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Aiming at the problems of low identification efficiency and high difficulty of the existing fault monitoring system of hydropower stations, a fault monitoring method based on the visual recognition of the inspection robot is proposed and applied to the fault of the Hydro-Turbine Governing System (HTGS) Diagnose the problem. The programmable logic controller (Programmable Logic Controller, PLC) ensures the stable operation of the inspection robot, and analyzes the characteristics of the fault parameters through the nonlinear output frequency response functions (Nonlinear Output Frequency Response Functions, NOFRFs). Using Histograms of Oriented Gradients (HOG) as a template, the Deformable Part Model (DPM) algorithm is used to realize the fault identification of HTGS. Experiments show that the method used in this study to process 2GB fault data takes 40s.