Automatic Hoisting System of Mechanical Rotor in Hydropower Plant Based on Machine Vision
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 ob-tained 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.
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