Traveling system

Abstract

To provide a traveling system which can easily realize an efficient inspection.SOLUTION: A traveling system includes: a traveling device that is inserted into a gap interposed between a rotor and a stator in a rotating electrical machine and travels; and a control device that controls operation of the traveling device. The rotating electrical machine has a linear portion extending in an axial direction along a rotation center axis of the rotor, the linear portion being provided in the gap. The traveling device has: a moving mechanism that moves the traveling device in the gap; and an imaging apparatus that obtains imaging data by imaging the linear portion in the gap. The control device controls operation of the moving mechanism so that a position of the linear portion in the imaging data coincides with a predetermined target position of the linear portion in the imaging data, thereby causing the traveling device to travel in the axial direction in the gap.SELECTED DRAWING: Figure 4A

Description

[Technical Field]

[0001] The embodiment relates to a traveling system. [Background technology]

[0002] In rotating electrical machines such as generators and electric motors, a gap exists between the stator and rotor. The stator has stator slots formed on the surface of the stator core that faces the rotor across the gap, and the stator coils housed in the stator slots are fixed inside the stator slots by stator wedges.

[0003] Rotating electric machines are inspected to prevent large-scale failures. Inspections of rotating electric machines include, for example, checking the fixation state (looseness) of wedges in the stator that are fixed to the stator core. Because the stator wedges are installed on the side of the stator where gaps are located, the inspection of the fixation state of the stator wedges is performed, for example, by visually inspecting the stator wedges after disassembly, such as by removing the rotor from the stator. In addition, the inspection of the fixation state of the stator wedges is performed after disassembly, such as by listening to the sound generated when hitting the stator wedges with a hammer. For this reason, the above-described inspections may require a prolonged shutdown of the rotating electric machine. Furthermore, the above-described inspections may require disassembly of the rotating electric machine, which may require many workers. Furthermore, in the case of large rotating electric machines, it may be necessary to set up scaffolding inside the machine, which may further prolong the shutdown period or require many workers.

[0004] For this reason, a traveling system has been proposed that allows inspection to be performed without disassembling the rotating electric machine by inserting a traveling device into the gap between the stator and rotor and having a control device control the traveling of the traveling device in that gap. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6425844 [Patent Document 2] U.S. Patent No. 7,624,827 [Patent Document 3] Japanese Patent Application Publication No. 2019-117137 [Patent Document 4] Japanese Patent Application Publication No. 2019-117138 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the past, it was sometimes difficult to efficiently perform inspections using a traveling device.

[0007] Therefore, the problem to be solved by the present invention is to provide a traveling system that can easily realize efficient inspection using a traveling device. [Means for solving the problem]

[0008] A traveling system according to an embodiment includes a traveling device that travels while inserted in a gap between a rotor and a stator of a rotating electric machine, and a control device that controls the operation of the traveling device. The rotating electric machine has a linear portion that extends in an axial direction along the central axis of rotation of the rotor, and is provided in the gap. The traveling device includes a movement mechanism that moves the traveling device in the gap, and an imaging device that obtains imaging data by imaging the linear portion in the gap. The control device causes the traveling device to travel in the axial direction in the gap by controlling the operation of the movement mechanism so that the position of the linear portion in the imaging data coincides with a predetermined target position for the linear portion in the imaging data. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram schematically illustrating a water turbine power generating facility 30 including a rotating electric machine 20 in an embodiment. [Figure 2A]FIG. 2A shows an enlarged partial cross section (a plane (xy plane) perpendicular to the axial direction of the central rotation axis AX) of the stator 23 in the embodiment. [Figure 2B] FIG. 2B shows the inner circumferential surface of the stator 23 in the embodiment, viewed in the radial direction of the rotation center axis AX. [Figure 3] FIG. 3 is a block diagram illustrating a traveling system 800 according to an embodiment. [Figure 4A] FIG. 4A is a diagram schematically illustrating the entire traveling device 500 in the traveling system 800 of the embodiment. [Figure 4B] FIG. 4B is a diagram schematically illustrating the entire traveling device 500 in the traveling system 800 of the embodiment. [Figure 4C] FIG. 4C is a schematic enlarged view of a portion of the traveling device 500 according to the embodiment where the imaging device 52 is provided. [Figure 5A] FIG. 5A is a flow diagram showing the operation when "straight running control" is performed in the traveling system 800 of the embodiment. [Figure 5B] FIG. 5B is a diagram showing an example of imaging data used when performing "straight ahead control" in the traveling system 800 of the embodiment. [Figure 6A] FIG. 6A is a diagram schematically illustrating the entire traveling device 500 of the first modification. [Figure 6B] FIG. 6B is a diagram schematically illustrating the entire traveling device 500 of the first modification. [Figure 6C] FIG. 6C is a diagram showing an example of imaging data obtained by imaging device 52 when "straight ahead control" is performed in Modification 1. [Figure 7A] FIG. 7A is a diagram schematically illustrating the entire traveling device 500 of the second modification. [Figure 7B] FIG. 7B is a diagram schematically illustrating the entire traveling device 500 of the second modification. [Figure 8A] FIG. 8A is a diagram schematically illustrating the entire traveling device 500 of the third modification. [Figure 8B]FIG. 8B is a diagram schematically illustrating the entire traveling device 500 of the third modification. DETAILED DESCRIPTION OF THE INVENTION

[0010] [A] Rotating Electric Machine 20 Before describing the traveling system of this embodiment, an example of a rotating electric machine 20 on which the traveling system travels will be described.

[0011] Fig. 1 is a diagram schematically illustrating a water turbine power generation facility 30 including a rotating electric machine 20 in an embodiment. In Fig. 1, the longitudinal direction is the vertical direction z (the direction of gravity), the direction perpendicular to the paper surface is the first horizontal direction x, and the lateral direction is the second horizontal direction y. Fig. 1 shows a longitudinal cross section including a central axis of rotation AX.

[0012] As shown in Fig. 1, the water turbine power generation equipment 30 includes a water turbine 10 and a rotating electric machine 20. The water turbine power generation equipment 30 is a vertical shaft type in which the central axis of rotation AX is aligned with the vertical direction z, and is configured so that, during power generation operation, the rotating electric machine 20 is driven by the rotation of the water turbine 10 to generate power. Note that, although the water turbine power generation equipment 30 is exemplified here as the rotating electric machine 20 on which the travelling system travels, it goes without saying that the travelling system may travel on a rotating electric machine 20 constituting equipment other than the water turbine power generation equipment 30.

[0013] [A-1] Water wheel 10 The water turbine 10 is, for example, a Francis type, and as shown in Figure 1, has a water turbine rotor shaft 11, a runner 12, an upper cover 13, a lower cover 14, guide vanes 15, and a casing 16, and is mounted on a water turbine floor foundation 1.

[0014] The water turbine 10 is configured such that, during power generation operation, water is supplied from the casing 16 to the runner 12 via the guide vanes 15, causing the runner 12 to rotate together with the water turbine rotor shaft 11.

[0015] [A-1-1] Water turbine rotor shaft 11 Specifically, in the water turbine 10, the water turbine rotor shaft 11 is rotatably supported by a water turbine bearing 19 so that the rotation center axis AX is aligned with the vertical direction z.

[0016] [A-1-2] Runner 12 The runner 12 has a central rotation axis AX aligned along the vertical direction z, and is connected to the lower end of the water turbine rotor shaft 11. The runner 12 is installed between a runner crown and a runner band so that multiple runner blades are aligned in the rotation direction.

[0017] [A-1-3] Top cover 13 The upper cover 13 is provided above the runner 12. The water turbine rotor shaft 11 passes through the center of the upper cover 13, and covers the upper surface of the runner 12 on the side of the outer circumferential surface of the water turbine rotor shaft 11.

[0018] [A-1-4] Lower cover 14 The lower cover 14 is provided below the runner 12. The lower cover 14 covers the lower surface of the runner 12 at the outer periphery of the discharge pipe 1b formed in the turbine floor foundation 1.

[0019] [A-1-5] Guide vane 15 A plurality of guide vanes 15 are arranged between the upper cover 13 and the lower cover 14 so as to surround the outer periphery of the runner 12. The guide vanes 15 are configured to adjust the flow rate of water flowing into the runner 12 by changing the opening degree.

[0020] [A-1-6] Casing 16 The casing 16 has a doughnut shape and is installed so as to surround the periphery of the plurality of guide vanes 15 with a speed ring 161 interposed therebetween.

[0021] [A-2] Rotating electric machine 20 1, the rotating electric machine 20 has a rotating electric machine rotor shaft 21, a rotor 22, and a stator 23, and is mounted on a rotating electric machine floor foundation 2. The rotating electric machine 20 is, for example, an inner rotor type, and is used as a generator that generates electricity by rotating the rotor 22 inside the stator 23 during power generation operation.

[0022] [A-2-1] Rotor shaft 21 of rotating electrical machine Specifically, in the rotating electric machine 20, the rotating electric machine rotor shaft 21 is cylindrical, has a rotation center axis AX aligned with the vertical direction z, and is rotatably supported by rotating electric machine bearings 21a and 21b. The rotating electric machine bearing 21a includes, for example, a thrust bearing and a radial bearing, and rotatably supports a lower portion of the rotating electric machine rotor shaft 21. The rotating electric machine bearing 21b includes, for example, a radial bearing, and rotatably supports an upper portion of the rotating electric machine rotor shaft 21. The lower end of the rotating electric machine rotor shaft 21 is coupled to the upper end of the water turbine rotor shaft 11, and is configured to transmit the rotational torque of the water turbine 10 to the rotating electric machine 20.

[0023] [A-2-2] Rotor 22 The rotor 22 has a cylindrical shape and is fixed to the rotor shaft 21 of the rotating electric machine so as to be coaxial with the rotor shaft 21. Although not shown in the figure, the rotor 22 is fixed, for example, with a rotor coil wound around the outer circumferential surface of a rotor core.

[0024] [A-2-3] Stator 23 The stator 23 has a cylindrical shape, is coaxial with the rotating shaft 201, and is installed so as to surround the rotor 22 with a gap AG (air gap) interposed therebetween. The stator 23 is housed in a frame 24 installed on the upper surface of the rotating electrical machine floor foundation 2, and is fixed to the inner peripheral surface of the frame 24.

[0025] [A-3] Details of stator 23 A detailed configuration of the stator 23 will now be illustrated.

[0026] 2A shows an enlarged partial cross section (a plane (xy plane) perpendicular to the axial direction of the rotation center axis AX) of the stator 23 in the embodiment. FIG. 2B shows the inner circumferential surface of the stator 23 as viewed in the radial direction of the rotation center axis AX in the embodiment.

[0027] As shown in FIG. 2A, the stator 23 includes a stator core 41, a stator coil 42, and a stator wedge 43.

[0028] [A-3-1] Stator core 41 In the stator 23, stator slots KS (coil slots) are formed in the stator core 41. The stator slots KS are grooves recessed in the radial direction of the rotation center axis AX (vertical direction in FIG. 2A), and are formed in a portion of the stator core 41 located on the inner circumferential side IN (upper side in FIG. 2A). Here, the stator slots KS extend in the axial direction of the rotation center axis AX. Although not shown, multiple stator slots KS are arranged side by side at intervals in the rotation direction R of the rotation center axis AX.

[0029] [A-3-2] Stator coil 42 The stator coil 42 is housed in a stator slot KS formed in the stator core 41. Although not shown, the stator coil 42 extends in the axial direction of the rotation center axis AX in the stator slot KS, and an insulator (not shown) is interposed between the stator core 41 and the stator coil 42.

[0030] [A-3-3] Stator wedge 43 The stator wedge 43 is installed in a portion of the stator slot KS that includes the tapered portion TR formed on the inner circumferential side IN of the stator coil 42. The stator wedge 43 is provided to fix the stator coil 42 to the stator slot KS.

[0031] Here, multiple stator wedges 43 are inserted in the axial direction of the rotation center axis AX on the inner circumferential side IN of the stator slot KS. The inner circumferential surfaces of the stator wedges 43 and the inner circumferential surface of the stator core 41 are flush with each other, with no steps. Therefore, on the inner circumferential surface of the stator 23, boundary portions BL1 and BL2 between the stator core 41 and the stator wedges 43 exist as linear portions that extend linearly in the axial direction along the rotation center axis AX (see FIGS. 2A and 2B).

[0032] The linear portion here indicates that the longitudinal direction of the boundary portions BL1, BL2 is the axial direction, and is not limited to the case where the entire boundary portions BL1, BL2 extend linearly. For example, a portion of the boundary portions BL1, BL2 may not extend along the axial direction, or may extend in a direction inclined from the axial direction.

[0033] [B] Running System 800 A description will now be given of the traveling system 800 used when inspecting the rotating electrical machine 20 (see FIG. 1).

[0034] FIG. 3 is a block diagram illustrating a traveling system 800 according to an embodiment.

[0035] As shown in FIG. 3, a traveling system 800 of this embodiment includes a traveling device 500 and a control device 600, and is configured so that the traveling device 500 and the control device 600 can communicate with each other via a cable 700.

[0036] [B-1] Traveling device 500 The traveling device 500, details of which will be described later, is a self-propelled robot that is configured to travel by being inserted into the gap AG between the rotor 22 and the stator 23 when inspecting the rotating electric machine 20 (see Figure 1).

[0037] [B-2] Control device 600 The control device 600 is provided to remotely control the operation of the traveling device 500. The control device 600 includes an arithmetic unit (computer) and a storage device, and is configured so that the arithmetic unit controls the operation of the traveling device 500 using a program stored in the storage device.

[0038] Here, the control device 600 performs control such that the traveling device 500 performs an inspection of the rotating electric machine 20 in response to an operation command input by an operator using an operation device (not shown) such as a mouse or a keyboard. In addition, the control device 600 performs control such that information related to the inspection performed by the traveling device 500, information obtained by the traveling device 500 performing the inspection, and the like are displayed on a display, for example.

[0039] [C] Details of the running gear 500 The details of the traveling device 500 constituting the traveling system 800 (see FIG. 3) will be described.

[0040] 4A and 4B are diagrams that schematically show the entire traveling device 500 in the traveling system 800 of the embodiment.

[0041] 4A and 4B show a state in which the traveling device 500 travels in the gap AG between the rotor 22 and the stator 23 along the vertical direction z.

[0042] 4A shows a cross section of the traveling device 500 in a plane (corresponding to the yz plane) defined by the axial direction (corresponding to the vertical direction z) along the central axis of rotation AX and the rotation direction R (corresponding to the second horizontal direction y). In FIG. 4A, the upper side is the upper side Uw in the vertical direction z, the lower side is the lower side Lw in the vertical direction z, the right side is the forward side Fw in the rotation direction R, and the left side is the rearward side Bw in the rotation direction R.

[0043] Fig. 4B shows a cross section of the traveling device 500 in a plane (corresponding to the xz plane; Y1-Y1 portion in Fig. 4A) defined by the axial direction (corresponding to the vertical direction z) along the central axis of rotation AX and the radial direction of the central axis of rotation AX (corresponding to the first horizontal direction x in Fig. 4B). In Fig. 4B, the upper side is the inner circumferential side IN in the radial direction, the lower side is the outer circumferential side OUT in the radial direction, the right side is the lower side Lw in the vertical direction z, and the left side is the upper side Uw in the vertical direction z.

[0044] 4A and 4B, the traveling device 500 includes a traveling device casing 501, a moving mechanism 51, and an imaging device 52, and is configured to move while being attracted to the stator 23 in the gap AG between the rotor 22 and the stator 23. In the traveling device 500 of this embodiment, the operation of the moving mechanism 51 and the operation of the imaging device 52 are controlled in response to a control signal transmitted from the control device 600 via a cable 700, and the traveling device 500 moves along the axial direction. When the traveling device 500 travels along the axial direction, the cable 700 is installed, for example, at an end located on the rear side.

[0045] [C-1] Running gear casing part 501 As shown in FIGS. 4A and 4B, the traveling device casing 501 has an outer shape that allows it to be inserted into the gap AG between the rotor 22 and the stator 23, and is provided with a moving mechanism 51 and an imaging device 52.

[0046] [C-2] Moving mechanism 51 The movement mechanism 51 is installed in the traveling device casing 501 to move the traveling device 500 in the gap AG between the rotor 22 and the stator 23.

[0047] 4A, in this embodiment, two moving mechanisms 51, a moving mechanism 51a and a moving mechanism 51b, are installed in the traveling device casing 501. When the traveling device 500 travels in the vertical direction z, the moving mechanisms 51a and 51b are arranged side by side and spaced apart in the rotational direction R.

[0048] Each of the moving mechanisms 51a and 51b is configured such that a pair of crawlers 510 sandwiches a plurality of permanent magnets 515. In each of the moving mechanisms 51a and 51b, when the traveling device 500 travels along the vertical direction z, the pair of crawlers 510 are arranged at a distance from each other in the rotation direction R, and the plurality of permanent magnets 515 are arranged in the vertical direction z.

[0049] In the moving mechanism 51, the crawler 510 is, as shown in FIG. 4B, a ring in which a plurality of track shoes (not shown) are connected to surround a drive wheel 511, a roller 512, and an idler wheel 513, and the crawler 510 is driven by the rotation of the drive wheel 511 by a motor (not shown).

[0050] In the moving mechanism 51, the permanent magnet 515 is provided to attract the traveling device 500 to the stator 23 by magnetic force, as can be seen from FIG. 4B.

[0051] [C-3] Imaging equipment 52 The imaging device 52 is installed in the traveling device casing 501 to capture images in the gap AG between the rotor 22 and the stator 23 to obtain imaging data. The imaging device 52 is arranged to capture an image of the inner peripheral surface of the stator 23 with the traveling device 500 inserted into the gap AG.

[0052] 4A, in this embodiment, two imaging devices 52, an imaging device 52a (first imaging device) and an imaging device 52b (second imaging device), are provided in the traveling device casing 501. When the traveling device 500 travels along the vertical direction z, the imaging devices 52a and 52b are arranged side by side with a gap between them in the vertical direction z.

[0053] Here, the imaging device 52a is installed in the traveling device casing 501 so as to obtain imaging data (first imaging data) by capturing images on the lower Lw side of the moving mechanism 51 in the vertical direction z (corresponding to the movement direction in which the moving mechanism 51 moves the traveling device 500). On the other hand, the imaging device 52b is installed in the traveling device casing 501 so as to obtain imaging data (second imaging data) by capturing images on the upper Uw side of the moving mechanism 51 in the vertical direction z.

[0054] In this embodiment, as shown in FIG. 4A, the image capturing device 52 includes a mirror 521 and a camera 522, and is configured to capture an image of a subject reflected by the mirror 521 with the camera 522.

[0055] FIG. 4C is a schematic enlarged view of a portion of the traveling device 500 according to the embodiment where the imaging device 52 is provided.

[0056] 4C shows a cross section of a plane (corresponding to the xy plane; Z1-Z1 portion in FIG. 4A) perpendicular to the central axis of rotation AX. In FIG. 4C, the upper side is the radially inner side IN, the lower side is the radially outer side OUT, the right side is the forward side Fw in the direction of rotation R, and the left side is the backward side Bw in the direction of rotation R.

[0057] 4C , in the imaging device 52, the mirror 521 is installed in the traveling device casing 501 so as to reflect an image of a subject relating to a boundary portion BL1 between the stator core 41 and the stator wedge 43 on the inner circumferential surface of the stator 23. In this embodiment, the mirror 521 reflects, in the rotational direction R, an image of a subject incident along the radial direction when the traveling device 500 travels in the vertical direction z in the gap AG.

[0058] 4C , in the imaging device 52, the camera 522 is installed in the traveling device casing 501 so as to obtain imaging data by an object image reflected by the mirror 521 entering the imaging element 5222 via the objective lens 5221. In this embodiment, when the traveling device 500 travels in the gap AG along the vertical direction z, the camera 522 is in a state in which the optical axis of the objective lens 5221 is aligned with the rotation direction R.

[0059] [D] Operation of the driving system 800 The operation of the traveling system 800 (see FIG. 3) when inspecting the rotating electrical machine 20 (see FIG. 1) will be described.

[0060] Here, an example of inspecting the rotating electric machine 20 will be described in which the state of fixation (looseness, etc.) of the stator wedge 43 in the stator slot KS of the stator core 41 is checked.

[0061] When inspecting the rotating electric machine 20, as shown in FIGS. 4A to 4C , the traveling device 500 is inserted into the gap AG between the rotor 22 and the stator 23. The traveling device 500 inserted into the gap AG travels in the vertical direction z using the crawler 510 while being attracted to the stator 23 by the magnetic force of the permanent magnet 515. Here, the permanent magnet 515 and the stator 23 are not in close contact with each other but are spaced apart, while the traveling device 500 travels with the crawler 510 and the stator 23 in close contact with each other. At this time, for example, the imaging device 52 captures an image of a portion of the inner circumferential surface of the stator 23 including the boundary portion BL1 between the stator core 41 and the stator wedge 43, and the captured image data is used to perform the inspection.

[0062] Although not shown in the figure, a hammer and a microphone may be installed on the traveling device 500. In this case, the stator wedge 43 is struck with the hammer, the sound produced by the strike is detected by the microphone, and the acoustic data is analyzed to inspect the fastening state (looseness, etc.) of the stator wedge 43.

[0063] When inspecting the rotating electric machine 20, the movement operation of the traveling device 500 is controlled by a control device 600 (see FIG. 3). In this embodiment, the control device 600 controls the operation of the traveling device 500 so that after inspecting the stator wedge 43 installed in one stator slot KS in the stator core 41, the stator wedges 43 installed in other stator slots KS in the stator core 41 are inspected sequentially.

[0064] Here, the control device 600 controls the operation of the crawler 510 constituting the moving mechanism 51 in the traveling device 500 based on the inspection target position information and the traveling device position information. The inspection target position information is information relating to the position of the inspection target in the rotating electric machine 20, and is information input in advance to the control device 600. The traveling device position information is information relating to the position of the traveling device 500 in the rotating electric machine 20, and is, for example, information relating to the travel distance of the traveling device 500 converted from the rotation speed of the crawler 510 when the traveling device 500 moves.

[0065] When the traveling device 500 travels for inspection in the gap AG between the rotor 22 and the stator 23, the control device 600 performs "straight traveling control" so that the traveling device 500 travels along the axial direction without meandering in the axial direction. The "straight traveling control" is performed based on imaging data acquired by imaging by the imaging device 52.

[0066] Fig. 5A is a flow diagram showing the operation when performing "straight running control" in the traveling system 800 of the embodiment. Fig. 5B is a diagram showing an example of imaging data used when performing "straight running control" in the traveling system 800 of the embodiment.

[0067] [D-1] Acquisition of imaging data (ST10) As shown in FIG. 5A, when "straight ahead control" is performed, first, imaging data is acquired (ST10).

[0068] Here, when the traveling device 500 is traveling in the gap AG, the imaging device 52 captures an image to obtain imaging data, which is then output to the control device 600. As described above, the imaging device 52 is controlled by the control device 600 to capture an image of a portion of the inner circumferential surface of the stator 23, including the boundary portion BL1 between the stator core 41 and the stator wedge 43, and obtain imaging data.

[0069] In this embodiment, there are two imaging devices 52, imaging device 52a and imaging device 52b (see FIG. 4A). Therefore, in this embodiment, as shown in FIG. 5B, imaging data G1a captured by imaging device 52a and imaging data G1b captured by imaging device 52b are acquired.

[0070] [D-2] Image Processing (ST20) Next, as shown in FIG. 5A, image processing is performed (ST20).

[0071] Here, the control device 600 performs image processing on the imaging data G1a and G1b.

[0072] 5B, a target position SL1a of the boundary portion BL1 is determined in the image data G1a. At the same time, a target position SL1b of the boundary portion BL1 is determined in the image data G1b. The target positions SL1a and SL1b are set so as to align with the straight direction of the traveling device 500 in the image data G1a and G1b, respectively.

[0073] 5B, in the image data G1a, feature points related to the boundary portion BL1 are detected by image processing. Similarly, in the image data G1b, feature points related to the boundary portion BL1 are detected by image processing. As a result, the position of the boundary portion BL1 in the image data G1a and the position of the boundary portion BL1 in the image data G1b are determined.

[0074] Then, the state in which the boundary portion BL1 actually detected in the imaging data G1a is separated from the target position SL1a is grasped. Here, an angle A1a at which the linear boundary portion BL1 actually detected in the imaging data G1a is inclined relative to the linear target position SL1a is calculated. Also, a distance S1a at which the linear boundary portion BL1 actually detected in the imaging data G1a is separated from the linear target position SL1a is calculated.

[0075] At the same time, the state in which the boundary portion BL1 actually detected in the imaging data G1b is separated from the target position SL1b is grasped. Here, an angle A1b at which the linear boundary portion BL1 actually detected in the imaging data G1b is inclined relative to the linear target position SL1b is calculated. Also, a distance S1b at which the linear boundary portion BL1 actually detected in the imaging data G1b is separated from the linear target position SL1b is calculated.

[0076] [D-3] Calculation of control signal (ST30) Next, as shown in FIG. 5A, calculation of a movement control signal is executed (ST30).

[0077] Here, the control device 600 determines a movement control signal for controlling the operation of the movement mechanism 51 based on the results (angle A1a, angle A1b, distance S1a, distance S1b) determined by the image processing described above.

[0078] Control device 600 determines a movement control signal for adjusting the operation of crawler 510 constituting moving mechanism 51a and the operation of crawler 510 constituting moving mechanism 51b so that angle A1a, angle A1a, distance S1a, and distance S1b are all zero through control. For example, the movement control signal is determined using a lookup table or the like that associates the results (angle A1a, angle A1a, distance S1a, distance S1b) determined by image processing with the operating conditions of crawler 510 constituting moving mechanism 51a and the operating conditions of crawler 510 constituting moving mechanism 51b.

[0079] The movement control signal is determined so that after driving the crawler 510 constituting the moving mechanism 51a and the crawler 510 constituting the moving mechanism 51b, the boundary portion BL1 detected in the imaging data G1a coincides with the target position SL1a and the boundary portion BL1 detected in the imaging data G1b coincides with the target position SL1b.

[0080] Specifically, the movement control signal is determined under rotation speed conditions where the difference between the rotation speed of crawler 510 constituting moving mechanism 51a and the rotation speed of crawler 510 constituting moving mechanism 51b increases as angle A1a and the absolute value of angle A1a determined by the image processing described above increase. Also, the movement control signal is determined so that the drive time for driving crawler 510 constituting moving mechanism 51a and crawler 510 constituting moving mechanism 51b under the above rotation speed conditions increases as the absolute values ​​of distance S1a and distance S1b determined by the image processing described above increase.

[0081] [D-4] Movement control signal output (ST40) Next, as shown in FIG. 5A, a movement control signal is output (ST40).

[0082] Here, the control device 600 outputs a movement control signal to the traveling device 500. As a result, in the traveling device 500, the crawlers 510 constituting the traveling mechanism 51a and the crawlers 510 constituting the traveling mechanism 51b are driven based on the movement control signal. As a result, the boundary portion BL1 detected in the imaging data G1a coincides with the target position SL1a, and the boundary portion BL1 detected in the imaging data G1b coincides with the target position SL1b.

[0083] The "linear control" consisting of the above steps is repeatedly performed when the traveling device 500 travels along the axial direction to inspect the stator wedge 43 installed in one stator slot KS in the stator core 41. After inspecting the stator wedge 43 installed in one stator slot KS, the traveling device 500 moves to inspect the stator wedge 43 installed in another stator slot KS, and the "linear control" is performed in the same manner as above.

[0084] [E] Summary As described above, the traveling system 800 of this embodiment includes the traveling device 500 and the control device 600, and the traveling device 500 includes the moving mechanism 51 and the imaging device 52. In the traveling device 500, the moving mechanism 51 is configured to move the traveling device 500 in the gap AG between the rotor 22 and the stator 23 of the rotating electric machine 20. The imaging device 52 is configured to obtain imaging data by imaging the boundary portion BL1 (a linear portion extending in the axial direction) between the stator core 41 and the stator wedge 43 while the traveling device 500 is traveling in the gap AG. The control device 600 controls the operation of the moving mechanism 51 so that the position of the boundary portion BL1 in the imaging data coincides with target positions SL1a, SL1b determined for the boundary portion BL1 in the imaging data.

[0085] As a result, in this embodiment, when inspecting the fixed state (looseness, etc.) of the stator wedge 43, the traveling device 500 travels along the axial direction in which the boundary portion BL1 between the stator core 41 and the stator wedge 43 extends. Therefore, according to the traveling system 800 of this embodiment, it is possible to easily perform an inspection using the traveling device 500 efficiently.

[0086] Unlike rotating electric machines (not shown) that constitute thermal power plants (nuclear power plants), the vertical shaft type rotating electric machine 20 that constitutes the water turbine power plant 30 does not normally have deep grooves along the axial direction on the inner peripheral surface of the stator 23. Even in such a case, the traveling system 800 of this embodiment allows the traveling device 500 to travel stably along the axial direction, as described above.

[0087] The traveling device 500 of this embodiment is provided with two imaging devices 52, imaging device 52a and imaging device 52b, arranged side by side in the axial direction. The control device 600 controls the operation of the moving mechanism 51 so that the position of the boundary portion BL1 in the imaging data G1a obtained by imaging with the imaging device 52a coincides with the target position SL1a, and so that the position of the boundary portion BL1 in the imaging data G1b obtained by imaging with the imaging device 52b coincides with the target position SL1b. Therefore, in this embodiment, the operation of the traveling device 500 traveling along the axial direction in which the boundary portion BL1 extends can be controlled with high precision.

[0088] In the traveling device 500 of this embodiment, the imaging device 52 has a mirror 521 reflecting an image of a subject relating to a boundary portion BL1 between the stator core 41 and the stator wedge 43, and the subject image reflected by the mirror 521 entering an imaging element 5222 via an objective lens 5221, whereby the camera 522 obtains imaging data. In the camera 522, the optical axis of the objective lens 5221 is arranged along the rotation direction R in which the rotor 22 rotates when the traveling device 500 travels in the axial direction in the gap AG. The mirror 521 reflects the subject image incident along the radial direction in the rotation direction R, and the subject image reflected by the mirror 521 is captured by the camera 522.

[0089] Therefore, in this embodiment, when the traveling device 500 travels in the axial direction in the gap AG, the optical axis of the objective lens 5221 that constitutes the camera 522 is not aligned with the radial direction, so it is possible to reduce the thickness of the traveling device 500. Furthermore, in this embodiment, when the traveling device 500 travels in the axial direction in the gap AG, the optical axis of the objective lens 5221 that constitutes the camera 522 is aligned with the rotation direction R, so it is possible to shorten the length of the traveling device 500 in the axial direction. Therefore, in this embodiment, it is possible to easily reduce the size of the traveling device 500, so it is possible to easily easily perform inspections using the traveling device 500 efficiently.

[0090] The vertical shaft type rotating electric machine 20 constituting the water turbine power generation facility 30 is smaller than the rotating electric machine (not shown) constituting a thermal power generation facility (nuclear power generation facility) and has a narrow gap AG between the rotor 22 and the stator 23. However, in the traveling system 800 of this embodiment, as described above, it is possible to reduce the thickness of the traveling device 500 and also the length of the traveling device 500, so that the traveling device 500 can be easily used in inspecting the rotating electric machine 20 constituting the water turbine power generation facility 30.

[0091] [F] Variation In the above embodiment, the traveling device 500 travels in the gap AG of the vertical-shaft rotating electric machine 20 whose central axis of rotation AX is aligned with the vertical direction z, but the present invention is not limited to this. The traveling device 500 may travel in the gap AG of the rotating electric machine 20 whose central axis of rotation AX is aligned with the horizontal direction x, for example, instead of the vertical direction z.

[0092] In the above embodiment, a case has been described in which the cable 700 is interposed between the traveling device 500 and the control device 600, and communication between the two is possible via wired communication, but this is not limited to this. The traveling device 500 and the control device 600 may be configured to be able to communicate via wireless communication. Furthermore, in the above embodiment, an example has been given in which the control device 600 is installed outside the traveling device 500, but the control device 600 may be housed inside the traveling device 500.

[0093] In the traveling device 500 of the above embodiment, the movement mechanism 51 is configured to move the traveling device 500 using the crawler 510, but this is not limiting. The movement mechanism 51 may be configured to move the traveling device 500 without using the crawler 510. For example, the traveling device 500 may be configured such that the wheels come into direct contact with the rotating electric machine 20 during traveling, and the traveling direction of the traveling device 500 is changed using a steering mechanism that steers the wheels.

[0094] In the traveling device 500 of the above embodiment, the camera 522 constituting the imaging device 52 is described as being in a state in which the optical axis of the objective lens 5221 is aligned with the rotation direction R when the traveling device 500 travels in the gap AG along the vertical direction z (see FIGS. 4A and 4C ). However, this is not limiting. The camera 522 may be installed so that the optical axis of the objective lens 5221 is aligned with a direction perpendicular to the radial direction of the rotor 22. For example, the optical axis of the objective lens 5221 may be aligned with the vertical direction z instead of the rotation direction R. In this case, it is not easy to reduce the length of the traveling device 500 in the axial direction, but the thickness of the traveling device 500 can be easily reduced, as in the above embodiment.

[0095] In the traveling device 500 of the above embodiment, the two imaging devices 52, the imaging device 52a and the imaging device 52b, are described as being included, but this is not limiting. The number of imaging devices 52 may be one, or, if necessary, three or more.

[0096] [F-1] Variation 1 6A and 6B are diagrams that schematically show the entire traveling device 500 of the first modification.

[0097] 6A and 6B show the state when the traveling device 500 travels in the vertical direction z in the gap AG between the rotor 22 and the stator 23, similar to FIGS. 4A and 4B, respectively.

[0098] As shown in FIGS. 6A and 6B, the traveling device 500 of this modification differs from the embodiment described above (see FIGS. 4A and 4B) in that it has a single image capturing device 52 rather than multiple image capturing devices, and does not have a mirror 521. In this modification, the image capturing device 52 is installed at a tip portion located on the front side (lower side in FIG. 6A; right side in FIG. 6B) of the traveling device casing 501 when the traveling device 500 travels in the axial direction. In addition, when the traveling device 500 travels in the gap AG in the vertical direction z, the optical axis of the objective lens 5221 of the image capturing device 52 is aligned with the axial direction.

[0099] FIG. 6C is a diagram showing an example of imaging data obtained by imaging device 52 when "straight ahead control" is performed in Modification 1.

[0100] As shown in FIG. 6C, in the imaging data G1 of this modification, for example, boundary portions BL1 and BL2 between the stator core 41 and the stator wedge 43 are imaged in addition to the rotor 22, the stator 23, and the gap AG.

[0101] Then, in the image data G1, characteristic points relating to the boundary portion BL1 are detected by image processing, and the position of the boundary portion BL1 in the image data G1 is determined.

[0102] Then, a state in which boundary portion BL1 actually detected in the image data G1 has moved away from target position SL1 is grasped. Here, an angle A1 at which linear boundary portion BL1 actually detected in the image data G1 is inclined relative to linear target position SL1 is calculated. Also, a distance S1 at which linear boundary portion BL1 actually detected in the image data G1 is separated from linear target position SL1 is calculated. Then, based on the results (angle A1, distance S1) calculated by the above image processing, a movement control signal for controlling the operation of movement mechanism 51 is calculated, and the travel of traveling device 500 is controlled based on the movement control signal.

[0103] In this modification as well, the operation of the moving mechanism 51 is controlled so that the position of the boundary portion BL1 in the image data G1 coincides with the target position SL1 determined for the boundary portion BL1 in the image data G1. As a result, in this modification as well, as in the above embodiment, the traveling device 500 travels so as to follow the axial direction in which the boundary portion BL1 between the stator core 41 and the stator wedge 43 extends, and therefore, it is possible to easily perform an inspection using the traveling device 500 efficiently.

[0104] [F-2] Variation 2 7A and 7B are diagrams schematically illustrating the entire traveling device 500 of the second modification.

[0105] 7A and 7B show the state when the traveling device 500 travels in the vertical direction z in the gap AG between the rotor 22 and the stator 23, similar to FIGS. 4A and 4B, respectively.

[0106] As shown in Figures 7A and 7B, the traveling device 500 of this modified example differs from the above embodiment (see Figures 4A and 4B) in that there is only one imaging device 52 and it is configured to obtain imaging data G1a.

[0107] Additionally, unlike the above embodiment (see FIGS. 4A and 4B), the traveling device 500 of this modified example is provided with a gravity sensor 53. The gravity sensor 53 is configured to obtain tilt detection data by detecting a state in which the direction in which the traveling mechanism 51 moves the traveling device 500 is tilted with respect to the vertical direction.

[0108] In this modification, the control device 600 controls the operation of the movement mechanism 51 based on the imaging data G1a and the tilt detection data, thereby causing the traveling device 500 to travel in the vertical direction in the gap AG.

[0109] In this modification, as in the above embodiment, feature points relating to the boundary portion BL1 in the imaging data G1a are detected by image processing, and the position of the boundary portion BL1 in the imaging data G1a is determined (see FIG. 5B).

[0110] Then, the state in which the boundary portion BL1 actually detected in the imaging data G1a is separated from the target position SL1a is grasped. As in the case of the above embodiment, the distance S1a by which the linear boundary portion BL1 actually detected in the imaging data G1a is separated from the linear target position SL1a is calculated.

[0111] In this modification, the calculation of the movement control signal (ST30) uses the results (distance S1a) obtained by the image processing described above as well as tilt detection data. Here, the movement control signal is calculated so that the angle obtained as the tilt detection data becomes zero. Then, the traveling of the traveling device 500 is controlled based on the movement control signal.

[0112] As a result, in this modified example as well, the operation of the moving mechanism 51 is controlled so that the position of the boundary portion BL1 in the image data G1 coincides with the target position SL1 determined for the boundary portion BL1 in the image data G1. As a result, in this modified example as well as in the above embodiment, the traveling device 500 travels so as to follow the axial direction in which the boundary portion BL1 between the stator core 41 and the stator wedge 43 extends, making it possible to easily perform inspections using the traveling device 500 efficiently.

[0113] [F-3] Variation 3 8A and 8B are diagrams schematically illustrating the entire traveling device 500 of the third modification.

[0114] 8A and 8B show the state when the traveling device 500 travels in the vertical direction z in the gap AG between the rotor 22 and the stator 23, similar to FIGS. 4A and 4B, respectively.

[0115] 8A and 8B, in this modification, a linear structure BL1b is installed on the inner circumferential surface of the stator 23. The linear structure BL1b is, for example, a piano wire or a thread, and is installed so as to extend in the axial direction in the gap AG.

[0116] In this modified example, when "straight-line control" is performed, the imaging device 52 captures an image of the portion of the inner circumferential surface of the stator 23 where the linear structural object BL1b is installed, and acquires imaging data (ST10). Then, image processing is performed on the imaging data (ST20) to determine the position of the linear structural object BL1b in the imaging data, and a state in which the linear structural object BL1b actually detected in the imaging data has moved away from the target position is grasped. Although not shown, the tilt angle of the linear structural object BL1b actually detected in the imaging data with respect to the linear target position is determined, and the distance from the linear target position is determined by processing similar to that in the above embodiment. Then, as in the above embodiment, a movement control signal is calculated (ST30) and output (ST40).

[0117] As a result, in this modification, the operation of the moving mechanism 51 is controlled so that the position of the linear structural object BL1b in the imaging data coincides with the target position set for the linear structural object BL1b in the imaging data. As a result, in this modification as well, as in the above embodiment, the traveling device 500 travels stably along the axial direction, making it easy to perform efficient inspections using the traveling device 500.

[0118] In this modified example, even if it is difficult to capture a clear image of the boundary portion BL1 between the stator core 41 and the stator wedge 43, it is possible to stably run the running device 500 along the axial direction as described above.

[0119] <Other> Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, as well as within the scope of the invention described in the claims and their equivalents. [Explanation of symbols]

[0120] 1: water turbine floor foundation, 1b: discharge pipe, 2: rotating electric machine floor foundation, 10: water turbine, 11: water turbine rotor shaft, 12: runner, 13: upper cover, 14: lower cover, 15: guide vane, 16: casing, 19: water turbine bearing, 20: rotating electric machine, 21a: rotating electric machine bearing, 21b: rotating electric machine bearing, 22: rotor, 23: stator, 24: frame, 41: stator core, 42: stator coil, 43: stator wedge, 51: moving mechanism, 51a: moving mechanism, 51b: moving mechanism, 52: imaging equipment, 52a: imaging Equipment, 52b: imaging equipment, 53: gravity sensor, 161: speed ring, 201: rotating shaft, 500: running gear, 501: running gear casing, 510: crawler, 511: drive wheel, 512: roller, 513: idler wheel, 515: permanent magnet, 521: mirror, 522: camera, 600: control device, 700: cable, 800: running system, 5221: objective lens, 5222: imaging element, AG: gap, KS: stator slot, BL1: boundary portion, BL1b: linear structure, AX: rotation center axis

Claims

1. a traveling device that travels while being inserted into a gap between a rotor and a stator in a rotating electric machine; a control device that controls the operation of the traveling device; A traveling system comprising: In the rotating electric machine, a linear portion extending in an axial direction along a central axis of rotation of the rotor is provided in the gap, The traveling device is a movement mechanism that moves the traveling device in the gap; an imaging device that obtains imaging data by imaging the linear portion in the gap; and the control device controls the operation of the movement mechanism so that the position of the linear portion in the imaging data coincides with a predetermined target position for the linear portion in the imaging data, thereby causing the traveling device to travel in the axial direction in the gap. Running system.

2. The imaging device includes: a first imaging device that obtains first imaging data as the imaging data by capturing an image on one side of the moving mechanism in a moving direction in which the moving mechanism moves the traveling device; a second imaging device that captures an image on the other side of the moving mechanism in a moving direction in which the moving mechanism moves the traveling device, thereby obtaining second imaging data as the imaging data; and Including, the control device controls the operation of the movement mechanism so that the position of the linear portion in the first imaging data coincides with a first target position determined as the target position for the linear portion in the first imaging data, and so that the position of the linear portion in the second imaging data coincides with a second target position determined as the target position for the linear portion in the second imaging data, thereby causing the traveling device to travel in the axial direction in the gap. The travel system according to claim 1 .

3. The axial direction is along the vertical direction, The traveling device is a gravity sensor that obtains tilt detection data by detecting a state in which the direction in which the traveling device is moved by the moving mechanism is tilted with respect to the vertical direction; Including, the control device controls the operation of the movement mechanism based on the imaging data and the tilt detection data, thereby causing the traveling device to travel in the gap along the vertical direction. The travel system according to claim 1 .

4. In the rotating electric machine, the gap is interposed between an outer peripheral surface of the rotor and an inner peripheral surface of the stator, and the linear portion is provided on the inner peripheral surface of the stator, The imaging device is installed on the traveling device so as to capture an image of at least the inner circumferential surface of the stator when the traveling device is inserted into the gap. The travel system according to claim 1 .

5. The stator includes: a stator core having stator slots formed on an inner circumferential surface facing an outer circumferential surface of the rotor so as to extend in the axial direction; a stator coil housed in the stator slot; a stator wedge inserted into the stator slot on the inner circumferential side of the stator coil; Including, the linear portion is a boundary portion between the stator core and the stator wedge, the imaging device is installed on the traveling device so as to capture an image of a boundary portion between the stator core and the stator wedge with the traveling device inserted into the gap. The traveling system according to claim 4.

6. the linear portion is a linear structure installed so as to extend in the axial direction in the gap when the traveling device travels in the gap, The imaging device is installed on the traveling device so as to capture an image of the linear structure while the traveling device is inserted into the gap. The travel system according to claim 1 .

7. The imaging device includes: a mirror that reflects an image of a subject relating to the linear portion; a camera that obtains the imaging data by causing the subject image reflected by the mirror to enter an imaging element via an objective lens; Including, the camera is installed such that, when the traveling device travels in the gap along the axial direction, the optical axis of the objective lens is aligned along a direction perpendicular to a radial direction of the rotor, the mirror is installed so as to reflect the subject image incident along the radial direction in a direction perpendicular to the radial direction, and the subject image reflected by the mirror is captured by the camera. The travel system according to claim 1 .

8. The camera is installed so that the optical axis of the objective lens is aligned with the rotation direction of the rotor when the traveling device travels along the axial direction in the gap. The traveling system according to claim 7.

9. a traveling device that travels while being inserted into a gap between a rotor and a stator in a rotating electric machine; a control device that controls the operation of the traveling device; A traveling system comprising: In the rotating electric machine, a linear portion extending in an axial direction along a central axis of rotation of the rotor is provided in the gap, The traveling device is a movement mechanism that moves the traveling device in the gap; an imaging device that obtains imaging data by imaging the linear portion in the gap; and the control device is configured to control the operation of the moving mechanism based on the imaging data, The imaging device includes: a mirror that reflects an image of a subject relating to the linear portion; a camera that obtains the imaging data by causing the subject image reflected by the mirror to enter an imaging element via an objective lens; Including, the camera is installed such that, when the traveling device is inserted into the gap, the optical axis of the objective lens is aligned along a direction perpendicular to a radial direction of the rotor, the mirror is installed so as to reflect the subject image incident along the radial direction in a direction perpendicular to the radial direction, and the subject image reflected by the mirror is captured by the camera. Running system.

Images