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Due to the consideration of the existing testing technical problems for the key hidden metal components of the turbine runner chamber, such as the poor reliability and the larger detection blind spots under the downtime without opening the cover of the hydropower turbine runner chamber, an automatic detection device for the enclosed turbine runner chamber based on real-time image acquisition was designed. By using the permanent magnet wheel, the magnetic crawler which carries the real-time image acquisition device could complete the crawling work on the ferromagnetic surface of inclination angle of less than 55 degrees. Then the image acquisition device completed the real-time collection of the scene image of the enclosed turbine runner chamber. The positioning auxiliary device could be used to obtain the position of the magnetic crawler, and the steering and transmission device could be used to achieve the real-time image acquisition of 180 degree viewing angle through coordinated control of two motors. Then the defects or foreign matter fall into could be accurately positioning, in order to clean up and eliminate system error conveniently without opening the cover of the hydropower turbine runner chamber.

Study on an automatic detection device for the enclosed turbine runner chamber based on real-time image acquisition