CN113820109A - Power plant auxiliary engine rotating equipment inspection device, method, equipment and medium - Google Patents
Power plant auxiliary engine rotating equipment inspection device, method, equipment and medium Download PDFInfo
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Abstract
The invention relates to the technical field of inspection of motor equipment, in particular to an inspection device, a method, equipment and a medium for auxiliary machine rotating equipment of a power plant, which replace manual fault detection and identification by a wheeled robot and a vibration sensor arranged on the auxiliary machine rotating equipment, and realize rapid identification and detection of various faults, thereby greatly reducing the labor consumption and the cost and improving the efficiency and the accuracy; meanwhile, the vibration signal is denoised, decomposed and reconstructed by the rotor rub-impact fault detection module to obtain a reconstructed signal, the reconstructed signal is subjected to characteristic energy extraction to obtain characteristic energy to be detected, the characteristic energy to be detected is compared with the normal characteristic energy obtained in advance to judge whether the rotor rub-impact fault occurs, the rotor rub-impact fault of the rotary equipment is accurately positioned, and the rotor rub-impact fault detection method has the advantages of being safe, reliable and efficient.
Description
Technical Field
The invention relates to the technical field of inspection of motor equipment, in particular to an inspection device, method, equipment and medium for rotary equipment of an auxiliary machine of a power plant.
Background
At present, large-scale rotating equipment of a power plant, such as a generator, a motor, an induced draft fan, a blower, a water feeding pump, a circulating water pump and the like, is provided with a perfect state monitoring system, the power plant monitors the running state of the rotating equipment in real time through the monitoring system and records related data, and the related data comprises a vibration phase, a vibration amplitude, a vibration frequency spectrum, a time domain waveform thereof and the like; however, the auxiliary rotating equipment of the power plant such as a closed water pump, a process water pump and an air preheater reduction box are not paid enough attention, the generated data is more 'nobody makes a job', once the auxiliary rotating equipment fails, the auxiliary rotating equipment not only directly influences the normal operation of the driven equipment and related systems, but also can cause accidents such as shutdown, furnace shutdown and equipment damage, so that the inspection quality of the auxiliary rotating equipment is improved, the accident potential of the motor in operation is discovered as soon as possible, and the method has important practical significance.
At present, inspection of rotating equipment of auxiliary machines of a power plant is mainly finished by 'eye observation, ear listening, nose smelling and manual' observation, namely, whether the appearance of a motor is abnormal or not, whether a lead joint of the motor has a blackening and discoloring trace or not and whether sparks are generated inside the motor in operation or not are observed by eyes; listening to abnormal sounds in a motor bearing and a motor body in operation by ears; the inside of the nasal smell motor has abnormal smell; the measuring instrument is used for measuring various operation parameters of the motor, and the inspection mode not only needs inspection personnel to have a large amount of practical experience, but also has no real-time property, can not meet the operation requirement of a modern power plant, and can not accurately position the rotor of the rotating equipment against rubbing faults.
Disclosure of Invention
The invention provides a power plant auxiliary machine rotating equipment inspection device, a method, equipment and a medium, and solves the technical problems that the conventional power plant auxiliary machine rotating equipment inspection needs professional inspection personnel to perform detection, the efficiency is low, and the accurate positioning cannot be performed on the rubbing fault of a rotating equipment rotor.
In order to solve the technical problems, the invention provides a device, a method, equipment and a medium for inspecting rotary equipment of a power plant auxiliary machine.
In a first aspect, the invention provides a power plant auxiliary machinery rotating equipment inspection device, which comprises: the robot comprises a wheeled robot and a vibration sensor arranged on auxiliary machine rotating equipment;
the wheeled robot comprises a four-wheel drive chassis, a fixing frame, a visible light camera, an infrared imager, a pickup, a navigation module and a rotor rub-impact fault detection module, wherein one end of the fixing frame is arranged at one side end of the four-wheel drive chassis, the visible light camera and the infrared imager are respectively arranged on two sides of the other end of the fixing frame, and the pickup and the navigation module are both arranged on the four-wheel drive chassis;
the navigation module is used for controlling the wheeled robot to move to a target area;
the rotor rub-impact fault detection module is used for receiving the vibration signal to be detected collected by the vibration sensor, sequentially denoising, wavelet packet decomposition and wavelet packet reconstruction on the vibration signal to be detected to obtain a reconstructed signal, extracting characteristic energy on the reconstructed signal to obtain characteristic energy to be detected, and comparing the characteristic energy to be detected with the normal characteristic energy obtained in advance to judge whether the rotor rub-impact fault occurs.
In a further embodiment, the wavelet packet decomposition is formulated as:
wherein j represents a scale factor, n represents a modulation parameter or an oscillation parameter, dl(j, n) represents wavelet coefficient of nth sub-band of j layer, k represents translation amount, l represents function variable, ak-2l、bk-2lThe coefficients of the wavelet decomposition low-pass conjugate filter and high-pass conjugate filter are represented separately.
The wavelet packet reconstruction formula is as follows:
in the formula, pl-2k、ql-2kRepresenting wavelet reconstructed conjugate filter coefficients.
In a further embodiment, the inspection device further comprises:
the visible fault detection module is matched with the visible light camera and used for processing and identifying a target image collected by the visible light camera to obtain target image characteristics, comparing the target image characteristics with standard image characteristics, judging whether a visible fault exists or not and alarming and reminding;
the temperature detection module is matched with the infrared imager and is used for receiving the temperature of the equipment to be detected, which is detected by the infrared imager, comparing the temperature of the equipment to be detected with a preset temperature and alarming and reminding according to a temperature comparison result;
the sound detection module is matched with the sound pickup and used for comparing the equipment running sound collected by the sound pickup with preset sound and judging whether sound abnormity exists or not;
wherein the visual faults include meter readings, cable joint faults, and spark faults.
The wheeled robot further comprises an automatic charging module, the automatic charging module is used for automatically detecting the electric quantity of the battery of the wheeled robot, and when the electric quantity of the battery is detected to be lower than a preset electric quantity value, the battery is automatically charged through a charging station.
In a further embodiment, the navigation module is 3D laser navigation.
In a second aspect, the invention provides a method for inspecting rotating equipment of a power plant auxiliary machine, which comprises the following steps:
acquiring a vibration signal on rotating equipment of an auxiliary machine of a power plant in real time through a vibration sensor to obtain a vibration signal to be detected;
sequentially denoising, wavelet packet decomposition and wavelet packet reconstruction are carried out on the vibration signal to be detected to obtain a reconstruction signal;
extracting characteristic energy from the reconstructed signal to obtain characteristic energy to be detected;
and comparing the characteristic energy to be detected with the normal characteristic energy acquired in advance to judge whether the rotor rubbing fault occurs.
In a further embodiment, the formula for performing wavelet packet decomposition on the vibration signal to be detected is as follows:
wherein j represents a scale factor, n represents a modulation parameter or an oscillation parameter, dl(j, n) represents wavelet coefficient of nth sub-band of j layer, k represents translation amount, l represents function variable, ak-2l、bk-2lThe coefficients of the wavelet decomposition low-pass conjugate filter and high-pass conjugate filter are represented separately.
The wavelet packet reconstruction formula is as follows:
in the formula, pl-2k、ql-2kRepresenting wavelet reconstructionYoke filter coefficients.
In a further embodiment, the method further comprises the steps of:
controlling the wheeled robot to move to a target area, and acquiring a target image, temperature and equipment running sound by using a visible light camera, an infrared imager and a sound pickup according to an input inspection task;
processing and identifying a target image acquired by the visible light camera through a visible fault detection module to obtain target image characteristics, comparing the target image characteristics with standard image characteristics, judging whether a visible fault exists or not, and alarming and reminding;
comparing the temperature of the equipment to be detected acquired by the infrared imager with a preset temperature through a temperature detection module, and alarming and reminding according to a temperature comparison result;
comparing the equipment running sound collected by the sound pickup with preset sound through a sound detection module, and judging whether sound abnormality exists or not;
the battery electric quantity of the wheeled robot is automatically detected through the automatic charging module, and when the battery electric quantity is detected to be lower than a preset electric quantity value, the wheeled robot is automatically charged through a charging station.
In a third aspect, the present invention further provides a computer device, including a processor and a memory, where the processor is connected to the memory, the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, so that the computer device executes the steps for implementing the method.
In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the above method.
The invention provides a power plant auxiliary machine rotating equipment inspection device, a method, equipment and a medium, which realize a multi-fault multi-agent cooperative monitoring operation mode by adopting a mode of combining a wheel type inspection robot and a vibration sensor. Compared with the prior art, the method has the advantages that the reconstruction signal is obtained by denoising, wavelet packet decomposition and wavelet packet reconstruction methods of the vibration signal, and the characteristic energy is extracted from the reconstruction signal, so that the accurate positioning of the rotor rub-impact problem of the rotating equipment is realized according to the characteristic energy; meanwhile, the invention realizes the detection of various fault types through the visible light camera, the infrared imager, the sound pick-up, the navigation module and the like, improves the detection efficiency of the system, and saves the time and the labor cost.
Drawings
FIG. 1 is a schematic diagram of a wheeled robot provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of the location of a vibration sensor provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a rotor rub-impact fault detection module provided in an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a method for inspecting a rotating device of a power plant auxiliary machine according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which are given solely for the purpose of illustration and are not to be construed as limitations of the invention, including the drawings which are incorporated herein by reference and for illustration only and are not to be construed as limitations of the invention, since many variations thereof are possible without departing from the spirit and scope of the invention.
As shown in fig. 1 and 2, an embodiment of the present invention provides a power plant auxiliary machinery rotating equipment inspection device, including: a wheeled robot 11 and a vibration sensor 12 mounted on an auxiliary machine rotating device;
wheeled robot 11 includes that four drive chassis 111, mount 112, visible light camera 113, infrared imager 114, adapter 115, navigation module 116 and rotor rub-impact failure detection module, mount 112 one end sets up one side end on four drive chassis 111, the both sides of the mount 112 other end are equipped with respectively visible light camera 113 with infrared imager 114, adapter 115 and navigation module 116 all set up in on four drive chassis 111.
In one embodiment, as shown in fig. 2, the vibration sensor 12 is configured to collect a vibration signal on a rotating device of a power plant auxiliary machine in real time, obtain a vibration signal to be detected, and transmit the vibration signal to be detected to the rotor rub fault detection module.
In the embodiment, because the high-frequency part and the low-frequency part of the rotor rub-impact fault contain the fault information of the rotor rub-impact fault, but the wavelet analysis in the prior art only analyzes the defects of the low-frequency part, the embodiment of the invention reserves the low-frequency part and the high-frequency part through wavelet packet decomposition and wavelet packet reconstruction, thereby determining whether the rotor rub-impact fault occurs in the auxiliary rotating equipment.
In one embodiment, as shown in fig. 3, the rotor rub-impact fault detection module is configured to receive a vibration signal to be detected, which is acquired by the vibration sensor in real time, and denoise the vibration signal to be detected.
In an embodiment, the present embodiment performs hard threshold denoising on the vibration signal to be detected, where the hard threshold function is:
in the formula, Y represents a wavelet coefficient after thresholding, x represents a wavelet coefficient of a noise image, and t represents a threshold.
In one embodiment, the threshold value t is calculated by the formula:
in the formula, σ represents the standard deviation of a noise image and is used for measuring the strength of noise; n represents the noise image signal length, i.e., the number of wavelet transform coefficients.
In one embodiment, the rotor rub-impact fault detection module performs wavelet packet decomposition, wavelet packet reconstruction and characteristic energy extraction on the denoised vibration signal to be detected to obtain characteristic energy to be detected; in this embodiment, the wavelet packet decomposition is to filter the denoised vibration signal to be detected through a high-pass filter and a low-pass filter to obtain a group of low-frequency signals and a group of high-frequency signals; it should be noted that the length of the low-frequency signal and the high-frequency signal obtained by each decomposition is half of the length of the original signal, that is, the sum of the lengths of the two signals is equal to the length of the original signal, which is equivalent to performing alternate sampling after filtering, and the decomposition has no redundancy and does not lose any information of the original signal.
In an embodiment, in this embodiment, the denoised vibration signal to be detected is decomposed by a wavelet packet decomposition algorithm in N layers, where the wavelet packet decomposition algorithm is:
wherein j represents a scale factor, n represents a modulation parameter or an oscillation parameter, dl(j, n) represents wavelet coefficient of nth sub-band of j layer, k represents translation amount, l represents function variable, ak-2l、bk-2lThe coefficients of the wavelet decomposition low-pass conjugate filter and high-pass conjugate filter are represented separately.
In an embodiment, in this embodiment, wavelet packet reconstruction is performed on the last layer of decomposition coefficients, and the wavelet packet reconstruction algorithm is:
in the formula, pl-2k、ql-2kRepresenting wavelet reconstructed conjugate filter coefficients.
In an embodiment, the present embodiment calculates the characteristic energy on the kth subband at the jth decomposition level of the wavelet packet decomposition by using the square of the wavelet coefficient, specifically:
where E (j, k) represents the characteristic energy at the k-th sub-band at the j-th decomposition level, dl(j, k) represents a wavelet packet transform coefficient, and N represents the number of subbands in the subband tree.
In one embodiment, the rotor rub-impact fault detection module compares the characteristic energy to be detected with a normal characteristic energy obtained in advance to judge whether a rotor rub-impact fault occurs; in this embodiment, when it is detected that an energy difference between the characteristic energy to be detected and the pre-acquired normal characteristic energy is smaller than an energy threshold, it is determined that a rotor rubbing fault does not occur, and the auxiliary machine rotating equipment continues to be detected; otherwise, judging that the rotor rubbing fault occurs and alarming to remind workers, wherein the energy threshold value is preferably set to be 0.01.
In the embodiment, the vibration sensor is used for acquiring the vibration signal of the auxiliary machine rotating equipment during normal operation in advance to obtain the normal vibration signal, and the rotor rub-impact fault detection module is used for obtaining the normal characteristic energy.
In the embodiment, after the vibration signal is denoised, the low-frequency part and the high-frequency part are reserved by utilizing wavelet packet decomposition and reconstruction, then the characteristic energy of the vibration signal is extracted, and whether the rotor rub-impact fault occurs or not can be accurately determined by comparing the characteristic energy of the signal to be detected with the characteristic energy of the normal signal.
It should be noted that, in this embodiment, as shown in the characteristic energy table shown in table 1, the characteristic energy can be completely extracted by decomposing the wavelet to the fifth level, and the more the number of non-decomposition levels, the better the effect, table 1 is as follows:
TABLE 1
In one embodiment, the navigation module is used for a routing inspection task input by a user and controlling the wheeled robot to move to a target area; in this embodiment, the navigation module is 3D laser navigation, and the 3D laser navigation adopted in this embodiment has strong adaptability to terrain and dynamic environment, can overcome the influence of on-site complex environmental changes, and enhances its environmental adaptability.
In one embodiment, a power plant auxiliary machinery rotating equipment inspection device still includes: the visible fault detection module is matched with the visible light camera and used for processing and identifying a target image collected by the visible light camera to obtain target image characteristics, comparing the target image characteristics with standard image characteristics, judging whether a visible fault exists or not and alarming and reminding; wherein the visual faults include meter readings, cable joint faults, and spark faults.
In the present embodiment, the wheeled robot acquires data of a visual fault by using a visible light camera with a high-definition video resolution of 1920 × 1080 and a visual function in a low-brightness environment, the visible light camera converts a temperature difference into a real-time video image by using a thermal infrared imaging technology, and displays the real-time video image.
In this embodiment, when meter reading detection is performed, the visual fault detection module first performs coarse positioning on a meter original image acquired by the visible light camera to determine the position of the meter; then, amplifying the meter, and extracting a target image; and then compiling and compressing the target image into an adjustable image database, identifying to obtain target image characteristics, comparing the target image characteristics with standard image characteristics obtained in advance, determining whether the meter fails, and if the meter failure is detected, alarming to remind a worker.
In the embodiment, the data reading, automatic recording and judgment of the meter with the reading are realized through the visual fault detection module, and the alarm is provided, wherein the error of the reading is less than 5%; meanwhile, the visual fault detection module detects the burning fault of the cable joint of the rotating equipment due to heating, detects the faults such as electric sparks generated in the running motor and the like, and effectively improves the efficiency of equipment fault diagnosis.
In one embodiment, a power plant auxiliary machinery rotating equipment inspection device still includes:
the temperature detection module is matched with the infrared imager and is used for receiving the temperature of the equipment to be detected, which is detected by the infrared imager, comparing the temperature of the equipment to be detected with a preset temperature and alarming and reminding according to a temperature comparison result;
the sound detection module is matched with the sound pickup and used for comparing the equipment running sound collected by the sound pickup with preset sound and judging whether sound abnormity exists or not;
and the automatic charging module is used for automatically detecting the electric quantity of the battery of the wheeled robot, and when the electric quantity of the battery is detected to be lower than a preset electric quantity value, the charging is carried out through a charging station.
In this embodiment, the automatic charging module detects the battery capacity of the wheeled robot in real time through the automatic detection circuit, and if the battery capacity is lower than a preset capacity value, the automatic charging module automatically stops the current polling task, sends out an alarm, and autonomously operates to a charging station and completes the docking work with the charging station to charge, in this embodiment, the cruising ability of the robot is not less than 8 hours.
In the embodiment, a multi-fault multi-agent cooperative monitoring operation mode is formed by adopting a wheeled robot and a mode of configuring a vibration sensor on power plant auxiliary engine rotating equipment, the wheeled robot replaces manual work to carry out timing inspection, unmanned inspection is realized, the wheeled robot adopted in the embodiment can detect and alarm faults such as abnormal temperature and sound of rotating equipment operation field equipment, electric sparks generated by the rotating equipment, burning of a cable joint due to heating, and correctness of a meter on the checking equipment, so that safety accidents caused by equipment faults are avoided, safety production is influenced, and the labor intensity of workers is greatly reduced.
It should be noted that, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation to the implementation process of the embodiment of the present application.
In one embodiment, as shown in fig. 4, a method for inspecting rotating equipment of a power plant auxiliary machine is provided, which includes the following steps:
s1, acquiring a vibration signal on rotating equipment of an auxiliary machine of a power plant in real time through a vibration sensor to obtain a vibration signal to be detected;
s2, sequentially carrying out denoising, wavelet packet decomposition and wavelet packet reconstruction on the vibration signal to be detected to obtain a reconstructed signal;
s3, extracting characteristic energy of the reconstructed signal to obtain characteristic energy to be detected;
and S4, comparing the characteristic energy to be detected with the normal characteristic energy acquired in advance to judge whether the rotor rubbing fault occurs.
In one embodiment, the formula for performing wavelet packet decomposition on the vibration signal is as follows:
wherein j represents a scale factor, n represents a modulation parameter or an oscillation parameter, dl(j, n) represents wavelet coefficient of nth sub-band of j layer, k represents translation amount, l represents function variable, ak-2l、bk-2lThe coefficients of the wavelet decomposition low-pass conjugate filter and high-pass conjugate filter are represented separately.
The wavelet packet reconstruction formula is as follows:
in the formula, pl-2k、ql-2kRepresenting wavelet reconstructed conjugate filter coefficients.
In one embodiment, the method further comprises the steps of:
controlling the wheeled robot to move to a target area, and acquiring a target image, temperature and equipment running sound by using a visible light camera, an infrared imager and a sound pickup according to an input inspection task;
processing and identifying a target image acquired by the visible light camera through a visible fault detection module to obtain target image characteristics, comparing the target image characteristics with standard image characteristics, judging whether a visible fault exists or not, and alarming and reminding;
comparing the temperature of the equipment to be detected acquired by the infrared imager with a preset temperature through a temperature detection module, and alarming and reminding according to a temperature comparison result;
comparing the equipment running sound collected by the sound pickup with preset sound through a sound detection module, and judging whether sound abnormality exists or not;
the electric quantity of the battery of the wheeled robot is automatically detected through the automatic charging module, and when the electric quantity of the battery is detected to be lower than a preset electric quantity value, the battery is charged through a charging station.
For specific limitations of a power plant auxiliary rotating equipment inspection method, reference may be made to the above limitations on a power plant auxiliary rotating equipment inspection device, and details are not described here. Those of ordinary skill in the art will appreciate that the various modules and steps described in connection with the embodiments disclosed herein may be implemented as hardware, software, or combinations of both. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
Compared with the prior art, this application is through installing vibration sensor on power plant's auxiliary engine rotating equipment to obtain vibration signal, then carry out analysis and detect the fault reason to vibration signal, this embodiment is to the rotating equipment rotor rub-impact problem, adopts the method of removing noise, wavelet packet decomposition and wavelet packet reconsitution, realizes the accurate location of rubbing the rotor.
FIG. 5 is a computer device including a memory, a processor, and a transceiver connected via a bus according to an embodiment of the present invention; the memory is used to store a set of computer program instructions and data and may transmit the stored data to the processor, which may execute the program instructions stored by the memory to perform the steps of the above-described method.
Wherein the memory may comprise volatile memory or nonvolatile memory, or may comprise both volatile and nonvolatile memory; the processor may be a central processing unit, a microprocessor, an application specific integrated circuit, a programmable logic device, or a combination thereof. By way of example, and not limitation, the programmable logic devices described above may be complex programmable logic devices, field programmable gate arrays, general array logic, or any combination thereof.
In addition, the memory may be a physically separate unit or may be integrated with the processor.
It will be appreciated by those of ordinary skill in the art that the architecture shown in fig. 5 is a block diagram of only a portion of the architecture associated with the present solution and is not intended to limit the computing devices to which the present solution may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have the same arrangement of components.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method.
The embodiment of the invention provides a device, a method, equipment and a medium for inspecting rotary equipment of a power plant auxiliary machine, one power plant auxiliary machine rotating equipment inspection device replaces manual fault detection and identification by adopting a mode of combining a wheel type inspection robot and a vibration sensor, solves the problems that the detection of the existing power plant auxiliary machine rotating equipment not only needs professional inspection personnel for detection, has low efficiency, but also can not accurately position the rotor rub-impact fault of the rotating equipment, realizes the rapid identification and detection of various faults, thereby greatly reducing the labor intensity of the detection personnel, improving the power supply safety of the transformer substation, simultaneously improving the working efficiency of the detection, compared with the prior art, the low-frequency and high-frequency part fault information is reserved through wavelet packet decomposition and wavelet packet reconstruction, and therefore accurate positioning of the rotary equipment rotor rubbing fault is achieved.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in, or transmitted from one computer-readable storage medium to another computer-readable storage medium, the computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device including one or more available media, such as a magnetic medium (e.g., floppy disks, hard disks, magnetic tapes), an optical medium (e.g., DVDs), or a semiconductor medium (e.g., SSDs), etc.
Those skilled in the art will appreciate that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and the computer program can include the processes of the embodiments of the methods described above when executed.
The above-mentioned embodiments only express some preferred embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these should be construed as the protection scope of the present application. Therefore, the protection scope of the present patent shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a power plant's auxiliary engine rotating equipment inspection device which characterized in that includes: the robot comprises a wheeled robot and a vibration sensor arranged on auxiliary machine rotating equipment;
the wheeled robot comprises a four-wheel drive chassis, a fixing frame, a visible light camera, an infrared imager, a pickup, a navigation module and a rotor rub-impact fault detection module, wherein one end of the fixing frame is arranged at one side end of the four-wheel drive chassis, the visible light camera and the infrared imager are respectively arranged on two sides of the other end of the fixing frame, and the pickup and the navigation module are both arranged on the four-wheel drive chassis;
the navigation module is used for controlling the wheeled robot to move to a target area;
the rotor rub-impact fault detection module is used for receiving the vibration signal to be detected collected by the vibration sensor, sequentially denoising, wavelet packet decomposition and wavelet packet reconstruction on the vibration signal to be detected to obtain a reconstructed signal, extracting characteristic energy on the reconstructed signal to obtain characteristic energy to be detected, and comparing the characteristic energy to be detected with the normal characteristic energy obtained in advance to judge whether the rotor rub-impact fault occurs.
2. The power plant auxiliary machinery rotating equipment inspection device of claim 1, wherein the wavelet packet decomposition formula is as follows:
wherein j represents a scale factor, n represents a modulation parameter or an oscillation parameter, dl(j, n) represents wavelet coefficient of nth sub-band of j layer, k represents translation amount, l represents function variable, ak-2l、bk-2lRespectively representing waveletsThe coefficients of the low-pass conjugate filter and the high-pass conjugate filter are decomposed.
The wavelet packet reconstruction formula is as follows:
in the formula, pl-2k、ql-2kRepresenting wavelet reconstructed conjugate filter coefficients.
3. The power plant auxiliary machinery rotating equipment inspection device of claim 1, further comprising:
the visible fault detection module is matched with the visible light camera and used for processing and identifying a target image collected by the visible light camera to obtain target image characteristics, comparing the target image characteristics with standard image characteristics, judging whether a visible fault exists or not and alarming and reminding;
the temperature detection module is matched with the infrared imager and is used for receiving the temperature of the equipment to be detected, which is detected by the infrared imager, comparing the temperature of the equipment to be detected with a preset temperature and alarming and reminding according to a temperature comparison result;
the sound detection module is matched with the sound pickup and used for comparing the equipment running sound collected by the sound pickup with preset sound and judging whether sound abnormity exists or not;
wherein the visual faults include meter readings, cable joint faults, and spark faults.
4. The power plant auxiliary machinery rotating equipment inspection device of claim 1, characterized in that: the wheeled robot further comprises an automatic charging module, the automatic charging module is used for automatically detecting the electric quantity of the battery of the wheeled robot, and when the electric quantity of the battery is detected to be lower than a preset electric quantity value, the battery is automatically charged through a charging station.
5. The power plant auxiliary machinery rotating equipment inspection device of claim 1, characterized in that: the navigation module is used for 3D laser navigation.
6. A power plant auxiliary machine rotating equipment inspection method is characterized by comprising the following steps:
acquiring a vibration signal on rotating equipment of an auxiliary machine of a power plant in real time through a vibration sensor to obtain a vibration signal to be detected;
sequentially denoising, wavelet packet decomposition and wavelet packet reconstruction are carried out on the vibration signal to be detected to obtain a reconstruction signal;
extracting characteristic energy from the reconstructed signal to obtain characteristic energy to be detected;
and comparing the characteristic energy to be detected with the normal characteristic energy acquired in advance to judge whether the rotor rubbing fault occurs.
7. The power plant auxiliary machinery rotating equipment inspection method according to claim 6, wherein the formula for performing wavelet packet decomposition on the vibration signal to be tested is as follows:
wherein j represents a scale factor, n represents a modulation parameter or an oscillation parameter, dl(j, n) represents wavelet coefficient of nth sub-band of j layer, k represents translation amount, l represents function variable, ak-2l、bk-2lThe coefficients of the wavelet decomposition low-pass conjugate filter and high-pass conjugate filter are represented separately.
The wavelet packet reconstruction formula is as follows:
in the formula, pl-2k、ql-2kRepresenting wavelet reconstructed conjugate filter coefficients.
8. The power plant auxiliary machinery rotating equipment inspection method according to claim 6, further comprising the following steps:
controlling the wheeled robot to move to a target area, and acquiring a target image, temperature and equipment running sound by using a visible light camera, an infrared imager and a sound pickup according to an input inspection task;
processing and identifying a target image acquired by the visible light camera through a visible fault detection module to obtain target image characteristics, comparing the target image characteristics with standard image characteristics, judging whether a visible fault exists or not, and alarming and reminding;
comparing the temperature of the equipment to be detected acquired by the infrared imager with a preset temperature through a temperature detection module, and alarming and reminding according to a temperature comparison result;
comparing the equipment running sound collected by the sound pickup with preset sound through a sound detection module, and judging whether sound abnormality exists or not;
the battery electric quantity of the wheeled robot is automatically detected through the automatic charging module, and when the battery electric quantity is detected to be lower than a preset electric quantity value, the wheeled robot is automatically charged through a charging station.
9. A computer device, characterized by: comprising a processor coupled to a memory for storing a computer program and a memory for executing the computer program stored in the memory to cause the computer device to perform the method of any of claims 6 to 8.
10. A computer-readable storage medium characterized by: the computer-readable storage medium has stored thereon a computer program which, when executed, implements the method of any of claims 6 to 8.
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