基于机器视觉的水电厂机械转子自动吊装系统  

Automatic Hoisting System of Mechanical Rotor in Hydropower Plant Based on Machine Vision

作　　者：葛海彬 刘巍 朱昱瑛 孙月娇 金京善 GE Haibin;LIU Wei;ZHU Yuying;SUN Yuejiao;JIN Jingshan(Mudanjiang Hydropower Plant,State Grid Heilongjiang Electric Power Co.,Ltd.,Mudanjiang 157006,China)

机构地区：[1]国网黑龙江省电力有限公司牡丹江水力发电总厂,黑龙江牡丹江157006

出　　处：《机械与电子》2024年第4期71-75,80,共6页Machinery & Electronics

基　　金：国家电网公司科技项目(522436200025)。

摘　　要：为帮助水电厂中发电机转子完成精准自动吊装,利用机器视觉方法中的相机标定与二进制编码方法,设计水电厂发电机转子自动吊装系统。硬件分为上机位模块与下机位模块,主控有远程操控、多数据存储、快速通信等功能,可辅助完成高精度、高速度的定位吊装运动。软件部分将设计的标识点固定在发电机转子顶部,通过解码处理检测到多个标识点角点;利用欧拉角函数转换平移旋转矩阵与平移旋转向量,完成相机标定;使用姿态解算得到被吊装的发电机转子和目标位置间距离,通过远程操控和标定实现自动吊装。实验结果表明,所设计系统的视觉误差速度曲线为最佳状态,位姿定位精度较高,可以实现发电机转子的精准吊装。In order to help the generator rotor in the hydropower plant complete accurate automatic hoisting,the automatic hoisting system of the generator rotor in the hydropower plant is designed by using the camera calibration and binary coding methods in the machine vision method.The hardware is divided into the upper position module and the lower position module.The main control has the functions of remote control,multi data storage,fast communication,etc.,which can assist in the high precision and high speed positioning and hoisting movement.In the software part,the designed identification points are fixed on the top of the generator rotor,and multiple identification points are detected through decoding processing.The Euler angle function is used to transform the translation rotation matrix and translation rotation vector to complete camera calibration.The distance between the hoisted generator rotor and the target position is obtained by using attitude solution,and automatic hoisting is realized through remote control and calibration.The experimental results show that the visual error velocity curve of the designed system is the best state,and the pose positioning accuracy is high,which can realize the precise hoisting of the generator rotor.

关 键 词：机械转子 发电机转子 转子吊装 机器视觉 二进制编码 相机标定 

分 类 号：TH69[机械工程—机械制造及自动化] TP898[自动化与计算机技术—检测技术与自动化装置]