Device for moving on blade of windmill, and control method and control program for said device

Abstract

A method for controlling a device for moving on a blade of a windmill according to the present invention comprises: a step for measuring the cross-sectional shape of the blade of the windmill; and a step for controlling the device so that the device operates in accordance with the cross-sectional shape. The step of controlling the device may include a step of controlling the device so that the device repairs a damaged portion of the blade of the windmill according to the cross-sectional shape, and the step of controlling the device may include a step of controlling the device so that the device controls the posture of the device according to the cross-sectional shape.

Description

Technical Field

[0001] The present invention relates to a device and a system that move on a blade of a windmill, and a control method and a control program for the device. Background Art

[0002] The nacelle of a large wind turbine has a height of about 100 m. The peripheral speed of the tip of the blade of a large wind turbine is about 100 to 120 m / s, and the edge portion on the wind shear side of the blade, that is, the leading edge, wears by about 20 μm per year. In addition, the blade of a large wind turbine is vulnerable to lightning strikes. Therefore, as a lightning protection measure, a lightning receiving part (receiver) for allowing a lightning strike current to flow to the ground is provided on the blade. However, if the lightning receiving part has poor conduction due to a failure, the blade cannot allow the lightning strike current generated by lightning to flow to the ground and is severely damaged. Therefore, the blade of a large wind turbine requires regular maintenance.

[0003] A device for maintaining the blade of a windmill is known (Patent Document 1).

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: International Publication No. 2018 / 155704 Summary of the Invention

[0007] Solutions to Problems

[0008] The inventors of the present invention found a method for controlling a device that moves on a blade of a windmill by using the cross-sectional shape of the blade of the windmill. As a result of in-depth research, a control method for a device that moves on a blade of a windmill was developed.

[0009] The present invention provides, for example, the following items.

[0010] (Item 1)

[0011] A method, which is a control method for a device that moves on a blade of a windmill, characterized in that

[0012] the method includes:

[0013] a step of measuring the cross-sectional shape of the blade of the windmill; and

[0014] a step of controlling the device so that the device operates according to the cross-sectional shape.

[0015] (Item 2)

[0016] According to the method described in the above item, characterized in that

[0017] the step of controlling the device includes:

[0018] A process of controlling the device to repair a damaged part of a blade of a windmill according to the cross-sectional shape.

[0019] (Item 3)

[0020] The method according to any one of the above items, characterized in that

[0021] The process of repairing the damaged part of the blade of the windmill according to the cross-sectional shape includes:

[0022] A process of estimating the surface shape of the repaired blade of the windmill based on the cross-sectional shape; and

[0023] A process of repairing the damaged part to achieve the estimated surface shape.

[0024] (Item 4)

[0025] The method according to any one of the above items, characterized in that

[0026] The process of controlling the device further includes:

[0027] A process of determining whether the blade of the windmill should be repaired based on the cross-sectional shape,

[0028] When it is determined that the blade of the windmill should be repaired, controlling the device to repair the damaged part.

[0029] (Item 5)

[0030] The method according to any one of the above items, characterized in that

[0031] The process of controlling the device further includes:

[0032] A process of determining the damaged part based on the cross-sectional shape.

[0033] (Item 6)

[0034] The method according to any one of the above items, characterized in that

[0035] The method further includes:

[0036] A process of measuring the cross-sectional shape of the blade of the windmill during the repair of the damaged part; and

[0037] A process of storing the result of measuring the cross-sectional shape of the blade of the windmill.

[0038] (Item 7)

[0039] The method according to any one of the above items, characterized in that,

[0040] The method further includes:

[0041] Based on the stored result, adjusting the process of repairing the damaged part.

[0042] (Item 8)

[0043] The method according to any one of the above items, characterized in that,

[0044] The process of controlling the device further includes:

[0045] Controlling the device so that the device controls its posture according to the cross-sectional shape.

[0046] (Item 9)

[0047] The method according to any one of the above items, characterized in that,

[0048] The process of controlling the device's posture according to the cross-sectional shape includes:

[0049] Based on the cross-sectional shapes at the first position and the second position along the direction of the windmill blade, determining the peak parts in their respective cross-sectional shapes; and

[0050] Controlling the device's posture so that the line connecting the peak parts of the cross-sectional shape at the first position and the peak parts of the cross-sectional shape at the second position is parallel to the center line of the device.

[0051] (Item 10)

[0052] The method according to any one of the above items, characterized in that,

[0053] The process of controlling the device's posture according to the cross-sectional shape includes:

[0054] The process of controlling the device's posture when the device lands on the windmill blade.

[0055] (Item 11)

[0056] The method according to any one of the above items, characterized in that,

[0057] The process of estimating the surface shape of the repaired windmill blade based on the cross-sectional shape includes:

[0058] Using polynomial approximation to estimate a curve that is smoothly connected to the cross-sectional shape of the non-damaged part in the cross-section having the damaged part.

[0059] (Item 12)

[0060] The method according to any one of the above items, characterized in that,

[0061] The step of using polynomial approximation to estimate a curve that is smoothly connected to the cross-sectional shape of the non-damaged part in the cross-sectional shape having the damaged part includes at least one of the following steps:

[0062] The step of adjusting the degree of polynomial approximation;

[0063] The step of dividing the cross-sectional shape having the damaged part into a plurality of regions and estimating a curve for each of the plurality of regions;

[0064] The step of estimating a first curve, ignoring the cross-sectional shape located inside the first curve, and estimating a second curve; and

[0065] The step of estimating a curve based on the cross-sectional shape of the cross-section without a damaged part.

[0066] (Item 13)

[0067] The method according to any one of the above items, characterized in that,

[0068] The step of using polynomial approximation to estimate a curve that is smoothly connected to the cross-sectional shape of the non-damaged part in the cross-sectional shape having the damaged part includes at least one of the following steps:

[0069] The step of correcting the curve based on user input; and

[0070] The step of estimating a curve based on the design data of the blade of the windmill.

[0071] (Item 14)

[0072] The method according to any one of the above items, characterized in that,

[0073] The step of estimating the repaired surface shape of the blade of the windmill based on the cross-sectional shape further includes:

[0074] The step of determining whether the estimated curve satisfies a specified condition.

[0075] (Item 15)

[0076] The method according to any one of the above items, characterized in that,

[0077] The specified condition includes:

[0078] The coincidence rate of the estimated curve and the curve representing the cross-sectional shape of the non-damaged part in the cross-sectional shape having the damaged part exceeds a specified threshold; and

[0079] The ratio of the position where the estimated curve is located inside the measured cross-sectional shape does not exceed a specified threshold.

[0080] (Item 16)

[0081] The method according to any one of the above items, characterized in that

[0082] The cross-sectional shape includes: the shape of a cross-section perpendicular to the direction in which the leading edge of the blade of the windmill extends; and the shape of a cross-section parallel to the direction in which the leading edge of the blade of the windmill extends.

[0083] (Item 17)

[0084] An apparatus, characterized in that

[0085] The apparatus includes:

[0086] A moving member for moving along the blade of the windmill;

[0087] A measuring member for measuring the cross-sectional shape of the blade of the windmill; and

[0088] A control member for controlling the apparatus so that the apparatus operates according to the cross-sectional shape.

[0089] (Item 18)

[0090] A program, which is a control program for an apparatus moving on the blade of a windmill, characterized in that

[0091] The program is executed in a processor included in the apparatus,

[0092] The processor causes the program to perform the following steps:

[0093] A step of receiving data representing the cross-sectional shape of the blade of the windmill; and a step of controlling the apparatus so that the apparatus operates according to the cross-sectional shape.

[0094] (Item 18A)

[0095] A non-transitory computer-readable storage medium, characterized in that

[0096] The non-transitory computer-readable storage medium stores the program described in Item 18.

[0097] (Item 19)

[0098] A method, which is a control method for a device moving on the blades of a windmill, is characterized in that

[0099] The method includes:

[0100] A step of measuring the cross-sectional shape of the blades of the windmill;

[0101] A step of controlling the device so that the device controls its posture according to the cross-sectional shape; and

[0102] A step of controlling the device so that the device repairs the damaged part of the blades of the windmill according to the cross-sectional shape.

[0103] (Item 20)

[0104] A method, characterized in that

[0105] The method includes:

[0106] A step of receiving data representing the cross-sectional shape of the blades of the windmill; and

[0107] A step of determining whether the blades of the windmill should be repaired according to the cross-sectional shape.

[0108] Effects of the Invention

[0109] According to the present invention, a method for controlling a device moving on the blades of a windmill by using the cross-sectional shape of the blades of the windmill can be provided. Description of the Drawings

[0110] Figure 1A It is a diagram for explaining the steps of maintaining the blades of the windmill.

[0111] Figure 1B It is a diagram for explaining the steps of maintaining the blades of the windmill.

[0112] Figure 1C It is a diagram for explaining the steps of maintaining the blades of the windmill.

[0113] Figure 1D It is a diagram for explaining the steps of maintaining the blades of the windmill.

[0114] Figure 2 It is a diagram showing the conceptual structure of the device 100 of the present invention.

[0115] Figure 3 It is a diagram showing an example of the structure of the device 100.

[0116] Figure 4 It is a diagram schematically showing the state of the device 100 moving on the blade 11.

[0117] Figure 5A It is a diagram schematically showing the posture control of the device 100 by the posture control component.

[0118] Figure 5B It is a diagram schematically showing the posture control of the device 100 by the posture control component.

[0119] Figure 5C It is a diagram schematically showing the posture control of the device 100 by the posture control component.

[0120] Figure 5D It is a diagram showing an example of data, as well as side and rear views showing the posture of the device 100 at this time, and the data represents the cross-sectional shape measured by the measurement components 160A and B.

[0121] Figure 6 It is a flowchart showing an example of the control method 600 of the device 100 moving on the blade of the windmill.

[0122] Figure 7 It is a flowchart showing an example of the process (process 700) of estimating the surface shape after repair.

[0123] Figure 8A It is a diagram explaining the concept of adjusting the polynomial approximation degree.

[0124] Figure 8B It is a diagram explaining the concept of dividing the cross-sectional shape with a damaged part into multiple regions and estimating curves for each of the multiple regions.

[0125] Figure 8C It is a diagram explaining the concept of estimating the first curve, ignoring the cross-sectional shape inside the first curve, and estimating the second curve.

[0126] Figure 8D It is a diagram explaining the concept of estimating a curve based on the cross-sectional shape of a cross-section without a damaged part.

[0127] Figure 8E It is a diagram explaining the concept of correcting a curve based on user input.

[0128] Figure 8F It is a diagram explaining the concept of estimating a curve based on the design data of the blade of the windmill.

[0129] Figure 8G It is a diagram explaining the concept of measuring the cross-sectional shapes of multiple parts along the leading edge L.E.

[0130] Figure 9A It is a diagram schematically showing the posture control of the device 100 by the posture control component when the device 100 lands on the blade.

[0131] Figure 9B This is a diagram schematically showing the posture control of device 100 by the posture control component when device 100 lands on the blade.

[0132] Figure 9C This is a diagram schematically showing the posture control of device 100 by the posture control component when device 100 lands on the blade. Detailed Embodiment

[0133] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0134] 1. Maintenance of the blades of a windmill

[0135] Refer to Figures 1A to 1D , and describe the steps of maintaining the blades of a windmill using the device of the present invention. In Figures 1A to 1D , (a) shows the front view of windmill 10, and in Figures 1A to 1D , (b) shows the right side view of windmill 10. In Figures 1A to 1D , (b) only shows the blade 11 to be maintained, and the other two blades 12 and 13 are omitted. Figures 1A to 1D The windmill shown in (a) rotates clockwise in the drawing, and the straight edge of each blade becomes the intake edge (front edge).

[0136] In this specification, a "windmill" refers to a device that receives wind and obtains power. As an example of a windmill, a wind turbine can be cited.

[0137] In this specification, "maintenance" refers to the inspection or maintenance of an object. Maintenance includes repair. As an example of maintenance, photographing the surface of an object, checking the conductivity of the lightning strike part of the object, cleaning the surface of the object, grinding and / or polishing the surface of the object, applying a coating to the surface of the object, applying putty, adhesive, sealant and other materials to the surface of the object, etc. Repair can include cleaning the damaged part to remove foreign matters, applying putty, adhesive, sealant and other materials to the cleaned damaged part, grinding the applied materials to be smoothly connected with the non-damaged part, applying a coating to the ground surface or pasting a protective material to the ground surface. In addition, in this specification, "damaged part" can be used synonymously with "part to be repaired". For example, even if there is no damage, as long as it is a part that needs to be repaired, it can also be called a "part to be repaired" or a "damaged part".

[0138] Figure 1A This shows the situation at the preparation stage before installing the device 100 of the present invention onto the blade 11 of the windmill 10.

[0139] The maintenance of the blade 11 is carried out in a state where the blade 11 is positioned so as to extend vertically downward. Since this is the same as the state of the blade in the conventional method of maintenance in which an operator moves on the blade along a rope stretched on the blade, it is also easily accepted by the existing work sites. When the blade 11 is positioned to extend vertically downward, as shown in (b) of Figure 1A it is inclined by about 5 degrees with respect to the vertical at the leading edge.

[0140] In the preparation stage before installing the device 100 on the blade 11 of the windmill 10, the rope 20 is set on the windmill 10. Here, regardless of the method of setting the rope 20 on the windmill 10, the rope 20 can be set in any position on the windmill 10 in any way.

[0141] In one example, the rope 20 is fixed to the nacelle 14 of the windmill 10. The nacelle 14 is a housing that houses a generator, a gearbox, etc. The rope 20 can be fixed to, for example, the hatch of the nacelle 14. The rope 20 can be fixed to the nacelle 14 using, for example, a dedicated fixing member. At this time, the rope 20 can be transported to the nacelle 14 of the windmill 10 by a flying device such as a drone.

[0142] In another example, the rope 20 can also be fixed to the constricted portion existing near the root of the blade 11, the rope 20 can also be hooked on the blades 12, 13, and the rope 20 can also be fixed to the tower of the windmill 10.

[0143] When the rope 20 is hooked on the blades 12, 13, for example, the rope 20 can also surround the blades 12, 13, one end extending and being fixed to the ground, and the other end extending toward the blade 11. At this time, the rope 20 can be transported above the blades 12, 13 by a flying device such as a drone and hooked on the blades 12, 13.

[0144] Alternatively, for example, two ropes 20 can be used. Loops are formed at one end of each rope, the blade 12 is passed through the loop of one rope 20, and the blade 13 is passed through the loop of the other rope 20, so that the two ropes 20 are respectively hooked on the blades 12, 13. At this time, the two ropes 20 can be transported to the ends of the blades 12, 13 by a flying device such as a drone and hooked on the blades 12, 13.

[0145] Hereinafter, an example of fixing the two ropes 20 to the nacelle 14 of the windmill 10 will be described. The two ropes 20 respectively extend from the nacelle 14 of the windmill 10 through the vicinity of the hub 15 to the ground. The hub 15 is a member that rotatably couples the blades 11, 12, 13 and the nacelle 14.

[0146] Figures 1B to 1C This shows the situation at the stage of arranging the device 100 on the blade 11 of the windmill 10.

[0147] In the device 100, two ropes 20 extend from the nacelle 14 of the windmill 10. The two ropes 20 are connected to the device 100.

[0148] The device 100 is provided with a moving member for moving along the two ropes 20. The moving member is, for example, a winch. The device 100 is, for example, provided with two winches, one rope is connected to one of the two winches, and the other rope is connected to the other of the two winches. One end of the rope 20 is fixed to the ground by a heavy object or the like, for example. The device 100 can rise along the rope 20 by using the winch to wind the rope 20.

[0149] When the device 100 rises along the rope 20 and reaches a height approximately the same as the tip of the blade 11, the device 100 controls its spatial position to be placed on the tip of the blade 11.

[0150] The device 100 can control its spatial position by any method. For example, the spatial position can be controlled by pulling one of the two ropes 20, or by pulling both of the two ropes 20, or by connecting at least one rope different from the two ropes 20 to the device 100 and pulling the at least one rope. These ropes can be pulled, for example, by an operator or a robot on the ground, or by an operator or a robot on water or in water, or by an operator or a robot in the air. Pulling the ropes by an operator or a robot on water or in water, or by an operator or a robot in the air is preferred, for example, when maintaining an offshore or coastal windmill.

[0151] Preferably, the device 100 controls its spatial position by pulling one or both of the two ropes 20 from the ground. Thereby, no additional equipment is required and the spatial position of the device 100 can be safely controlled from the ground.

[0152] The control of the spatial position is not limited to the control via the ropes. For example, instead of or in addition to the control via the ropes, the spatial position can also be controlled by the control via a position control device that the device 100 can be equipped with. The position control device can be a device that can generate a propulsive force for controlling the position of the device 100. For example, the position control device can be a propeller mounted on the device 100, or a flying device such as a drone mounted on the device 100. Or, the position control device can be, for example, a rotatable counterweight. The rotatable counterweight is useful when controlling the roll or pitch or yaw rotation of the device 100.

[0153] As Figure 1CAs shown, when the device 100 reaches the blade 11, the device 100 reaching the blade 11 can be installed on the blade 11 by any mechanism. The device 100 can be installed on the blade 11 by mechanical force, magnetic force, electric force, or pressure, for example. The mechanism for installing on the blade 11 by mechanical force can be, for example, a pair of frames that are forced in a manner of clamping the blade 11. The mechanism for installing on the blade 11 by pressure can be, for example, a mechanism for generating negative pressure and adsorbing to the blade 11.

[0154] The device 100 further includes a moving member for moving on the blade 11. The moving member is a wheel, for example. The device 100 can move on the blade by winding or unwinding the rope 20 using a winch in a state where the wheel is in contact with the blade 11, for example.

[0155] Figure 1D This shows the case where the device 100 moves on the leading edge of the blade 11 along the rope 20.

[0156] When the device 100 moves along the leading edge, the device 100 can maintain the state of being installed on the blade 11. Thus, the device 100 can move on the leading edge of the blade 11 without floating. In addition, as described above, since the leading edge of the blade 11 is inclined by about 5 degrees with respect to the vertical (about 1 degree to about 10 degrees depending on the situation), the gravitational force acting on the device 100 acts to press the device 100 against the leading edge of the blade 11, preventing the device 100 from floating.

[0157] The device 100 performs maintenance of the blade 11 while moving on the leading edge of the blade 11. For example, while moving on the leading edge of the blade 11, the device 100 measures the cross-sectional shape of the blade 11 using a scanner. For example, while moving on the leading edge of the blade 11, the device 100 takes a photograph of the surface of the leading edge using a camera. For example, while moving on the leading edge of the blade 11, the device 100 checks the conduction of the lightning protection part using a probe. For example, while moving on the leading edge of the blade 11, the device 100 cleans the surface of the leading edge using a cleaning device. For example, while moving on the leading edge of the blade 11, the device 100 grinds the surface of the leading edge using a grinder. For example, while moving on the leading edge of the blade 11, the device 100 coats the surface of the leading edge with a coating using a coating device. For example, while moving on the leading edge of the blade 11, the device 100 applies materials such as putty, adhesive, and sealant to the surface of the leading edge using an electric gun. The holes located on the blade 11 can be filled with the applied materials.

[0158] The device 100 can move in the direction in which the rope 20 extends along the air inlet side of the blade 11 by controlling the winding and unwinding of the winch, for example, in the direction from the tip of the blade towards the root of the blade and in the direction from the root of the blade towards the tip of the blade. Thereby, the device 100 can perform maintenance while reciprocatingly moving along the air inlet side of the blade 11. Additionally, even if the device 100 detaches from the blade 11 by any chance, the rope 20 connecting the winch of the device 100 serves as a lifeline and can prevent the device 100 from falling.

[0159] The device 100 can perform various operations by using the measured cross-sectional shape of the blade 11.

[0160] For example, the device 100 can use the measured cross-sectional shape of the blade 11 to control the posture of the device 100. In this specification, the "posture" of a device refers to the position and / or orientation of the device in space, and the "controlling the posture" of a device refers to controlling the position of the device in space, or controlling the orientation of the device in space, or controlling the position and orientation of the device in space. For example, the device 100 can control the posture of the device with an accuracy corresponding to the resolution of the measured cross-sectional shape.

[0161] The device 100 can use the cross-sectional shape of the blade 11 at at least one location along the direction from the tip of the blade 11 towards the root, for example, to control the posture. For example, by using the cross-sectional shape of the blade at at least one location, the device 100 can control the position of the device 100 relative to the blade. For example, the peak of the cross-sectional shape of the blade can be determined, and the position of the device 100 can be controlled so that the device 100 reaches a specified relative position with respect to the peak (for example, the position where the center of the device is aligned with the peak). Or, for example, the portion to be repaired in the cross-sectional shape of the blade can be determined, and the position of the device 100 can be controlled so that the device 100 reaches a specified relative position with respect to the portion to be repaired (for example, the position where the center of the device is aligned with the center of the portion to be repaired).

[0162] For example, by using the cross-sectional shapes of the blade at at least two locations along the direction from the tip to the root of the blade 11, the device 100 can control the direction of the device relative to the blade. For example, at each of the at least two locations, the peak of the cross-sectional shape of the blade 11 is determined, and the posture of the device 100 is controlled so that the line connecting the peaks is parallel to the center line of the device 100 (e.g., indicating the traveling direction of the device 100). Thereby, the traveling direction of the device 100 can be made to coincide with the direction from the tip to the root of the blade 11, and the device 100 can be reliably made to travel along the direction from the tip to the root of the blade 11. Alternatively, for example, at each of the at least two locations, the portion to be repaired in the cross-sectional shape of the blade 11 is determined, and the posture of the device 100 is controlled so that the line connecting the centers of the respective portions to be repaired is parallel to the center line of the device 100 (e.g., indicating the traveling direction of the device 100). Thereby, the traveling direction of the device 100 can be made to coincide with the direction in which the portion to be repaired extends, and the device 100 can be reliably made to travel along the direction in which the portion to be repaired extends.

[0163] For example, the device 100 can repair the damaged portion of the blade by using the measured cross-sectional shape of the blade 11. For example, in order to repair the damaged portion of the blade, the device 100 can use the cross-sectional shape of the cross-section having the damaged portion. Moreover, in addition to being able to use the cross-sectional shape of the cross-section having the damaged portion, the device 100 can also use the cross-sectional shape of the cross-section without the damaged portion. For example, based on the cross-sectional shape of the cross-section having the damaged portion, or the cross-sectional shape of the cross-section having the damaged portion and the cross-sectional shape of the cross-section without the damaged portion, the surface shape after the blade repair can be estimated, and the damaged portion of the blade can be repaired to reach the estimated surface shape.

[0164] Preferably, the device 100 can repair the damaged portion of the blade while controlling the posture of the device 100 by using the measured cross-sectional shape of the blade. For example, if the posture of the device 100 changes during the repair of the blade, the device 100 operates at a position deviated from the surface where it should originally operate, and sometimes it cannot perform high-precision repair. By performing the repair while controlling the posture of the device 100 by using the measured cross-sectional shape, it is possible to perform the repair while controlling the posture with high precision corresponding to the resolution of the measured cross-sectional shape, and it is possible to perform the repair with high precision (e.g., with a precision of 1 mm or less). This can be associated with the degree of completion of the shape after repair and the smoothness of the connection between the damaged portion and the non-damaged portion.

[0165] For example, before repairing the damaged portion of the blade, the device 100 can use the measured cross-sectional shape of the blade 11 to determine whether the blade should be repaired. For example, the difference between the cross-sectional shape of the undamaged state or the ideal state after repair and the measured cross-sectional shape of the blade 11 can be obtained. When the difference in any part exceeds a specified threshold value, it is determined that the blade should be repaired. This can, for example, determine whether repair is required with higher accuracy than the case where a person makes a determination visually on site or the case where a determination is made using a two-dimensional image captured by a photographing component such as a camera. This is because the determination can be made based on the measured cross-sectional shape, taking into account damage in the depth direction that cannot be known by visual inspection or two-dimensional images. Such a determination is advantageous in that maintenance can be carried out at an appropriate timing.

[0166] For example, before repairing the damaged portion of the blade, the device 100 can use the measured cross-sectional shape of the blade 11 to identify the damaged portion. For example, the difference between the cross-sectional shape of the undamaged state or the ideal state after repair and the measured cross-sectional shape of the blade 11 can be obtained, and the portion where the difference exceeds a specified threshold value is identified as the damaged portion. This can, for example, identify the damaged portion with higher accuracy than the case where a person identifies it visually on site or the case where a determination is made using a two-dimensional image captured by a photographing component such as a camera. This is because it is also possible to identify damage in the depth direction that cannot be known by visual inspection or two-dimensional images based on the measured cross-sectional shape.

[0167] In addition, determining whether the blade needs to be repaired and / or identifying the damaged portion of the blade can be performed by the device 100 itself or by an external device communicating with the device 100. For example, when the external device performs this operation, the device 100 sends the data of the measured cross-sectional shape to the external device and receives data indicating whether repair should be performed and / or data indicating the identified damaged portion from the external device.

[0168] In the above example, the posture of the device 100 during the movement of the device 100 on the blade 11 is described, but the cross-sectional shape of the blade 11 can also be applied to controlling the posture of the device 100 when the device 100 is installed on the blade 11. For example, as Figure 1C shown, when the device 100 reaches the blade 11, the device 100 is installed on the blade 11. However, if the device 100 cannot land well on the blade 11, it may cause damage to the device 100 or the blade 11. Therefore, when the device 100 lands on the blade 11, it is necessary to precisely control the posture of the device 100. In addition, in this specification, "landing" refers to the action of approaching and contacting an object, and the device 100 landing on the blade 11 refers to the action of the device approaching and contacting the blade 11.

[0169] By utilizing the cross-sectional shape of the blade 11, the posture of the device 100 when landing on the blade 11 can be precisely controlled. Specifically, as Figure 1B shown, when the device 100 ascends along the rope 20 and controls its spatial position to approach the blade 11, the cross-sectional shape of the part of the blade 11 that the device 100 approaches is measured. The device 100 can be controlled to land while maintaining an appropriate landing posture of the device 100 while monitoring the measured cross-sectional shape. For example, the device 100 can be controlled to move closer to or farther from the blade 11 under the tension of at least one of the two ropes 20 or different ropes. At least one of the two ropes 20 or different ropes can be operated by an operator or a robot, and the operator or robot operates the rope according to an instruction from the device 100. For example, the device 100 can be controlled to be at an appropriate angular position relative to the blade 11 under the torque of a posture control component (for example, a roll rotation control unit that controls the roll angle, a pitch rotation control unit that controls the pitch angle, or a yaw rotation control unit that controls the yaw angle) provided in the device 100.

[0170] In the above example, the cross-sectional shape utilized by the device 100 can be measured either during the movement of the device 100 on the blade 11 or separately. For example, the cross-sectional shape utilized by the device 100 can be measured by another measuring device prior to the movement of the device 100 on the blade 11. Preferably, the cross-sectional shape of the blade 11 can be the shape measured during the movement of the device 100 on the blade 11, and more preferably, the cross-sectional shape of the blade 11 can be the shape measured during the repair of the blade 11 by the device 100. Thereby, data on the cross-sectional shape at each stage of the repair can be obtained and stored. For example, these data can be used for the process assurance of the repair. Moreover, by analyzing the data on the cross-sectional shape at each stored stage, the progress management of the repair, the adjustment of the ongoing repair, etc. can be carried out.

[0171] For example, by continuously measuring the cross-sectional shape of the blade along the direction from the tip to the root of the blade 11 or the direction extending along the leading edge of the blade 11 (i.e., the Z direction), three-dimensional shape data of the blade 11 can be obtained. The cross-sectional shape represented by the three-dimensional shape data includes the shape of a cross-section (X-Y cross-section) perpendicular to the direction (Z direction) extending along the leading edge of the blade 11 and the shape of a cross-section (Z-Y cross-section or Z-X cross-section) parallel to the direction (Z direction) extending along the leading edge of the blade 11. By using the three-dimensional shape data, the shape of the blade can be grasped more accurately and easily, the efficiency of posture control can be improved. Moreover, the damaged part can be identified more accurately and easily, and the working efficiency of the repair can also be improved.

[0172] In addition, in this specification, the "period of movement" refers to the period of moving from a certain position towards another position, and continuous movement is not necessarily required. For example, the period during which the device 100 moves from the tip of the blade towards the root of the blade, and the period during which the device 100 moves forward and stops repeatedly are also included in the "period of movement".

[0173] In the above example, the maintenance of the windmill blade using one device 100 is described, but multiple devices 100 can also be used for the maintenance of the windmill blade.

[0174] In addition, the device 100 can be used in combination with an auxiliary device that holds a rope on the blade 11 and / or an auxiliary device that fixes the rope to the root of the blade or the nacelle. These auxiliary devices can easily mount the device 100 on the blade 11.

[0175] In addition, in the above example, it is premised that the device 100 performs maintenance on the windmill blade, but the device 100 of the present invention is not limited to the device for performing maintenance. As long as the device 100 of the present invention moves on the windmill blade and operates according to the cross-sectional shape of the blade, it can be any device. For example, the device 100 can also be a device that moves on the windmill blade while performing attitude control according to the cross-sectional shape for measurement (e.g., weather observation) on the windmill blade.

[0176] The above-mentioned device 100 can have, for example, the structure described later.

[0177] 2. Structure of the device moving on the blades of a windmill

[0178] The device 100 of the present invention can have any structure as long as it moves on the windmill blade and operates according to the cross-sectional shape of the blade.

[0179] Figure 2 Conceptual diagram showing the structure of the device 100 of the present invention.

[0180] The device 100 of the present invention includes: a moving member 110 for moving along the windmill blade; an operating member 120 capable of operating according to the cross-sectional shape of the windmill blade; and a control member 130 for controlling the operating member 120 to operate according to the cross-sectional shape of the windmill blade.

[0181] The moving member 110 can be any member as long as it can move along the windmill blade.

[0182] For example, the moving member 110 includes a winch that can move the device 100 along a rope extending on the blade. For example, the moving member 110 includes wheels that can move the device 100 on the blade. The wheels can be non-driven wheels, but can also be driven wheels driven by a power source. For example, the device 100 can move on the blade using a winch and non-driven wheels, or can move on the blade using driven wheels without using a winch (and rope).

[0183] The actuating member 120 can be any member as long as it can act according to the cross-sectional shape of the blade of the windmill.

[0184] For example, the actuating member 120 can be a posture control member for controlling the posture of the device 100 according to the cross-sectional shape of the blade of the windmill. The posture control member can be, for example, an actuator mechanism that can apply a force to the blade of the windmill and use its reaction force to control the posture of the device 100. The actuator mechanism includes an acting portion and a driving portion for driving the acting portion. By driving the acting portion with the driving portion and applying a force to the blade through the acting portion, the posture of the device 100 can be controlled using its reaction force. The actuator mechanism can be any mechanism as long as it can apply a force to the blade of the windmill. For example, the actuator mechanism can be a mechanism having a linear actuator cylinder as the driving portion and an acting portion at the end of the linear actuator cylinder. For example, by the linear motion of the linear actuator cylinder, the acting portion at the end of the linear actuator cylinder is pressed against the blade, thereby applying a force to the blade. The linear actuator cylinder can be, for example, electric or pneumatic. For example, the actuator mechanism can be a mechanism having the linear actuator cylinder as the driving portion and an arm connected to the linear actuator cylinder as the acting portion. For example, a pneumatic cylinder is connected to the root of the arm, and by the linear motion of the pneumatic cylinder, the arm pivots, and the end of the arm (such as a wheel or a roller) is pressed against the blade, thereby applying a force to the blade. For example, the actuator mechanism can be the winch that also serves as the moving member 110. For example, by stopping one of the winches on both sides of the device 100 and operating the other winch, a torque around the device can be generated, and the posture of the device 100 can be controlled by this torque.

[0185] The posture control member can include, for example, a method of controlling the posture of the device 100 without contacting the blade of the windmill, instead of or in addition to the method of controlling the posture by applying a force to the blade of the windmill. For example, this can be useful when the device 100 lands on the blade of the windmill and when the device 100 assumes a posture. Such a posture control member includes, for example, ropes fixed or connected to the device 100, rotatable counterweights, winches, etc., but is not limited thereto.

[0186] For example, the actuating member 120 can be a maintenance member for repairing a damaged portion of a windmill blade according to the cross-sectional shape of the windmill blade. The maintenance member can repair the damaged portion to achieve a repaired surface shape estimated based on the cross-sectional shape. The maintenance member includes, for example: a coating member that coats a material such as putty, adhesive, or sealant on the damaged portion; and a grinding member that performs grinding to smoothly connect with the non-damaged portion. For example, the coating member can also coat a coating material on the ground surface. The maintenance member can also include, for example: a cleaning member that cleans the surface before coating the material or after grinding; and / or a grinding member that grinds the surface before coating the material. The maintenance member can also include a pasting member that pastes a protective material (such as a surface protective material like a diaphragm) on the ground surface.

[0187] The coating member can be any member that can coat a material onto an object. The materials coated by the coating member include, for example, coating materials, putty, adhesives, and sealants. For example, the coating member can also be a spraying device that can spray coating materials. When using such a spraying device to coat a coating material on a blade, by moving the device 100 on the blade, the spraying device also moves, so that the coating material can be coated on the target portion, or in a state where the device 100 is stationary, the spraying member itself is moved, so that the coating material can be coated on the target portion. For example, the coating member can also be a caulking gun that can extrude putty, adhesives, sealants, etc. When using such a caulking gun to coat materials such as putty, adhesives, and sealants on a blade, by moving the device 100 on the blade 11, the caulking gun also moves, so that the material can be coated on the target portion, or in a state where the device 100 is stationary, the caulking gun is moved, so that the material can be coated on the target portion.

[0188] The grinding member can be any member that can grind an object. For example, the grinding member can also be a mechanism that grinds using sandpaper, a grinding machine, a disk grinder, etc. When using such a mechanism to grind the surface of a blade, by moving the device 100 on the blade, the sandpaper, grinding machine, or disk grinder also moves, so that the surface can be ground, or in a state where the device 100 is stationary, the sandpaper, grinding machine, or disk grinder is moved, so that the surface can be ground.

[0189] The cleaning member can be any member that can clean an object. For example, the cleaning member can also be a mechanism that wipes off dirt using a cleaning liquid and a cotton cloth. When using such a mechanism to clean the surface of a blade, by moving the device 100 on the blade, the cotton cloth also moves, so that the surface can be cleaned, or in a state where the device 100 is stationary, the cotton cloth is moved, so that the surface can be cleaned.

[0190] The grinding member can be any member capable of grinding an object. For example, the grinding member can also be a mechanism for grinding using a router (or a manual grinder or a precision grinder), a belt sander, etc. When such a mechanism is used to grind the surface of the blade, the surface can be ground by moving the device 100 on the blade to move the router or belt sander, or the surface can be ground by moving the router or belt sander while the device 100 is stationary.

[0191] In addition, the maintenance components are not limited to the above-mentioned cleaning components, grinding components, abrasive components, pasting components and coating components. The device 100 may also include other components for maintenance (such as imaging components, conduction inspection components, etc.) instead of or in addition to the above-mentioned components.

[0192] The action component 120 may be, for example, an action component that determines whether the blade should be repaired based on the cross-sectional shape of the blade. The action component can determine that the blade should be repaired when comparing the cross-sectional shape of the blade in an undamaged state or an ideal state after repair, or the cross-sectional shape after repair estimated based on the measured cross-sectional shape, with the measured cross-sectional shape, and when the difference or deviation between them is greater than a predetermined threshold. Here, the predetermined threshold can be appropriately set on site. In addition, the cross-sectional shape after repair can be determined, for example, by referring to Figure 7 It is estimated based on the processing described later.

[0193] The action component 120 may also be a determination component that determines the damaged portion of the blade based on the cross-sectional shape of the blade, for example. The determination component can compare the cross-sectional shape of the undamaged state or the ideal state after repair, or the cross-sectional shape after repair estimated from the measured cross-sectional shape with the measured cross-sectional shape, and determine the portion whose difference or deviation is greater than a specified threshold as the damaged portion. Here, the specified threshold can be appropriately set on site. In addition, the cross-sectional shape after repair can be, for example, referred to Figure 7 It is estimated based on the processing described later.

[0194] The control component 130 can be any component as long as it can control the action component 120 so that it can act according to the cross-sectional shape of the wind turbine blade. The control component 130 can be realized by, for example, a processor that is operatively coupled to the action component 120. The processor can control the action component 120 by, for example, sending a control signal to the action component 120. For example, the action component 120 as a determination component or a determination component can also be realized by a processor in the same manner as the control component 130.

[0195] For example, the control unit 130 can control the operation unit 120 so that the operation unit 120 (posture control unit) controls the posture of the device 100 according to the cross-sectional shape.

[0196] The control unit 130 can, for example, control the actuating unit 120 so that the actuating unit 120 (maintenance unit) repairs the damaged part of the blade according to the cross-sectional shape. At this time, the control unit 130 controls the actuating unit 120 so that the actuating unit 120 (maintenance unit) repairs the damaged part of the blade according to the cross-sectional shape to achieve the repaired surface shape estimated from the cross-sectional shape. The repaired surface shape can be estimated by the control unit 130 or estimated outside the apparatus 100 and transmitted from outside the apparatus 100 to the control unit 130 of the apparatus 100. The repaired surface shape can be estimated, for example, with reference to Figure 7 the processing described later.

[0197] The control unit 130 is configured to receive data representing the cross-sectional shape of the blade. The data representing the cross-sectional shape of the blade can be, for example, point cloud data. The data representing the cross-sectional shape of the blade can be obtained by measuring the cross-sectional shape with the apparatus 100 or by measuring the cross-sectional shape with an apparatus other than the apparatus 100.

[0198] When the apparatus 100 measures the cross-sectional shape, the apparatus 100 can include a measuring unit. The measuring unit can be any unit capable of measuring the cross-sectional shape, such as a laser scanner, an ultrasonic scanner, etc. The measuring unit can also be a contact sensor. The measuring unit can measure the cross-sectional shape with a prescribed resolution. For example, when the apparatus 100 moves on the blade, the measuring unit can measure the cross-sectional shape of the blade position to be passed through. Or, for example, when the apparatus 100 approaches the blade, the measuring unit can measure the cross-sectional shape of the approaching blade position.

[0199] When an apparatus other than the apparatus 100 measures the cross-sectional shape, for example, a measuring apparatus different from the apparatus 100 measures the cross-sectional shape of the blade prior to the apparatus 100 moving on the blade. The different measuring apparatus can measure the cross-sectional shape with a prescribed resolution.

[0200] Preferably, the data representing the cross-sectional shape of the blade can also represent the relative position of the cross-sectional shape of the blade with respect to the measuring unit. For example, the data representing the cross-sectional shape of the blade can be represented by position coordinates on a two-dimensional plane with the position of the measuring unit with respect to each of a plurality of points constituting the cross-sectional shape as the origin. Thus, the data representing the cross-sectional shape of the blade can be drawn or depicted in the two-dimensional plane as shown in Figure 5D (a).

[0201] Data representing the measured cross-sectional shape can be transmitted to the control unit 130 or to an estimation unit outside the apparatus 100 in order to estimate the surface shape after repair. The estimation unit outside the apparatus 100 can be implemented, for example, by a processor of a computer outside the apparatus 100.

[0202] Data representing the measured cross-sectional shape can be stored in a storage unit that the apparatus 100 can include, or can be transmitted to and stored in a storage unit outside the apparatus 100. Data representing the stored cross-sectional shape can be, for example, data representing the cross-sectional shape at each stage of repair, which can be used for ensuring the repair process. Further, data representing the cross-sectional shape at each stage of repair can also be used for progress management of the repair and adjustment of the repair process.

[0203] For example, a determination unit that determines whether a blade should be repaired based on the cross-sectional shape of the blade and / or a determination unit that determines the damaged portion of the blade based on the cross-sectional shape of the blade can also be located outside the apparatus 100. The determination unit or the determination unit can make a determination as to whether repair is required or determine the damaged portion based on the data representing the cross-sectional shape transmitted from the apparatus 100 or the stored data representing the cross-sectional shape. Data representing the determination as to whether repair is required or the determined damaged portion can be transmitted to the apparatus 100. Thus, the present invention is directed not only to the apparatus 100 or the method implemented by the apparatus 100, but also to methods implemented outside the apparatus 100 due to the apparatus 100.

[0204] Figure 3 An example of the structure of the apparatus 100 is shown.

[0205] The apparatus 100 includes a moving unit 110, an operating unit 120, and a control unit 130.

[0206] The moving unit 110 includes a winch 111 and wheels 112. The winch 111 is mounted on the main body 101 of the apparatus 100. The wheels 112 are mounted on an arm 102 extending from the main body 101.

[0207] The winch 111 can be a mechanism that can be connected to the rope 20. For example, the rope 20 enters the winch 111 from the first end 1111 of the winch 111, is connected to the winch 111, and extends out from the second end 1112 of the winch 111. By winding the rope 20 into the first end 1111 (releasing the rope 20 from the second end 1112) by the winch 111, the apparatus 100 moves in the direction of the first end 1111 ( Figure 3 the left direction). By winding the rope 20 into the second end 1112 (releasing the rope 20 from the first end 1111) by the winch 111, the apparatus 100 moves in the direction of the second end 1112 ( Figure 3move in the right direction). The winch 111 can have its winding operation controlled by the control unit 120. The winch 111 winds the rope 20 according to a control signal from the control unit 130.

[0208] In addition, the rope 20 may or may not pass through the winch 111. That is, the rope 20 can enter from one end of the winch 111 and exit from the other end, or it may not exit. When the rope 20 does not pass through the winch 111, the rope 20 may not extend between the device 100 and the ground. For example, by winding the rope extending between the nacelle 14 of the windmill (refer to Figure 1D ) and the device 100 with the winch 111, the device 100 moves in the direction toward the nacelle 14 of the windmill. For example, by paying out the rope extending between the nacelle 14 of the windmill and the device 100 with the winch 111, the device 100 moves in the direction away from the nacelle 14 of the windmill.

[0209] The wheel 112 is a wheel that assists the device 100 to move smoothly when the device 100 moves by winding the rope 20 with the winch 111. The wheel 112 is a non-driven wheel, but it can also be a driven wheel. When it is a driven wheel, the wheel 112 can have its driving controlled by the control unit 130. The wheel 112 rotates according to a control signal from the control unit 130.

[0210] In the above example, the case where the device 100 is equipped with a winch is described. However, for example, instead of the device 100 being equipped with a winch, the nacelle 14 of the windmill ( Figure 1D ) can be equipped with a winch. In this case, it can also be that the rope extending from the winch of the nacelle 14 of the windmill is fixed to the device 100, and by winding or paying out the rope with the winch of the nacelle 14 of the windmill, the device 100 is moved to and moved on the blade 11.

[0211] The action unit 120 includes a maintenance unit 121 and an actuator 122.

[0212] The maintenance unit 121 is a unit that performs maintenance on the blade and can repair damaged parts to achieve the surface shape after repair deduced from the cross-sectional shape. As described above, the maintenance unit 121 includes a coating unit and a grinding unit, and can also include a cleaning unit and / or a grinding unit.

[0213] The maintenance component 121 can have its operation controlled by the control component 130. The maintenance component 121 can be controlled to repair the damaged part of the blade according to the cross-sectional shape. Specifically, the damaged part of the blade is repaired to achieve the repaired surface shape deduced according to the cross-sectional shape. For example, the cleaning device in the maintenance component 121 is controlled to clean the damaged part to remove foreign matters so as to achieve the repaired surface shape deduced according to the cross-sectional shape. Then, the coating component in the maintenance component 121 is controlled to coat the damaged part with a material. Then, the grinding component in the maintenance component 121 is controlled to grind the coated material. The coating component can be controlled, for example, to coat a necessary amount of material within a necessary range in order to achieve the repaired surface shape deduced according to the cross-sectional shape. The grinding component can be controlled, for example, to grind a necessary amount of the coated material within a necessary range in order to achieve the repaired surface shape deduced according to the cross-sectional shape. Thus, the deduced repaired surface shape can be achieved.

[0214] For example, before controlling the coating component to coat the damaged part with a material, the grinding component in the maintenance component 121 can be controlled to grind the damaged part in such a way that the material can be easily coated on the damaged part. For example, after the grinding component has ground the coated material, the cleaning component in the maintenance component 121 can be controlled to clean the ground surface. For example, after the grinding component has ground the coated material or after the cleaning component has cleaned the surface, the coating component in the maintenance component 121 can be controlled to coat a coating material, or the pasting component in the maintenance component 121 can be controlled to paste a protective material.

[0215] In addition, the maintenance component 120 is not limited to the above components. The maintenance component 120 can also include other components for maintenance instead of the above components or in addition to the above components.

[0216] The actuator 122 constitutes a posture control component.

[0217] For example, the actuator 122 and the contact part of the blade connected to the actuator 122 together constitute a posture control component. At this time, the actuator 122 drives the contact part and presses the contact part against the blade. The posture of the device 100 is controlled by the reaction force at this time.

[0218] For example, the actuator 122 and the arm 102 and the wheel 112 together constitute a posture control component. At this time, the actuator 122 drives the arm and pivots around the shaft 103 to press the wheel 112 against the blade. The reaction force at this time can control the posture of the device 100.

[0219] The actuator 122 can be, for example, an electric actuator cylinder or a pneumatic actuator cylinder.

[0220] The device 100 further includes a communication component 140 and a memory 150.

[0221] The communication component 140 is any component for receiving signals from outside the device 100 and transmitting signals to outside the device 100. The communication component 140 can receive signals from outside the device 100 either wirelessly or wiredly. The communication component 140 can transmit signals to outside the device 100 either wirelessly or wiredly. For example, the communication component 140 can receive signals for controlling the respective operations of the device 100 from outside the device 100 (e.g., an operation terminal used by an operator). For example, the communication component 140 can transmit data representing the cross-sectional shape measured by the measurement component to outside the device 100 (e.g., a presumption component for presuming the surface shape after repair, an operation component for determining whether repair is needed, a determination component for determining the damaged part, a storage component for storing data representing the cross-sectional shape, etc.). For example, the communication component 140 can receive data representing the presumed surface shape after repair from outside the device 100 (e.g., a presumption component for presuming the surface shape after repair, a determination component for determining whether repair is needed, a determination component for determining the damaged part, etc.).

[0222] Stored in the memory 150 are programs required for executing the processing of the device 100 and data required for executing the programs, etc. The memory 150 can be implemented by any storage component.

[0223] The device 100 can be configured as a passive device that controls respective operations according to signals from outside the device 100, or can be configured as an active device that autonomously performs respective operations. In the latter case, for example, a program for implementing a series of operations for maintaining the blade or a program for executing Figure 7 the processing shown can be stored in the memory 150 of the device 100, and the control component 130 of the device 100 can function as a device that automatically maintains the blade by reading and executing the program. It can also be that the program is stored in a non-temporary computer-readable storage medium, and the device 100 executes Figure 7 the processing shown by reading the program.

[0224] Figure 4 A state where the device 100 moves on the blade 11 is schematically shown. In Figure 4 it, a part of the blade 11 is shown together with the cross-section. L.E represents the leading edge of the blade 11. In Figure 4 it, the device 100 is briefly described, for example, the maintenance component 121 is omitted.

[0225] The device 100 includes a winch 111 and a wheel 112 as the moving member 110, and a rope 20 passes through the winch 111. By winding or unwinding the rope 20 with the winch 111, the device 100 can move along the rope in the direction in which the blade 11 extends (i.e., the direction in which the leading edge L.E. moves).

[0226] The device 100 includes a posture control member as the operating member 120, and the posture control member is composed of actuators 122A - D and contact portions 123A - D. Moreover, the posture control member can also be composed of an actuator connected to the arm 102 and a wheel 112 coupled to the arm 102. The arm 102 can pivot about the pivot shaft 103. Moreover, the posture control member can also be composed of the winch 111.

[0227] The posture control member composed of the actuators 122A - D and the contact portions 123A - D is driven so that the actuators 122A - D press the contact portions 123A - D against the blade respectively. The posture control member composed of the actuator 122A and the contact portion 122A and the posture control member composed of the actuator 122B and the contact portion 122B are arranged in pairs facing each other on both sides of the device 100. Thereby, forces can be applied from both sides of the blade (both sides with respect to the leading edge L.E.). The posture control member composed of the actuator 122C and the contact portion 122C, and the posture control member composed of the actuator 122C and the contact portion 122C are arranged on the front side and the rear side respectively along the central axis extending in the traveling direction of the device 100. Thereby, a force can be applied to the approximate leading edge L.E. of the blade.

[0228] During the movement of the device 100, the device 100 can use the measuring devices 160A, B to measure the cross-sectional shape of the blade 11. The measuring member 160A is arranged on the front side of the device 100 and can measure the cross-sectional shape of the blade 11 on the front side of the device 100. The measuring member 160B is arranged on the rear side of the device and can measure the cross-sectional shape of the blade 11 on the rear side of the device 100. The control member of the device 100 can control the posture control member so as to control the posture of the device 100 according to the cross-sectional shape measured by the measuring device 160A and / or the measuring device 160B.

[0229] Figures 5A to 5C Schematically shows the control of the posture of the device 100 by the posture control member. Figure 5A Shows a top view of the device 100, Figure 5B Shows a side view of the device 100, Figure 5C Shows a rear view of the device 100. In Figures 5A to 5C it shows the state of the device 100 when moving on the blade 11. In Figure 5A it shows the cross-section of the blade 11. In Figure 5B the actuators 122A, B are omitted.

[0230] The posture control component of the device 100 can be controlled by Figures 5A to 5C The direction of the arrow shown adjusts the position and / or orientation of the device to control the posture of the device. Figure 5A The X direction shown is the left-right direction perpendicular to the direction of travel of the device 100. Figure 5A The right side indicates the + direction, and the left side indicates the - direction. Figure 5A The Y direction shown is the up-down direction perpendicular to the direction of travel of the device 100. Figure 5A The up direction indicates +, and the down direction indicates -. Figure 5A The θ1 direction shown is the rolling direction of the device 100 , with the clockwise direction representing the + direction and the counterclockwise direction representing the − direction. Figure 5B The θ2 direction shown is the pitch direction of the device 100 , with the clockwise direction indicating a + direction and the counterclockwise direction indicating a − direction. Figure 5C The θ3 direction shown is the yaw direction of the device 100 , with the clockwise direction indicating a + direction and the counterclockwise direction indicating a − direction.

[0231] For example, the control unit of the device 100 can control the actuators 122A and B in the posture control unit to press the contact parts 123A and B (not shown) at the ends of the actuators 122A and B against the blade 11, thereby adjusting the X-direction position of the device 100 using the reaction force thereof. Figure 5A The right actuator 122A of the pair of actuators 122A in the apparatus 100 is moved to the +X direction by pressing the right contact portion 123A against the blade 11. For example, by controlling Figure 5A The left actuator 122A of the pair of actuators 122A is activated and the left contact portion 123A is pressed against the blade 11, so that the position of the device 100 is adjusted in the -X direction.

[0232] For example, the control component of the device 100 can control the actuators 122C and D in the posture control component, and by pressing the contact portions 123C and D (not shown) at the ends of the actuators 122C and D against the blade 11, the Y-direction position of the device 100 is adjusted using their reaction force. For example, by controlling the actuator 122C and pressing the contact portion 123C against the blade 11, the position of the device 100 is adjusted in the +Y direction. For example, if the actuator 122C is not controlled and the contact portion 123C is not pressed against the blade 11, the position of the device 100 is adjusted in the -Y direction due to the gravity of the device 100. At this time, Figure 5A The actuator 122D not shown in the figure is also controlled in the same manner.

[0233] For example, the control component of the device 100 can control the actuator in the posture control component that is connected to the arm 102. By pivoting the arm, the wheel 112 at the end of the arm is pressed against the blade 11, and the orientation of the device 100 in the θ1 direction is adjusted using this reaction force. At this time, the winch 111 in the posture control component can also be controlled to create an opportunity for movement by changing the load of the device 100, making it easier to adjust the orientation of the device 100 in the θ1 direction. For example, by controlling the actuator connected to Figure 5A the right arm 102 of the pair of arms 102, and pressing the wheel 112 of the right arm against the blade 11, the orientation of the device 100 is adjusted in the +θ1 direction. At this time, Figure 5A the right winch 111 in the winch 111 can be controlled to change the load of the device 100 and create an opportunity for the action of controlling the posture. For example, by controlling the actuator connected to Figure 5A the left arm 102 of the pair of arms 102, and pressing the wheel 112 of the left arm against the blade 11, the orientation of the device 100 is adjusted in the -θ1 direction. At this time, Figure 5A the left winch 111 in the winch 111 can be controlled to change the load of the device 100 and create an opportunity for the action of controlling the posture.

[0234] For example, the control component of the device 100 can control the actuators 122C and D in the posture control component. By pressing the contact parts 123C and D (not shown) at the ends of the actuators 122C and D against the blade 11, the orientation of the device 100 in the θ2 direction is adjusted using the reaction force. For example, by controlling the actuator 122C to press the contact part 123C against the blade 11, and at this time the actuator 122D is not driven, the orientation of the device 100 is adjusted in the +θ2 direction. For example, by controlling the actuator 122D to press the contact part 123D against the blade 11, and at this time the actuator 122C is not driven, the orientation of the device 100 is adjusted in the -θ2 direction.

[0235] For example, the control component of the device 100 can control the actuators 122A and B in the posture control component. By pressing the contact parts 123A and B (not shown) at the ends of the actuators 122A and B against the blade 11, the orientation of the device 100 in the θ3 direction is adjusted using the reaction force. For example, by controlling Figure 5C the actuator 122A (not shown) on the right side of the leading edge L.E. to press the right contact part 123A against the blade 11, and controlling Figure 5C the actuator 122B (not shown) on the left side of the leading edge L.E. to press the left contact part 123B against the blade 11, the orientation of the device 100 is adjusted in the +θ3 direction. For example, by controlling Figure 5CAn actuator 122A (not shown) to the left of the intake edge L.E. presses the left contact portion 123A against the blade 11 and controls Figure 5C An actuator 122B (not shown) to the right of the intake edge L.E. presses the right contact portion 123B against the blade 11, and the device 100 is adjusted to face the -θ3 direction. Alternatively, in addition to this, the control component of the device 100 can control the winch 111 in the posture control component, and by generating a torque around the device 100, use this torque to adjust the orientation of the device 100 in the θ3 direction. For example, using Figure 5C the left winch Figure 5C pulls the rope downward Figure 5C and using Figure 5C the right winch Figure 5C pulls the rope upward Figure 5C so that the device 100 is adjusted to face the +θ3 direction. For example, using Figure 5C the left winch Figure 5C pulls the rope upward

[0236] In this way, the control component can control the posture of the device 100 by adjusting at least one of the X and Y direction positions and the θ1, θ2, and θ3 direction orientations. The control component can, for example, adjust at least one of the X and Y direction positions and the θ1, θ2, and θ3 direction orientations so that the line connecting the peak of the cross-sectional shape measured by the measuring component 160A and the peak of the cross-sectional shape measured by the measuring component 160B is parallel to the traveling direction central axis of the device 100.

[0237] Figure 5D (a) shows an example of data representing the cross-sectional shapes measured by the measuring components 160A and B, Figure 5D (b) shows a side view representing the posture of the device 100 at this time, Figure 5D (c) shows a rear view representing the posture of the device 100 at this time. In Figure 5D (a), the horizontal axis represents Figure 5A the X direction (left-right direction) shown Figure 5A and the vertical axis represents

[0238] In Figure 5D (a), for example, let the cross-sectional shape of the blade 11 measured by the measuring component 160A be the data represented by the solid line, and the cross-sectional shape of the blade 11 measured by the measuring component 160B be the data represented by the dashed line.

[0239] For example, the control component controls the posture control component in such a way as to adjust at least one of the positions in the X and Y directions and the orientations in the θ1, θ2, and θ3 directions, so that the data of the cross-sectional shape of the blade 11 measured by the measuring component 160A is consistent with the data of the cross-sectional shape of the blade 11 measured by the measuring component 160B. In Figure 5D In the example shown, for example, at least one of the positions in the X and Y directions and the orientations in the θ1, θ2, and θ3 directions is adjusted so that the peak of the data of the cross-sectional shape of the blade 11 measured by the measuring component 160B comes to X = 150, Y = 159 (for example, the posture control component is controlled in such a way as to adjust the orientation of the device 100 in the -θ2 direction and the +θ3 direction). As a result, the line connecting the peak of the cross-sectional shape measured by the measuring component 160A and the peak of the cross-sectional shape measured by the measuring component 160B is parallel to the central axis of the traveling direction of the device 100.

[0240] Figures 9A to 9C Schematically shows the situation where the posture of the device 100 is controlled by the posture control component when the device 100 lands on the blade. Figures 9A - 9C Shows a top view of the device 100, showing the cross-section of the blade 11.

[0241] The posture control component of the device 100 can control the posture of the device by adjusting the position and / or orientation of the device in the Figures 9A to 9C direction shown by the arrow. Figure 9A The X direction shown is the left-right direction perpendicular to the traveling direction of the device 100, Figure 9A and the right represents the + direction and the left represents the - direction. Figure 9A The Y direction shown is the up-down direction perpendicular to the traveling direction of the device 100, Figure 9A and the up represents the + direction and the down represents the - direction. Figure 9A The θ1 direction shown is the roll direction of the device 100, and the clockwise direction represents the + direction and the counterclockwise direction represents the - direction.

[0242] For example, as Figure 9A shown, when the device 100 is tilted relative to the blade 11 in the +θ1 direction, the control component of the device 100 can control the posture control component to adjust the angular position of the device by generating a torque that rotates the device 100 in the -θ1 direction.

[0243] For example, as Figure 9B shown, when the device 100 is tilted relative to the blade 11 in the -θ1 direction, the control component of the device 100 can control the posture control component to adjust the angular position of the device by generating a torque that rotates the device 100 in the +θ1 direction.

[0244] For example, the result of adjusting the angular position is as Figure 9CAs shown, when the device 100 is facing the blade 11 directly, the device 100 can be moved in the -Y direction by using a rope or the like connected to the device 100, so that the device 100 lands on the blade 11.

[0245] In the above example, the device 100 has been described, but a part of the constituent elements of the device 100 can also be outside the device 100. That is, a system including the device 100 can also be configured. For example, as described above, the nacelle of a windmill can also include a winch as a part of the moving component. For example, the control component 130 can also be provided outside the device 100.

[0246] 3. Control method of the device moving on the blades of a windmill

[0247] Figure 6 It is a flowchart showing an example of the control method 600 of the device 100 that moves on the blade of a windmill. By controlling the device 100 using the control method 600, the device 100 can operate according to the cross-sectional shape of the blade, preferably according to the cross-sectional shape of the position on the blade where the device 100 is located.

[0248] In step S601, the cross-sectional shape of the blade of the windmill is measured. Step S601 can be performed, for example, by the measuring component of the device 100, or by a measuring device different from the device 100.

[0249] When the cross-sectional shape of the blade is measured by the measuring component of the device 100, the measuring component of the device 100 can measure the cross-sectional shape during the movement of the device 100 on the blade. The measuring component can measure the cross-sectional shape of the blade at at least one location in the direction along the blade (i.e., the direction extending from the tip of the blade to the root). Preferably, the measuring component measures the cross-sectional shape of the cross-section having a damaged part. More preferably, in addition to being able to measure the cross-sectional shape of the cross-section having a damaged part, the measuring component can also measure the cross-sectional shape of the cross-section without a damaged part. In another example, preferably, the measuring component measures the cross-sectional shape of the blade at the front side position in the traveling direction of the device 100, or the cross-sectional shape of the blade at the central position of the device 100, or the cross-sectional shape of the blade at the rear side position in the traveling direction of the device 100. More preferably, the measuring component can measure the cross-sectional shape of the blade at the front side position in the traveling direction of the device 100 and the cross-sectional shape of the blade at the rear side position in the traveling direction of the device 100.

[0250] When the cross-sectional shape of the blade is measured by a measuring device different from the device 100, the device different from the device 100 can measure the cross-sectional shape of the blade prior to the movement of the device 100 on the blade 11. For example, the device different from the device 100 can measure the cross-sectional shape of the blade while moving on the blade, or can measure the cross-sectional shape of the blade while flying around the blade.

[0251] Data representing the measured cross-sectional shape is transmitted to the control component 130 of the device 100 or to a presumption component external to the device 100.

[0252] In step S602, the control device 100 causes the device 100 to operate according to the cross-sectional shape measured in step S601. Step S602 is performed by the control component 130 of the device 100.

[0253] The control component 130 can, for example, control the device 100 so that the device 100 controls its posture according to the cross-sectional shape. This is achieved by the control component 130 controlling the posture control component.

[0254] Since the data representing the cross-sectional shape can represent the relative position of the cross-section of the blade with respect to the measuring component, the control component 130 can determine the position or orientation of the device 100 with respect to the blade.

[0255] For example, when the control component 130 determines, based on the data representing the cross-sectional shape measured in step S601, that the position of the device 100 has deviated from the position where it should originally be (for example, the center of the device 100 is directly above the leading edge of the blade), the control component 100 can control the posture control component to adjust the position and / or orientation of the device 100. For example, when the control component 130 determines, based on the data representing the cross-sectional shape measured in step S601, that the orientation of the device 100 has deviated from the orientation in which the leading edge of the blade extends (for example, the traveling direction of the device 100 is not parallel to the direction in which the leading edge of the blade extends), the control component 100 can control the posture control component to adjust the position and / or orientation of the device 100.

[0256] The control unit 130 can, for example, control the device 100 so that the device 100 repairs the damaged part of the blade according to the cross-sectional shape. This is achieved by the control unit 130 controlling the maintenance unit 121. The control unit 130 can control the maintenance unit 121 to achieve the repaired surface shape estimated according to the cross-sectional shape measured in step S601 through the maintenance unit 121. Thus, the maintenance unit repairs the damaged part to achieve the estimated repaired surface shape. For the maintenance unit, for example, the cleaning part in the maintenance unit 121 is controlled to clean the damaged part and remove foreign matters to achieve the repaired surface shape estimated based on the cross-sectional shape. Then, the coating part in the maintenance unit 121 is controlled to coat the damaged part with a material. Then, the grinding part in the maintenance unit 121 is controlled to grind the coated material. The coating part can be controlled, for example, to coat a necessary amount of material within a necessary range to achieve the repaired surface shape estimated based on the cross-sectional shape. The grinding part can be controlled to grind a necessary amount of the coated material within a necessary range to achieve the repaired surface shape estimated based on the cross-sectional shape. Thus, the estimated repaired surface shape can be achieved.

[0257] For example, before controlling the coating part to coat the damaged part with a material, the grinding part in the maintenance unit 121 can be controlled to grind the damaged part to facilitate coating the material on the damaged part. For example, after the grinding part grinds the coated material, the cleaning part in the maintenance unit 121 can be controlled to clean the ground surface. For example, after the grinding part grinds the coated material, or after the cleaning part cleans the surface, the coating part in the maintenance unit 121 can be controlled to coat a coating material, or the pasting part in the maintenance unit 121 can be controlled to paste a protective material.

[0258] The repaired surface shape can be estimated by the control unit 130 or by an estimation unit outside the device.

[0259] In an embodiment where the control unit 130 estimates the repaired surface shape, the control unit 130 receives data representing the cross-sectional shape measured in step S601. The control unit 130 can receive the data representing the cross-sectional shape from the measurement unit of the device 100, or can receive the data representing the cross-sectional shape from outside the device 100 via the communication unit 140.

[0260] The control unit 130 estimates the repaired surface shape of the blade based on the received cross-sectional shape. The process of estimating the repaired surface shape will be described later with reference to Figure 7 Describe the process of estimating the repaired surface shape.

[0261] In an embodiment where the shape of the repaired surface is estimated outside the device 100, the estimation component outside the device 100 can receive data representing the cross-sectional shape from the measurement component of the device 100 via the communication component 140, or can receive data representing the cross-sectional shape from a measurement component outside the device 100.

[0262] The estimation component estimates the surface shape of the blade after repair based on the received cross-sectional shape. After that, refer to Figure 7 to describe the process of estimating the surface shape after repair.

[0263] The control component 130 can control the device 100, for example, so that the device 100 controls the posture of the device 100 according to the cross-sectional shape and the device 100 repairs the damaged part of the blade according to the cross-sectional shape. That is, the device 100 repairs the damaged part of the blade according to the cross-sectional shape while controlling the posture according to the cross-sectional shape. This is preferable in that high-precision repair can be performed. For example, if the posture of the device 100 changes during the repair of the blade, sometimes the device 100 operates at a position deviated from the surface where it should originally operate, and high-precision repair cannot be performed. By repairing the damaged part of the blade according to the cross-sectional shape while controlling the posture according to the cross-sectional shape, it is possible to repair while controlling the posture with high precision corresponding to the resolution of the cross-sectional shape, and repair can be performed with high precision (for example, with a precision of 1 mm or less). This can be associated with the degree of completion of the shape after repair and the smoothness of the connection between the damaged part and the non-damaged part.

[0264] The control component 130 can control the device 100, for example, so that the device 100 determines whether the blade should be repaired based on the cross-sectional shape. Thus, the device 100, through this determination component, compares the cross-sectional shape in the undamaged state or the ideal state after repair, or the cross-sectional shape after repair estimated from the measured cross-sectional shape with the measured cross-sectional shape, and can determine that the blade should be repaired when the difference or deviation between them is equal to or greater than a specified threshold.

[0265] The control device can control the device 100, for example, so that the device 100 determines the damaged part of the blade based on the cross-sectional shape. Thus, the device 100, through this determination component, compares the cross-sectional shape in the undamaged state or the ideal state after repair, or the cross-sectional shape after repair estimated from the measured cross-sectional shape with the measured cross-sectional shape, and determines the part where the difference or deviation between them is equal to or greater than a specified threshold as the damaged part.

[0266] Figure 7An example of the process of the process (process 700) representing the surface shape after presumed repair. Process 700 can be executed in the control component 130 of the device 100 or in a presumption component outside the device 100. Hereinafter, the case of being executed in the control component 130 will be described as an example.

[0267] In step S701, the control component 130 receives data representing the cross-sectional shape of the blade of the windmill.

[0268] In step S702, based on the data received in step S701, the control component 130 presumes a curve that is smoothly connected to the cross-sectional shape of the non-damaged part in the cross-section having the damaged part. The control component 130 can use polynomial approximation to presume the curve. Using polynomial approximation to presume the curve includes, for example, performing at least one of (1) adjusting the degree of the polynomial approximation, (2) dividing the cross-sectional shape having the damaged part into multiple regions and presuming a curve for each of the multiple regions, (3) presuming a first curve, ignoring the cross-sectional shape inside the first curve, and presuming a second curve, and (4) presuming the curve based on the cross-sectional shape of the cross-section without the damaged part.

[0269] Figure 8A FIG. is a diagram for explaining the concept of (1) adjusting the degree of polynomial approximation. Figure 8A The left diagram in shows the measured cross-sectional shape of the cross-section having the damaged part. The measured cross-sectional shape has an undamaged part and a damaged part. By polynomial approximation, a curve that is smoothly connected to the non-damaged part is presumed. In Figure 8A the gray dashed line represents the curve presumed by polynomial approximation.

[0270] In Figure 8A the upper right of shows an example when using a high-degree polynomial approximation, and in Figure 8A the lower right of shows an example when using a low-degree polynomial approximation. The larger the degree of the polynomial approximation, the higher the fitting accuracy of the cross-sectional shape. However, if the degree is too large, it will fit (overfit) to the damaged part, so an inappropriate curve may sometimes be presumed. Therefore, the degree of the polynomial approximation is appropriately adjusted.

[0271] For example, since an inappropriate curve is determined not to satisfy the specified conditions in the subsequent step S703, when the process returns to step S702, the degree is increased or decreased, and polynomial approximation is performed again. This is preferable in that it can avoid overfitting to the damaged part when the damaged part is large.

[0272] Figure 8B FIG. is a diagram for explaining the concept of (2) dividing the cross-sectional shape having the damaged part into multiple regions and presuming a curve for each of the multiple regions.

[0273] First, the measured cross-sectional shape is divided into a region with a damaged part and other regions. In Figure 8B the example shown, it is divided into a first region to the left of the region with a damaged part, a second region with a damaged part, and a third region to the right of the region with a damaged part. At this time, the second region is preferably a region including both the damaged part and the non-damaged part, rather than a region including only the damaged part.

[0274] Next, polynomial approximation is performed on the first region to estimate the curve corresponding to the first region, polynomial approximation is performed on the second region to estimate the curve corresponding to the second region, and polynomial approximation is performed on the third region to estimate the curve corresponding to the third region.

[0275] Next, for each of the estimated curves, the adjacent curves are connected. At this time, by using moving average for connection, the boundaries of each region overlap. For example, when connecting adjacent curves, by performing a process that makes the second-order difference of adjacent points of the point cloud data of each curve monotonically increase, the curves can be smoothly connected.

[0276] Figure 8C is a diagram illustrating the concept of (3) estimating the first curve and ignoring the cross-sectional shape inside the first curve to estimate the second curve.

[0277] First, based on the measured cross-sectional shape, the first curve is estimated using polynomial approximation. At this time, the range of the cross-sectional shape with a damaged part is designated as the repair range.

[0278] Next, the first curve is compared with the measured cross-sectional shape, and the cross-sectional shape inside the first curve in the repair range is ignored. Here, the inside of the curve refers to the region corresponding to the blade itself, while the outside of the curve refers to the region that is not the blade, that is, the region corresponding to the space. For example, the data of the first curve is compared with the point cloud data of the measured cross-sectional shape, and the point cloud data inside the first curve in the repair range is removed.

[0279] Next, for the cross-sectional shape other than the cross-sectional shape inside the first curve in the repair range, polynomial approximation is used to estimate the curve. The curve estimated in this way is preferable in that it avoids overfitting to the damaged part and prevents the estimated curve from being located inside the measured cross-sectional shape (i.e., the surface shape connected to the cutting of the blade).

[0280] Figure 8D is a diagram illustrating the concept of (4) estimating the curve based on the cross-sectional shape of the cross-section without a damaged part.

[0281] First, remove the data within the repair range from the measured cross-sectional shape. The repair range is the range within the cross-sectional shape that has a damaged part.

[0282] Next, append the cross-sectional shape of the cross-section that does not have a damaged part to the repair range. The cross-section that does not have a damaged part is preferably a cross-section at a position near the cross-section with a damaged part that can be the object of repair.

[0283] Next, for the cross-sectional shape to which the cross-sectional shape of the cross-section without a damaged part is appended to the repair range, use polynomial approximation to estimate the curve. A slight mismatch with the boundary of the repair range is absorbed by the polynomial approximation. The curve estimated in this way is also preferable in that it avoids overfitting to the damaged part.

[0284] Using polynomial approximation to estimate the curve can also perform at least one of (5) correcting the curve based on user input and (6) estimating the curve based on the design data of the blade of the windmill in addition to or instead of (1) to (4).

[0285] Figure 8E It is a diagram explaining the concept of correcting the curve based on user input in (5).

[0286] In the above (1) to (4), sometimes the fine shape does not match the user's intention. At this time, a user interface for correcting the curve estimated by the user is provided, and the user can obtain a curve that meets the intention by inputting to the user interface.

[0287] Figure 8F It is a diagram explaining the concept of estimating the curve based on the design data of the blade of the windmill in (6).

[0288] For example, the design data of the blade shapes of each manufacturer of the blades of the windmill are stored in the database. And the curve can be estimated based on the design data of the blade to be repaired.

[0289] For example, as in (4), it is possible to remove the data within the repair range from the measured cross-sectional shape, append the design data to the repair range, and then use polynomial approximation to estimate the curve.

[0290] In order to improve the accuracy of the estimated curve, for example, for one damaged part extending in the direction along the leading edge, multiple cross-sections with damaged parts can be obtained, and the surface shape after repair can be estimated based on the cross-sectional shape of the cross-section with the least damaged part.

[0291] For example, as Figure 8GAs shown, it is possible to measure the cross-sectional shapes of respective multiple parts (a) to (c) along the leading edge L.E., and to estimate the surface shape after repair based on the cross-sectional shape of the cross-section with the least damage. In this example, since the cross-sectional shape of the cross-section (b) is considered to have the least damage, the surface shape after repair is estimated based on the cross-sectional shape of the cross-section (b).

[0292] It is also possible to estimate the surface shape after repair by pattern matching instead of polynomial approximation. For example, it is possible to compare the shape data curve of a blade repaired in the past and / or the design data curve of a blade obtained from a manufacturer with the measured cross-sectional shape, and use the curve most similar to the non-damaged part as the surface shape after repair.

[0293] Referring again to Figure 7 , in step S703, the control unit 130 determines whether the curve estimated in step S702 satisfies a specified condition. When it is determined that the specified condition is not satisfied, the estimated curve is considered inappropriate, and the process returns to step S702 to estimate the curve again. At this time, for example, the condition is changed to estimate the curve, or the curve is estimated by a method different from the method used previously. Steps S702 to S703 are repeated until it is determined in step S703 that the specified condition is satisfied.

[0294] The specified conditions include: the coincidence rate of the estimated curve with the curve representing the cross-sectional shape of the non-damaged part in the cross-sectional shape having a damaged part exceeds a specified threshold; and the ratio of the position where the estimated curve is located inside the measured cross-sectional shape does not exceed a specified threshold. The specified threshold can be appropriately set according to the repair accuracy. The ratio of the position where the estimated curve is located inside the measured cross-sectional shape is an index to avoid a curve such that the blade is cut inward for repair. Since the repair of the blade is a repair to restore the worn part, cutting the blade inward should be avoided.

[0295] For example, as Figure 8G shown, it is also possible to measure the cross-sectional shapes of respective multiple parts, and determine whether the estimated curve satisfies the specified condition with respect to the cross-sectional shapes of respective multiple parts.

[0296] When it is determined that the specified condition is satisfied, the process proceeds to step S704 to end process 700. The estimated curve is regarded as the surface shape after repair, and repair is performed to reach the estimated curve.

[0297] In the above example, for a certain cross-section in the direction in which the leading edge L.E. extends, the shape of the repaired surface was estimated based on the cross-sectional shape. However, for example, it is also possible to consider the shape in the direction in which the leading edge L.E. extends and estimate the shape of the repaired surface. For example, the shape of the repaired surface can be estimated in such a way that the damaged part and the non-damaged part are smoothly connected in the direction in which the leading edge L.E. extends.

[0298] The present invention is not limited to the above-described embodiments. It should be understood that the scope of the present invention should be interpreted only by the claims. Those skilled in the art should understand that, based on the description of the specific preferred embodiments of the present invention, an equivalent scope can be achieved based on the description of the present invention and common technical knowledge.

[0299] Industrial Applicability

[0300] The present invention is useful as a control method for a device that moves on a blade of a windmill, etc.

[0301] Explanation of Reference Numerals

[0302] 10 Windmill

[0303] 11, 12, 13 Blades

[0304] 14 Compartment

[0305] 15 Hub

[0306] 20 Rope

[0307] 100 Device

Claims

1. A method for controlling a device that moves on the blades of a windmill, characterized in that, the method includes: a step of measuring the cross-sectional shape of the blades of the windmill; and a step of controlling the device so that the device operates according to the cross-sectional shape.

2. The method according to claim 1, characterized in that, the step of controlling the device includes: a step of controlling the device so that the device repairs the damaged part of the blades of the windmill according to the cross-sectional shape.

3. The method according to claim 2, characterized in that, the step of repairing the damaged part of the blades of the windmill according to the cross-sectional shape includes: a step of estimating the surface shape of the repaired blades of the windmill based on the cross-sectional shape; and a step of repairing the damaged part to achieve the estimated surface shape.

4. The method according to claim 2, characterized in that, the step of controlling the device further includes: a step of determining whether the blades of the windmill should be repaired based on the cross-sectional shape, when it is determined that the blades of the windmill should be repaired, controlling the device to repair the damaged part.

5. The method according to claim 2, characterized in that, the step of controlling the device further includes: a step of determining the damaged part based on the cross-sectional shape.

6. The method according to claim 2, characterized in that, the method further includes: a step of measuring the cross-sectional shape of the blades of the windmill during the repair of the damaged part; and a step of storing the result of measuring the cross-sectional shape of the blades of the windmill.

7. The method according to claim 6, characterized in that, the method further includes: a step of adjusting the repair of the damaged part based on the stored result.

8. The method according to any one of claims 1 to 7, characterized in that, the step of controlling the device further includes: a step of controlling the device so that the device controls its posture according to the cross-sectional shape.

9. The method according to claim 8, characterized in that, the step of controlling the device's posture according to the cross-sectional shape includes: a step of determining the peak portions in their respective cross-sectional shapes based on the cross-sectional shape at a first position and the cross-sectional shape at a second position along the direction of the blades of the windmill; and a step of controlling the device's posture so that the line connecting the peak portion of the cross-sectional shape at the first position and the peak portion of the cross-sectional shape at the second position is parallel to the center line of the device.

10. The method according to claim 8, characterized in that, the step of controlling the device's posture according to the cross-sectional shape includes: a step of controlling the device's posture when the device lands on the blades of the windmill.

11. The method according to claim 3, characterized in that, the step of estimating the surface shape of the repaired blades of the windmill based on the cross-sectional shape includes: a step of estimating a curve that is smoothly connected to the cross-sectional shape of the non-damaged part in the cross-section having the damaged part using polynomial approximation.

12. The method according to claim 11, characterized in that, The step of estimating a curve that is smoothly connected to the cross-sectional shape of the non-damaged part in the cross-sectional shape having the damaged part by using polynomial approximation includes at least one of the following steps: The step of adjusting the degree of polynomial approximation; The step of dividing the cross-sectional shape having the damaged part into a plurality of regions and estimating a curve for each of the plurality of regions; The step of estimating a first curve, ignoring the cross-sectional shape located inside the first curve, and estimating a second curve; and The step of estimating a curve based on the cross-sectional shape of a cross-section that does not have a damaged part.

13. The method according to claim 12, wherein The step of estimating a curve that is smoothly connected to the cross-sectional shape of the non-damaged part in the cross-sectional shape having the damaged part by using polynomial approximation includes at least one of the following steps: The step of correcting the curve based on user input; and The step of estimating a curve based on the design data of the blade of the windmill.

14. The method according to any one of claims 11 to 13, wherein The step of estimating the surface shape of the repaired blade of the windmill based on the cross-sectional shape further includes: The step of determining whether the estimated curve satisfies a specified condition.

15. The method according to claim 14, wherein The specified condition includes: The coincidence rate of the estimated curve and the curve representing the cross-sectional shape of the non-damaged part in the cross-sectional shape having the damaged part exceeds a specified threshold; and The ratio of the position where the estimated curve is located inside the measured cross-sectional shape does not exceed a specified threshold.

16. The method according to claim 1, wherein The cross-sectional shape includes: the shape of a cross-section perpendicular to the direction in which the leading edge of the blade of the windmill extends; and the shape of a cross-section parallel to the direction in which the leading edge of the blade of the windmill extends.

17. An apparatus, wherein The apparatus includes: A moving member for moving along the blade of the windmill; A measuring member for measuring the cross-sectional shape of the blade of the windmill; and A control member for controlling the apparatus so that the apparatus operates according to the cross-sectional shape.

18. A program, which is a control program for an apparatus that moves on a blade of a windmill, wherein The program is executed in a processor included in the apparatus, The processor causes the program to perform the following steps: The step of receiving data representing the cross-sectional shape of the blade of the windmill; and The step of controlling the apparatus so that the apparatus operates according to the cross-sectional shape.

19. A method, which is a control method for an apparatus that moves on a blade of a windmill, wherein The method includes: The step of measuring the cross-sectional shape of the blade of the windmill; The step of controlling the apparatus so that the apparatus controls its posture according to the cross-sectional shape; and The step of controlling the apparatus so that the apparatus repairs the damaged part of the blade of the windmill according to the cross-sectional shape.

20. A method, wherein The method includes: The step of receiving data representing the cross-sectional shape of the blade of the windmill; and A process for determining whether the blades of the windmill should be repaired according to the cross-sectional shape.

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