066] In order to implement the above embodiments, the present disclosure further proposes a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the methods provided by the above embodiments.

[0067] In order to implement the above embodiments, the present disclosure further provides a computer program product, including a computer program, which implements the methods provided in the above embodiments when executed by a processor.

[0068] In the descriptions of the aforementioned embodiments, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are mutually inconsistent.

[0069] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0070] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present disclosure includes additional implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0071] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0072] It should be understood that various parts of the present disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0073] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0074] In addition, the functional units in the various embodiments of the present disclosure may be integrated into a single processing module, or each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

[0075] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. A person of ordinary skill in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A method for inserting a locking spindle into a speed regulator servo, characterized in that: The speed regulator includes a piston rod of the relay and a fixed base of the piston rod, and a corresponding locking slot is formed between the end of the piston rod and the fixed base after the locking spindle is put into operation. The method includes the following steps: When receiving the full-close signal of the guide vane servomotor, the initial insertion gap information of the lock spindle between the end of the piston rod and the fixed base is collected by a distance measuring sensor; Obtaining interference factor information of the input gap information; Correcting the initial input gap information according to the interference factor information to obtain input gap information; The input gap information is compared with a preset gap threshold, and when the input gap information is greater than the gap threshold, the locked ingot is input into the locking ingot slot.

2. The method according to claim 1, characterized in that The interference factor information is the temperature information of the ingot locking slot; and the initial input gap information is corrected according to the interference factor information to obtain the input gap information, including: Calculating the deformation of the ingot locking slot corresponding to the temperature information according to the temperature information and the thermal expansion coefficient of the ingot locking slot; The initial input gap information is corrected using the deformation amount of the ingot locking slot to obtain the input gap information.

3. The method according to claim 1, characterized in that The interference factor information is the oil pressure information of the servomotor; and the initial input gap information is corrected according to the interference factor information to obtain the input gap information, including: Acquire a predetermined first curve, wherein the first curve represents a mapping relationship between the servomotor oil pressure and the piston rod displacement; determining piston rod displacement compensation information according to the oil pressure information and the first curve; The initial input clearance information is corrected using the piston rod displacement compensation information to obtain the input clearance information.

4. The method according to claim 1, wherein Also includes: Using industrial television to collect image information of the ingot locking slot; Using a deep learning model to perform target recognition on the image information to determine whether there is any debris in the ingot locking slot; When there are debris in the ingot locking slot, a reminder message for cleaning the ingot locking slot is generated and sent to a terminal device held by a staff member.

5. The method according to claim 1, characterized in that Also includes: Determine the historical input gap range of the locking spindle; When the input gap information exceeds the historical input gap range, a servomotor maintenance alarm message is generated and the servomotor maintenance alarm message is sent to a terminal device held by a staff member.

6. A locking spindle input device for a speed regulator relay, characterized in that: The speed regulator includes a piston rod of the relay and a fixed base of the piston rod, and a corresponding locking slot is formed between the end of the piston rod and the fixed base after the locking spindle is put into operation; the device includes: a distance measuring module, configured to collect information on an initial insertion gap of the lock spindle between the end of the piston rod and the fixed base via a distance measuring sensor upon receiving a fully closed signal from the guide vane servomotor; A determination module, configured to obtain interference factor information of the input gap information; a correction module, configured to correct the initial input gap information according to the interference factor information to obtain input gap information; The delivery module is used to compare the delivery gap information with a preset gap threshold, and when the delivery gap information is smaller than the gap threshold, deliver the locked ingot into the locking ingot slot.

7. The device according to claim 6, characterized in that The device further includes a debris alarm module; wherein the debris alarm module is used to: Using industrial television to collect image information of the ingot locking slot; Using a deep learning model to perform target recognition on the image information to determine whether there is any debris in the ingot locking slot; When there are debris in the ingot locking slot, a reminder message for cleaning the ingot locking slot is generated and sent to a terminal device held by a staff member.

8. The device according to claim 6, characterized in that The device further includes a gap abnormality alarm module; wherein the gap abnormality alarm module is used to: Determine the historical input gap range of the locking spindle; When the input gap information exceeds the historical input gap range, a servomotor maintenance alarm message is generated and the servomotor maintenance alarm message is sent to a terminal device held by a staff member.

9. An electronic device, characterized in that: include: a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 5 when executed by a processor.

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