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According to the technical problems of the existing testing methods for the key hidden metal components (such as the decompression panel and the water board) of the turbine runner chamber, such as the poor reliability, the inaccurate locating and the larger detection blind spots of the detection device, under the downtime without opening the cover of the hydropower turbine runner chamber, an automatic detection method for the enclosed turbine runner chamber based on real-time image acquisition and simulation comparison techniques was proposed. The magnetic crawler with permanent magnet wheel could carry the real-time image acquisition device to complete the crawling work on the inner surface of the enclosed chamber, and collected the real-time scene image of the enclosed chamber. According to the obtained location by using the positioning auxiliary device, the position of the real-time detection image in a virtual 3-D model was calibrated. Through comparing of the real-time detection images and the computer simulation images, the defects or foreign matter fall into could be accurately positioning, so as to repair and clean up conveniently. It has important practical value to realize the automatic detection of the difficult demolition and complicated metal components of the enclosed turbine runner chamber, to ensure the safety and reliability of operation.

Study on automatic detection method for the enclosed turbine runner chamber based on real-time image acquisition and simulation comparison techniques