| Electric power companies need to regularly overhaul the generators to understand the conditions in the chamber after long-term operation.The traditional manual maintenance method needs to extract the generator rotor,which has the disadvantages of low detection efficiency,high labor intensity and high potential safety hazards.In order to solve this problem,wall-climbing robots that can enter the generator bore to carry out inspection tasks without pulling away the rotor are gradually being used.At present,domestic generator detection robots are still in the testing stage.The prototypes all use the method of crawling on the stator.However,due to the presence of wind deflectors on the inner wall of the stator of some types of generators,the detection range of this type of robot is greatly limited,so it is universal There are obvious shortcomings in performance.For this reason,this paper designs a generator intelligent detection scheme based on a rotor wall-climbing robot.The detection task is completed with the help of various detection equipment carried by the wallclimbing robot.The main contents are as follows:According to the needs of the inspection task and the working environment in the generator bore,the technical indicators of the inspection robot are analyzed and tested,so as to select the robot’s adsorption,movement and driving methods,and at the same time determine the inspection equipment that the robot should carry.Based on the abovementioned hardware selection and analysis of the functional requirements of the control module,the overall framework of its hardware part and software part is obtained.The hardware part of the control module is divided into four functional units based on the idea of modular design.The selection of the electrical components of each unit and the design of the interface circuit are completed,and finally the hardware schematic and PCB design based on STM32 are obtained.The software part of the control module is designed based on the embedded real-time operating system u C/OS-II.First,transplant u C/OS-II to the control board,and design and develop the BSP according to the on-board hardware resources;then,various controls are designed according to the testing requirements Task,realize the control function by calling the hardware access interface provided by the operating system and BSP.Compared with bare metal development,this design route has higher stability and real-time performance.Due to the narrow space in the generator bore,a micro USB camera is used in this design to complete the task of visual inspection in the bore.Limited by the transmission distance of the USB data cable,the video transmission method needs to be converted,so a set of embedded video server based on ARM Cortex-A9 is designed,which can convert multiple USB video streams into network video streams.By modifying the subroutine of the open source server Mjpg-streamer,the server can use the microprocessor to perform hardware encoding on the video collected by the USB camera,thereby significantly reducing the bandwidth required for video transmission.The video data is sent to the local area network through the HTTP protocol,which enables multiple devices to view real-time video at the same time.Finally,the test platform was built separately,and the control module and the multichannel video transmission module were tested separately.The test results showed that the control module was operating correctly.The video transmission module can reduce the network transmission bandwidth by 8 times,which proves that both meet the design requirements. |
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