Wind turbine service system and method

Abstract

A wind turbine service system configured to perform at least one service task in a wind turbine (200) is provided. The wind turbine (200) comprises at least two floors (211, 212) at different vertical positions. The wind turbine service system (10) comprises: a service robot (100) that is self-propelled and controllable to perform at least one service task; and a vertical movement aid (250) extending between at least two of the floors (211, 212). The wind turbine service system (10) is configured to have a first movement mode in which the service robot (100) moves on at least one of the floors (211, 212) in a self-propelled manner and without mechanical guidance, and wherein the wind turbine service system (10) is further configured to have a second movement mode in which the service robot (100) moves on at least one of the floors (211, 212) in a self-propelled manner and without mechanical guidance. In the second motion mode, the service robot (100) interacts with the vertical movement aid (250) to move the service robot between the at least two floors (211, 212).

Description

Technical Field

[0001] This invention relates to a wind turbine service system configured to perform at least one service task within a wind turbine. The invention further relates to a method for servicing a wind turbine by means of such a service system, a method for operating a wind turbine, and a wind turbine including the corresponding service system. Background Technology

[0002] With the surge in wind-based energy generation, wind turbines are being installed in remote locations. Service technicians inspect the wind turbines at regular intervals to ensure they meet service requirements and that fail-safe operation is in place.

[0003] Electrical components of a wind turbine (e.g., its power converter) may still fail, causing the turbine to stop generating electricity until maintenance personnel repair the power converter. To reduce downtime, document EP 2472103 A2 provides a maintenance system for wind turbines that replaces faulty converter modules. This allows for a reduction in unplanned downtime. However, the functionality provided by such a maintenance system is limited to maintenance tasks specified for specific components.

[0004] Document KR 101302990 B1 describes a robotic management device that includes a maintenance robot that is transferred to the rotor blades of a wind turbine to clean or de-ic the rotor blades.

[0005] Document KR 101592904 B1 describes a method for maintaining a wind turbine in which a quadcopter transports a maintenance robot to the top of the nacelle. The maintenance robot performs repair and service tasks.

[0006] The goal is to reduce wind turbine downtime and keep them in a safe operating condition. Further, it is desired to reduce the cost of servicing wind turbines while maintaining them in a technically flawless state. Further improvements and enhancements are needed to the servicing of wind turbines. Summary of the Invention

[0007] Therefore, it is necessary to mitigate at least some of the disadvantages mentioned above, and in particular to promote the service of wind turbines and keep them in a safe operating condition.

[0008] The features of the independent claims satisfy this requirement. The dependent claims describe embodiments of the invention.

[0009] According to an aspect of the invention, a wind turbine service system is provided, configured to perform at least one service task within a wind turbine. The wind turbine includes at least two floors located at different vertical positions. The wind turbine service system includes a service robot that is self-propelled and controllable to perform at least one service task, such as performing at least one service task on one or more of the at least two floors, or on each of them. The wind turbine service system further includes a vertical movement aid extending between the at least two floors. The wind turbine service system is configured to operate in a first motion mode in which the service robot moves self-propelledly and without mechanical guidance on at least one floor, and the wind turbine service system is further configured to operate in a second motion mode in which the service robot interacts with the vertical movement aid to move the service robot between the at least two floors.

[0010] Such a wind turbine service system (also referred to herein as the "service system" or "system") allows service robots to perform service tasks at different levels of the wind turbine. Furthermore, because the service robot can move independently on each floor, it enables it to perform a variety of different service tasks on each floor. Moreover, it is not necessary to provide any systems for moving the robot on each floor, such as tracks or rails on which the robot moves. The service robot can, for example, be stationed on one of at least two floors and can perform one or more service tasks on one or more different floors of the wind turbine, accessible via corresponding vertical movement aids extending from the floor on which the service robot is stationed to or between corresponding other floors. Therefore, a flexible service system can be achieved, allowing for the performance of various service tasks within the wind turbine without the presence of service personnel. This reduces the cost and workload of servicing wind turbines, particularly for wind turbines installed in remote locations (such as offshore wind turbines). The service system can further allow for more frequent inspections of wind turbine components, performance of tests, and / or post-incident inspections, enabling more reliable and fail-safe operation of the wind turbines. This improves operational safety and reduces downtime for wind turbine operation.

[0011] Conventional service systems typically rely on service components that can move along fixed paths and occupy fixed, predefined locations to perform tasks, such as maintenance. Contrary to the common perception that such fixed systems provide more reliable maintenance, it has been found that by providing systems that include autonomously moving robots (further enabling these robots to access different floors of the wind turbine), it becomes possible to provide comprehensive and improved service to wind turbines, which can prevent failures and significantly reduce the intervals between service technician visits to the turbines.

[0012] Service robots can move specifically between floors through which vertical movement aids extend. A single vertical movement aid can extend between multiple floors, allowing the service robot to move to these multiple floors. Multiple vertical movement aids can be provided, extending between at least two different floors and allowing the service robot to enter the corresponding floor through which the respective vertical movement aid extends.

[0013] The vertical movement aid may extend particularly into a direction having a vertical component, wherein the vertical component of this direction is preferably at least equal to or greater than the horizontal component. This extension may, for example, have an angle of inclination between 45° and 90° toward the horizontal plane. The service system may, for example, include one or more movement aids extending along a direction having an angle of inclination between 45° and 90° or between 70° and 90°. Of course, additional vertical movement aids with lower angles of inclination may be provided.

[0014] In one embodiment, the service system may be configured to provide mechanically guided movement and / or driven movement of the service robot in a second motion mode, the driven movement being propelled by actuators external to the service robot. This facilitates the movement of the service robot between different floors of a wind turbine. Such actuators may include electric motors, hydraulic or pneumatic cylinders, etc.

[0015] Vertical movement aids may include, for example, one or a combination of the following: guide rails, tracks, ladders, stairs, conveyors, escalators, elevators (e.g., lifts), and cranes. Multiple such vertical movement aids may be provided, each extending between at least two floors of the wind turbine. Actively driven movement of the service robot may be achieved, for example, by providing an elevator onto which the service robot moves and which lifts or lowers the service robot to different floors; or a conveyor, such as a chain, belt, or cable conveyor, onto which the service robot moves or remains attached to to move from one floor to another. Providing movement aids in the form of mechanical guides has the advantage that existing elements (such as guide rails on ladders or stairs, or the ladder itself) can be used as vertical movement aids. On the other hand, actively driven vertical movement aids have the advantage that the service robot can have a relatively simple configuration while still being able to overcome significant vertical distances. Moreover, it allows movement in a substantially vertical direction, thus reducing the space required for the vertical movement aid.

[0016] Vertical movement aids may include those configured for climbing by service personnel (particularly humans). Vertical movement aids may form part of a ladder or staircase or be mounted to a ladder or staircase. Service robots may be configured to climb such vertical movement aids or use elements of such vertical movement aids (such as handrails) to move between floors connected by the vertical movement aids. For example, the vertical movement aid may have a configuration that allows the service robot to travel on it, or the service robot may have a configuration suitable for climbing the vertical movement aid, such as a configuration that allows climbing stair steps or ladder treads. For example, the service robot may use existing handrails, steps, treads, etc., to maintain a grip (e.g., clamp or hook), or appropriate rails or tracks may be added to existing ladders or staircases.

[0017] Service robots may include a holding device. This holding device may be configured to interact with a vertical movement aid, particularly to hold (e.g., clamp) the robot to the vertical movement aid to support the robot as it moves between at least two floors. The holding device may include grippers, hooks, handles, rollers, brackets, and / or pinions, or any combination thereof. For example, the handles, roller units, and / or brackets of the service robot may interact with rails or tracks of the vertical movement aid. Thus, a simple yet effective device can be provided to allow service robots to move between different floors.

[0018] Optionally, in the first motion mode, the service system can be configured to provide the service robot with free movement in two dimensions on the corresponding floor. The floor can be located in a horizontal or inclined plane, and the service robot can be configured to move freely in two dimensions on the corresponding plane. Therefore, the service robot can be allowed to reach various locations on the floor without the need for mechanical guides (such as tracks or rails) on the floor. This improves the service robot's flexibility and reach. Movement without mechanical guidance specifically refers to relatively unrestricted movement in two dimensions, not guided by rails, tracks, etc. The robot can, for example, be configured to control its direction of movement on the corresponding floor.

[0019] Service robots may include mobile units propelled by one or more wheels, tracked drives, one or more legs, or combinations thereof. Legs, for example, may include wheeled or tracked drives. The mobile unit may include two or more continuous tracks, which may take the form of rubber belts, track plate assemblies, etc. The service robot may, for example, be equipped with four tracked drive units. In a particular embodiment, it may include four independently controllable tracked drive units, which may further be controllable to act as legs. Therefore, the mobility of the service robot on a given floor can be improved. Furthermore, such a configuration can facilitate the movement of the service robot between floors.

[0020] Service robots can be configured to climb or ascend vertical movement aids, particularly steps or ladders with an angle greater than 45° relative to the horizontal plane. For this purpose, service robots can be equipped with appropriate wheeled and / or tracked drives, and / or legged drives, and may further be equipped with appropriate retaining devices, such as grippers, hooks, brackets, etc.

[0021] The service system can be configured to perform service tasks on each of at least two floors using service robots. In another embodiment, the service robot can be stationed on one floor and can be configured to perform service tasks on a different floor. Preferably, the service robot is stationed on the floor on which it will perform service tasks. Thus, the service system can allow service tasks to be performed on various floors of the wind turbine.

[0022] Optionally, at least two of the floors may be located within the nacelle of the wind turbine. Vertical movement aids may include vertical movement aids extending between at least two floors within the nacelle. Further, at least one of the floors may be located outside the nacelle of the wind turbine. One of the floors may be located within the tower of the wind turbine, and / or one of the floors may be located on top of the nacelle.

[0023] As an example, at least two floors may include one or a combination of the following: a converter platform comprising the wind turbine's power converter; a transformer platform comprising the wind turbine's power transformer; a transmission platform comprising power transmission equipment, such as the wind turbine's HVAC or HVDC transmission equipment; a yaw platform located at the location of the wind turbine's yaw drive or yaw bearing; a bed frame floor located at the wind turbine's bed frame; a generator floor located within the hollow shaft of the wind turbine's generator or comprising the wind turbine's generator; a hub floor located within the hub of the wind turbine's rotor; a top platform, such as a helicopter landing platform, crane platform, and / or a roof-top platform, located on top of the wind turbine's nacelle; and a tower platform located within the wind turbine's tower, such as a top tower section platform, a middle tower section platform, and / or a bottom tower platform. It should be clear that, depending on the wind turbine's configuration, all of these floors may, but are not required to, be provided. Preferably, the vertical movement aids extend to each of the respective floors provided. For example, at least a converter platform and a transformer platform may be provided, and the service robot may be stationed on one of these two platforms (e.g., the converter platform). Optionally, one or a combination of a base platform, a tower platform, a yaw platform, and a transmission platform may be additionally provided. For example, at least one, two, or three of these additional platforms may be provided. Thus, the service system may include a plurality of vertical movement aids, such as two, three, four, five, or more, each of which may extend between at least two floors. The plurality of vertical movement aids may be provided specifically so that the service robot can reach each of the respective floors of the wind turbine. The service system may be configured such that service tasks will be performed by the service robot on each of the respective floors. The wind turbine may, of course, include additional floors on which service tasks will not be performed and / or where the service robot is not configured to reach.

[0024] Optionally, the service system may further include a docking station configured to provide electrical power to the service robot to charge its energy storage devices. The docking station may be located on one of the floors within the cabin, where the service robot is stationed. At the docking station, electrical contact can be established to the service robot, and / or induction can be used to transfer electrical energy to the service robot.

[0025] Service robots can be stationed on one of the floors inside the cabin.

[0026] The service system may not be configured to transport service robots to the wind turbine via an aerial delivery device, such as to the nacelle. For example, the service robot may not be transportable, and / or may not be transported to the nacelle via an aerial delivery device (such as a drone). This offers the advantages of improved wind turbine serviceability and reduced service-related costs, as the service robot can serve the wind turbine even if weather conditions do not permit the operation of an aerial delivery device (such as a drone). Furthermore, it eliminates the need to first identify whether service or maintenance needs to be performed via a different device before launching the aerial delivery device, and it also eliminates the requirement for a vessel (from which such a drone can operate) to be located near the wind turbine. Therefore, service can be further facilitated.

[0027] The service robot may not be housed outside the nacelle. The service system may not include storage units installed in the nacelle, tower, or other parts of the wind turbine where the service robot is housed. This can have the advantages of improving the efficiency of the service system and improving the energy generation of the wind turbine. In particular, such installation outside the nacelle may expose the service robot to a more corrosive marine environment, thus shortening its lifespan. Furthermore, with such installation, the service robot may be unable to perform service tasks on floors inside the nacelle. Such storage units installed outside the nacelle can further provide additional drag on the airflow around the wind turbine and can generate additional turbulence; therefore, it may be detrimental to the energy of the wind turbine.

[0028] When the service robot moves on the floors of a wind turbine, it may not include any cable connections or other electrical connections. Therefore, free and unrestricted movement of the service robot is possible. The service robot can be further configured to move at least partially autonomously, for example, under the automatic control of a control system of the service system, such as the control system within the robot or the control system of the docking station.

[0029] The service system may further include a communication interface disposed within the wind turbine for communicating with the service robot. The service robot may be controllable via the communication interface to perform the at least one of the service tasks. Such a communication interface may be provided, for example, by a docking station, or separately therefrom. The communication interface is preferably a wireless communication interface configured to provide wireless communication with the service robot. Communication standards such as WiFi, Bluetooth, etc., may be used for communication.

[0030] The service system can be configured to receive control commands for the service robot from a remote location and provide these control commands to the service robot via a communication interface; and / or receive control commands from a controller within the wind turbine and provide the corresponding control commands to the service robot via a communication interface.

[0031] Service robots may include manipulators, sensors, and / or cameras. These components may be mounted on the service robot's mobile platform, such as the mobile unit mentioned above. Preferably, all three components are provided, which facilitates the performance of various service tasks by the service robot.

[0032] Optionally, the at least one service task may include inspection tasks and / or testing tasks (e.g., functional check tasks), and the service robot may be configured to perform the corresponding at least one service task. Preferably, the service robot is configured to perform multiple different inspection and testing tasks.

[0033] For example, the at least one service task may include inspecting mechanical components of a wind turbine. Preferably, the at least one service task includes an inspection task in the form of inspecting bolted connections and / or anchor points. Such inspection can improve the operational safety of the wind turbine and / or service personnel, who can use anchor points to hook onto safety harnesses for personnel safety. Furthermore, since such bolted connections and / or anchor points need to be inspected at regular intervals, having such inspections performed by a service robot can reduce the costs and workload associated with such inspections. The service robot may be configured to perform visual inspections, for example, via a corresponding camera. The service robot may be further configured to forward corresponding images for evaluation, and / or may be configured itself to evaluate corresponding images captured by a camera. The service robot may, for example, be configured to inspect the tension, drop direction, and / or condition (e.g., deformation, corrosion, and / or warping) of the anchor points. Corresponding anchor points may be provided at one, two, or more different floors of the wind turbine. For example, a converter platform may include two or more anchor points, a top platform may include two or more anchor points, and an additional platform may optionally include two or more anchor points, and the service system may be configured to provide inspection of each of these anchor points via a service robot.

[0034] Service robots can be additionally or alternatively configured to perform additional inspection tasks, such as visual inspection of electrical, hydraulic, and / or pneumatic connections, for example, corresponding cables, hoses, etc. Service systems can be specifically configured to inspect the hydraulic and / or lubrication systems of wind turbines via service robots. The service system can be specifically configured to inspect one or a combination of hoses, fittings, and filters of such systems in wind turbines via service robots. Therefore, potential damage can be identified early, and failure of the corresponding systems can be prevented.

[0035] The service system can be configured to automatically detect the parts to be inspected and automatically capture one or more images of the parts, for example, a set of pictures in a specific order. The service system can, for example, be configured to capture images of the parts from different angles and / or positions. For this purpose, the service system can automatically move a robot to different positions, and / or an imaging device (such as a camera) can be mounted on an actuator (such as a robotic arm) to allow for different positions and / or angles of the imaging device.

[0036] Service robots may include manipulators, which may be referred to as "manipulation platforms." A manipulator may include at least one robotic arm having end effectors attached to or mountable thereto. Such manipulators facilitate the performance of testing tasks by the service robot, such as functional inspection tasks.

[0037] A robotic arm can be configured to mount and detach two or more different end effectors. This allows for the mounting of various tools, testing equipment, and so on onto the robotic arm.

[0038] For example, the service system may include an end effector station comprising at least one, two, or more end effectors. The system may be further configured to mount at least one of the end effectors provided by the end effector station onto the service robot, particularly onto its robotic arm. The service robot and / or the end effector station may be configured to be controllable for mounting and dismounting the respective end effectors and storing the dismounted end effectors in the end effector station. Thus, end effectors on the robotic arm can be replaced efficiently. The end effector station may, for example, be part of a docking station.

[0039] The at least one end effector may include a gripper, a key for a cabinet in the wind turbine, and at least one of a testing device. Each of these end effectors is preferably located in an end effector station. The corresponding key may, for example, allow opening the electrical cabinet of the wind turbine and performing corresponding inspection and / or testing tasks within the cabinet. The testing device may include not only one or more end effectors for performing mechanical tests, but also, for example, a test sprayer for performing smoke detector tests. By providing end effectors with such test sprayers, the corresponding smoke detector tests that must be performed periodically can be performed by the service robot, thus further improving safety and reducing service costs and workload.

[0040] In an embodiment, the manipulator further includes a height adjustment mechanism configured to extend the reach of the robotic arm in a vertical direction. For example, a height-adjustable platform can be provided, to which the base of the robotic arm can be mounted. The height adjustment mechanism may include a telescopic section that can be electrically, hydraulically, or pneumatically driven, and this telescopic section allows for vertical extension to change the vertical position of the platform. This allows for a more compact robot and thus further enhances the mobility of the service robot. This is particularly advantageous in space-constrained environments such as wind turbines. By providing such a compact service robot that moves across floors without mechanical guides, more locations on the corresponding floors can be reached, enabling greater flexibility regarding the service tasks that the service robot can perform. Moreover, with the aid of such a height adjustment mechanism, additional components can be reached for inspection and / or functional checks, components that would otherwise be inaccessible. This further enhances the versatility of the service robot and therefore the service system.

[0041] The robotic arm may, for example, have a length of at least 500 mm, preferably at least 700 mm. This allows the service robot to reach various components located on different floors of the wind turbine for inspection and / or testing.

[0042] In an embodiment, the manipulator further includes a rotating mechanism (such as a rotating platform), and the at least one robotic arm can be mounted to the rotating mechanism to be rotatable. If such a rotating mechanism is present, it can be, for example, positioned on a height-adjustable platform. This further enhances the versatility of the service robot and allows it to reach other locations and thus other components for inspection and / or testing. For example, at least two robotic arms can be mounted to the rotating platform. The rotating mechanism may, for example, include a base plate (on which one, two, or more robotic arms can be mounted), driven by an actuator (such as an electric motor), for example by a geared motor, stepper motor, or servo motor, etc. Thus, a compact yet multifunctional service robot can be realized.

[0043] The service system can, for example, be configured to cause a service robot to perform circuit breaker tests on a floor of a wind turbine. An end effector can be mounted on the robotic arm to press a test button to test the circuit breaker and reset it (e.g., a relay) after verifying its functionality. The service system can be configured to first operate the service robot using a key-type end effector to open a cabinet containing the circuit breaker, and then operate the service robot using a gripper-type end effector to perform the test. The two end effectors can each be mounted on a respective robotic arm, or the end effectors can be interchanged during a service task. A camera can be mounted on the robotic arm with the end effector, or on a separate robotic arm. This facilitates service tasks performed autonomously by the service system or under the control of an operator at a remote site.

[0044] The service robot may have a width of less than 600 mm, preferably less than 500 mm, and / or a length of less than 700 mm, preferably less than 600 mm. Therefore, a compact service robot that can be easily manipulated within the nacelle of a wind turbine can be provided. The service robot may have a weight of less than 130 kg, preferably less than 120 kg. This facilitates the movement of the service robot within the wind turbine, particularly because the service robot can utilize vertical movement aids designed for humans.

[0045] The service system may further include: a remote operations center; and a data connection between the service robot and the remote operations center to transmit monitoring data from the service robot to the remote operations center and / or control commands from the remote operations center to the service robot. Such a data connection may be provided by a communication interface mentioned herein (which may form part of a docking station) or by a separate communication unit. Therefore, the data connection may be a direct data connection or an indirect data connection, for example, via the communication interface of the docking station. The data connection may include a data queuing function configured to queue service data generated by the service robot for transmission to the remote operations center. Data transmission can occur when sufficient bandwidth is available on the data connection. This facilitates remote control of the service robot from the remote operations center while the service robot collects monitoring data. The remote operations center may be located away from the wind turbine, i.e., not inside the wind turbine and / or not within a wind farm including the wind turbine. For example, for offshore wind turbines, the remote operations center is preferably located on land or on a floating vessel.

[0046] The at least one service task may further include an inspection task in the form of inspecting fire extinguishers. The service system may be specifically configured to inspect the pressure, contamination, corrosion, and / or wear of fire extinguishers via a service robot.

[0047] To perform inspection tasks, the service system can be configured to cause the service robot to take images from at least two different positions and / or two different angles of the item to be inspected. Corresponding autonomous controls can be housed within the service robot or in a controller that communicates with the service robot.

[0048] The service task may include testing smoke detectors. One or more corresponding smoke detectors may be located on one, two, three, or more different floors of the wind turbine. The service robot may be configured to open the cabinet housing the smoke detectors. For example, key-type end effectors and test sprayer-type end effectors as described above may each be mounted on a corresponding robotic arm, or the end effectors may be interchanged during the service task. The service robot may be configured to apply test smoke from a test sprayer to the smoke detectors to test them. The service task may further include closing the cabinets after the test is performed.

[0049] The at least one service task may include a test task in the form of an emergency stop device test. The corresponding emergency stop device may be located on several floors of the wind turbine and may be configured to potentially stop dangerous functions of wind turbine components. It may be necessary to check the corresponding emergency stop devices at specified time intervals to ensure they activate the wind turbine's emergency control system. The service robot may be equipped with end effectors and may be configured to automatically activate the service stop devices to test them. This may include pressing a corresponding emergency stop button via an end effector (such as a gripper). Upon successful activation of the emergency stop device (which can be checked by a remote operations center), the emergency stop device may be reset. The service robot may be configured to automatically reset the emergency stop device. This may be performed again by an end effector mounted to the robotic arm, for example, by a gripper.

[0050] The at least one service task may include an inspection task in the form of inspecting the fluid level of a wind turbine component. As an example, the service robot may be configured to inspect the yaw gear oil level, transformer oil level, cooling system fluid level, gearbox oil level, and / or generator or cooling fluid level.

[0051] The service system is configured to perform at least one service task via a service robot, which may include any combination of service tasks mentioned herein.

[0052] The service system can be configured to return the service robot to the docking station on the floor where it is stationed after performing the last of the at least one service task. The service system can also be configured to cause the service robot to perform a sequence of two or more service tasks at predefined times (e.g., according to a service schedule).

[0053] The service system can be an inspection and testing system. The service system may not be configured to perform replacement or substitution of components of the wind turbine.

[0054] At least one of the service robot, the computing unit in the wind turbine, or the computing unit in the remote operations center is operable an artificial intelligence program configured to identify components of the wind turbine to be serviced based on image data provided by the service robot. The AI ​​program may, for example, be configured to detect at least one of the following in the image data: anchor points, bolts, hoses, emergency stop devices, circuit breakers, smoke detectors, and / or another component of the wind turbine. The control unit of the service system may be configured to control the service robot to automatically perform service tasks (e.g., inspection or testing) when the component to be serviced is detected, and / or the service system may be configured to allow an operator to perform service tasks via remote control of the service robot.

[0055] In an exemplary embodiment, the service system may include service robots and wind turbines, and may optionally include a remote operations center.

[0056] According to another aspect of the invention, a wind turbine is provided comprising two or more floors located at different vertical positions. The wind turbine includes a service system having any of the configurations described herein. The wind turbine may not include a remote operations center, but may include a communication interface for the remote operations center.

[0057] According to another aspect of the invention, a method for servicing a wind turbine by means of a service system is provided. The wind turbine includes at least two floors located at different vertical positions, and the service system includes a self-propelled service robot and a vertical movement aid extending between at least two of the floors. The method includes: controlling the service system to perform at least one service task within the wind turbine. Controlling the service system includes: operating the service system in a first motion mode in which the service robot moves self-propelledly and without mechanical guidance on one of the at least two floors; operating the service system in a second motion mode in which the service robot interacts with the vertical movement aid to move the service robot from one of the at least two floors to the other; and controlling the service robot to perform the at least one service task. This method achieves advantages similar to those further summarized above.

[0058] This method can be performed by a service system having any of the configurations described herein. Furthermore, the service system and its components can be configured to perform any of the method steps described herein.

[0059] According to another aspect of the invention, a method for operating a wind turbine is provided. The wind turbine may be an offshore wind turbine, such as a floating offshore wind turbine. The method includes: generating electrical power and / or electrical energy by the wind turbine during operation; and transmitting at least a portion of the generated electrical power and / or electrical energy to an electrical receiving arrangement. The electrical receiving arrangement may not be located in international waters; it may be located, for example, on land and / or within a 12-mile zone of a corresponding sovereign state, over which the corresponding state has jurisdiction. The method further includes: supplying at least a portion of the electrical power and / or electrical energy to a public power grid, particularly to an onshore public power grid; and performing a method of servicing the wind turbine according to any of the aspects, embodiments, or examples described herein. Such a method improves the availability of the wind turbine and thus the supply of electrical power or electrical energy.

[0060] It will be understood that the features mentioned above and those to be explained below can be used not only in the indicated combinations, but also in other combinations or in isolation, without departing from the scope of the invention. In particular, unless otherwise stated, features of different aspects and embodiments of the invention can be combined with each other. Attached Figure Description

[0061] The foregoing and other features and advantages of the invention will become further apparent from the following detailed description, taken in conjunction with the accompanying drawings. In the drawings, similar reference numerals denote similar elements.

[0062] Figure 1 This is a schematic diagram illustrating a service system including a service robot according to an embodiment of the present invention.

[0063] Figure 2 This is a schematic diagram illustrating different floors of a wind turbine according to an embodiment of the present invention, on which service tasks will be performed.

[0064] Figure 3 This is a schematic diagram illustrating a service robot that interacts with a vertically moving auxiliary component of a service system according to an embodiment of the present invention.

[0065] Figure 4 This is a schematic diagram illustrating a holding device for a service robot according to an embodiment of the present invention.

[0066] Figure 5 This is a schematic diagram of another example of a service robot interacting with vertically moving auxiliary components of a service system.

[0067] Figure 6 This is a schematic diagram of another example of a service robot interacting with vertically moving auxiliary components of a service system.

[0068] Figure 7 This is a schematic diagram illustrating a service robot according to an embodiment of the present invention.

[0069] Figure 8 This is a schematic diagram of another example of a service robot interacting with vertically moving auxiliary components of a service system.

[0070] Figure 9 This is a schematic diagram of another example of a service robot interacting with vertically moving auxiliary components of a service system.

[0071] Figure 10 This is a schematic diagram illustrating the manipulator of a service robot according to an embodiment of a service system.

[0072] Figure 11 This is a schematic diagram illustrating the rotating platform of a service robot in a service system according to an embodiment.

[0073] Figure 12 This is a schematic diagram illustrating two states of the anchor point to be verified by the service system according to an embodiment.

[0074] Figure 13 This is a schematic diagram illustrating the end effector of a service robot according to an embodiment.

[0075] Figure 14 This is a schematic diagram illustrating the end effector of a service robot according to an embodiment.

[0076] Figure 15 This is a flowchart illustrating a method for operating a service system according to an embodiment of the present invention. Detailed Implementation

[0077] In the following, embodiments of the invention will be described in detail with reference to the accompanying drawings. It will be understood that the following description of the embodiments is given for illustrative purposes only and will not be construed as limiting. It should be noted that the drawings will be regarded as schematic representations only, and the elements in the drawings are not necessarily drawn to scale. Rather, the representation of the various elements has been chosen such that their function and general purpose will be obvious to those skilled in the art. As used herein, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” are also intended to include the plural forms. Unless otherwise stated, the terms “comprising,” “having,” “including,” and “containing” will be interpreted as open-ended terms (i.e., meaning “including but not limited to”).

[0078] Figure 1A service system 10 according to an embodiment is schematically illustrated. The service system includes a service robot 100 and a vertical movement assist 250, with which the service robot 100 interacts to move between at least a first floor 211 and a second floor 212. Additional movement assist 250 may be provided to allow the service robot 100 to move to other floors of the wind turbine (e.g., 213). This enables the service robot 100 to perform different service tasks on different floors 211, 212, 213 of the wind turbine. At least two floors are located at different vertical positions (e.g., floors 211 and 212), but some floors may be located at similar vertical positions (e.g., floors 212 and 213). Floors may also be described herein as platforms; however, they may not be flat, and they may not be located in a horizontal plane, but may also be inclined relative to a horizontal plane.

[0079] The wind turbine 200 to be serviced by service system 10 includes a rotor 201 having a hub 202 and rotor blades 203. A nacelle 204 is mounted on a wind turbine tower 205 and may include components of the wind turbine's electrical power system, such as a generator system 206, which may include a generator directly or via a gearbox coupled to the rotor 201. The generated electrical power may be converted at least partially by a power converter 207 located on a first floor 211 (which can therefore be described as a transformer platform) and by a transformer 208 located on a third floor 213 (which can therefore be described as a converter platform). A generator is located on a second floor 212, which can be described as a generator platform. Service system 10 may be configured to cause service robot 100 to perform service tasks, such as inspection or testing, on at least two of floors 211, 212, and 213, preferably on each. It should be noted that in other embodiments, the first floor 211 and the second floor 212 may be different floors.

[0080] The service robot 100 is self-propelled, enabling it to move independently on the corresponding floor. It can move freely in two dimensions on the corresponding floor without mechanical guidance. A docking station 20 can be located on one of the floors, and the service robot 100 can be stationed on the corresponding floor. Such a docking station 20 may include a charger 21 configured to charge the service robot 100's energy storage device (e.g., a battery), for example, via electrical contact or induction. Furthermore, a communication interface 22 is located in the docking station 20 and configured to communicate wirelessly with the service robot 100. Through this wireless communication connection, monitoring data collected by the service robot 100 and / or control commands to be provided to the service robot 100 can be exchanged. Furthermore, the communication interface 22 may be configured to establish a data communication connection with a remote operations center 300. Through this data connection, monitoring data collected by the service robot 100 and / or control commands to be provided from the remote operations center 300 to the service robot 100 can be exchanged. In other embodiments, the remote operations center 300 may communicate directly with the service robot 100, for example, via a cellular network. The service robot 100 may include a corresponding communication interface for such wireless communication.

[0081] The remote operations center 300 may include a processing unit 301 and a memory 302 storing control instructions executed by the processing unit 301. The processing unit 301 and memory 302 may be implemented in one or more computers located at the remote operations center 300, and may include, for example, corresponding microprocessors(s) and memory(s), such as RAM, ROM, flash memory, hard disk drives, etc. The communication interface 303 of the remote operations center 300 may further establish a data communication connection with the communication interface 22 or directly with the service robot 100. Monitoring data received from the service robot 100 can be analyzed by software operating on the data processing unit 301, for example, to detect components of a wind turbine to be serviced in image data received from the service robot 100. Artificial intelligence (AI) programs can be operated on the processing unit 301 to perform such detection. The control program running on the processing unit 301 can also provide control instructions to the service robot 100 to perform service tasks, such as automatically performing a service task after detecting a component to be serviced in the image data.

[0082] The remote operations center 300 further includes a user interface 304 that allows a service operator to remotely control the service robot 100. The user interface 304 may include a vision interface configured to display image data received from the service robot 100 and / or from the wind turbine 200. This vision interface may further visualize other monitoring data, such as measurement data, received from the service robot 100 and / or the wind turbine 200. Input devices (such as a mouse, joystick, touchpad, or any other input device) may be provided to generate control commands for moving the service robot 100 on a corresponding floor of the wind turbine and for moving the service robot between at least two floors of the wind turbine through interaction with the vertical movement aid 250. Alternatively, such control commands may be automatically generated by a processing unit 301 of the remote operations center 300, by a controller within the service robot 100, and / or by a computing unit 24 in the wind turbine 200, which may be located in the docking station 20 or at another location, for example, within the controller of the wind turbine. Therefore, the service system 10 can implement semi-automatic control, wherein the movement of the service robot 100 is automatically controllable and further controllable via remote control.

[0083] Similarly, the manipulators of the service robot 100 can be operated via control commands (described in more detail below), which are generated by the service robot 100 and / or received from the processing unit 24 of the docking station 20, the processing unit 301 of the remote operations center 300, or via the user interface 304 from a human operator. Therefore, the service robot 100 can automatically and / or perform one or more service tasks under the remote control of a service operator.

[0084] To perform different service tasks, the service robot 100 may be equipped with one or more robotic arms to which end effectors may be mounted. An end effector station 23 may be provided, which stores two or more end effectors in such a manner that they can be mounted onto the service robot 100. The end effector station 23 may be part of the docking station 20, or may be provided separately therefrom. The end effector station 23 may be configured to perform the mounting of end effectors to the robotic arms, and / or the robot 100 may be configured to perform such mountings. Preferably, the mounting of end effectors to the robotic arms is performed automatically by the service system 10 depending on the service task to be performed. In other embodiments, the mounting of end effectors may occur under the control of an operator at a remote operations center 300 using a user interface 304.

[0085] The service system 10 can operate in a first motion mode and a second motion mode. In the first motion mode, the service robot 100 moves freely (in two dimensions) on the corresponding floors of the wind turbine, and in the second motion mode, the service robot 100 interacts with the vertical movement assist 250 to move between floors. Therefore, movement in the second motion mode can be a restricted movement in one direction, such as the direction determined by the vertical movement assist 250. Thus, a high degree of versatility and maneuverability of the service robot 100 can be achieved, while allowing the service robot 100 to reach different floors at different vertical positions.

[0086] Figure 2 An exemplary wind turbine 200 and various floors or platforms that may exist within such a wind turbine are schematically illustrated. Floor 211 is a converter platform on which a power converter 207 is provided. Floor 213 is a transformer platform on which a power transformer 208 is provided. This example illustrates a direct-drive wind turbine with a generator having a hollow shaft. Floor 212 is a generator platform housing the generator or generator components such as a stator and cooling system. The wind turbine 200 further includes a transmission platform 214 on which power transmission equipment such as high-voltage AC (HVAC) or other transmission equipment is provided. A yaw platform 215 is disposed at the location of a yaw bearing or yaw actuator that provides rotational movement between the nacelle 204 and the tower 205. A base frame floor 216 is located at the base frame of the wind turbine. The base frame can be mounted to the tower 205 via a yaw bearing and can carry the generator and the wind turbine rotor. A hub floor 217 may be further provided, and this hub floor may be arranged within the hub of the wind turbine. Drives (such as hydraulic or electric pitch drives) may be accessible from the hub floor 217. A tower platform 218 may be located within the tower 205 of the wind turbine. Multiple such tower platforms may be provided, such as one or a combination of a top tower platform, a mid-tower platform, and / or a bottom tower platform. Furthermore, the wind turbine 200 may include a top platform 219, which may be or may include a helicopter mounting platform, a crane platform, and / or a roof-mounted platform. It should be understood that these are exemplary platforms, and the wind turbine 200 may include fewer platforms or floors, or may include additional platforms or floors.

[0087] The service robot 100 may be stationed on one of the floors of the wind turbine 200, preferably on the floor where a relatively large number of service tasks will be performed, such as on the converter platform 211 or transformer platform 213. One or more vertical movement aids 250 may extend to one or more floors or platforms provided in the wind turbine 200, which are thus accessible via the service robot 100. Preferably, the service system is configured such that the service robot can access at least the converter platform 211, the transformer platform 213, and optionally the yaw platform 215 (i.e., (a plurality of) corresponding vertical movement aids may be mounted between these platforms). More preferably, the service system 10 is configured such that the service robot 100 can reach the base platform 216 and optionally the hub platform 217. Further, the service system 10 may be configured such that the service robot 100 can additionally reach the tower platform 218, particularly one or a combination of the tower bottom platform, the tower mid-section platform, and the tower top section platform. Furthermore, the service system 10 may be configured such that the service robot 100 can additionally access the top platform 219, such as a helicopter hoisting platform, crane platform, or rooftop platform. In some embodiments, the service system 10 may be configured such that the service robot 100 can access each of these platforms. It goes without saying that it is not necessary to provide vertical movement aids between every possible combination of two floors or platforms; instead, the service robot can reach from one platform to another, such that one, two, or three vertical movement aids leading to each floor or platform are generally sufficient. A centrally located platform (such as a base platform 216) may include additional vertical movement aids.

[0088] Therefore, a highly flexible service system 10 can be provided, and various service tasks can be performed by the service system 10 on each of these platforms within the wind turbine 200.

[0089] Figure 3An exemplary embodiment of a service robot 100 and a vertical movement aid 250 is schematically illustrated, extending between a first floor 211 and a second floor 212, which can be any of the exemplary floors mentioned above. The vertical movement aid 250 includes a staircase 251 and a guide rail 252 extending along the staircase 251. The service robot 100 includes a movement unit 110 (also referred to as a “moving platform”) for propelling the service robot 100. The service robot 100 further includes a holding device 120 configured to interact with the vertical movement aid 250 and, in this example, configured to hold onto the guide rail 252. The holding device may include grips, handles, wheels, and / or brackets for holding onto the guide rail 252. The service robot 100 can thus move up and down along the staircase 251 via the movement unit 110, while the movement is stabilized by the holding device 120 holding onto the guide rail 252. In other configurations, the holding device 120 and the guide rail 252 may not be provided, and the moving unit 110 may interact with the staircase 251, which serves as a vertical movement aid, to move the mobile robot between floors 211 and 212.

[0090] Figure 4 An exemplary embodiment of the retaining device 120 is illustrated, which includes two, three, or more rollers 121. A guide rail 252 has a circular cross-section, and the rollers 121 are clamped onto the guide rail 252 to guide the movement of the service robot 100. It should be understood that the guide rail may have different cross-sectional shapes (such as square or pentagonal), and different numbers of rollers may be clamped onto the guide rail. One or more rollers may be mounted to one or more movable supports 123, which are actuable to clamp onto the guide rail 252 and thus engage the retaining device 120 with the guide rail. Figure 4 Two such brackets 123 are shown, each supporting two rollers.

[0091] Return to Figure 3The service robot 100 may include a manipulator 150, which in this example includes two robotic arms 151 and 152, with end effectors 161 and 162 mounted to each of these two robotic arms. The end effectors 161 and 162 are configured to perform corresponding service tasks, and will be explained in more detail below. Furthermore, the manipulator 150 includes a height adjustment mechanism 170 and a rotation mechanism 180, both of which will also be explained in more detail below, and are optional. In other embodiments, the manipulator 150 may include only a single or additional (e.g., three or more) robotic arms. One or more cameras 168 and / or one or more sensors may be further disposed on the service robot 100. They may be mounted to the mobile platform 110 and / or the manipulator 150. For example, the camera 168 may be disposed at the end of one or both of the robotic arms 151 and 152, which may facilitate the inspection of wind turbine components due to the mobility of the camera 168 and may further facilitate the operation of the corresponding end effectors. One or more such cameras 168 may, for example, capture image data, which is transmitted to computing unit 24 and / or processing unit 301 for processing, as described above.

[0092] Figure 5 Another possible implementation of a vertical movement aid 250 is schematically illustrated, which provides driven movement of the service robot 100 in a second motion mode, driven by an actuator 261 external to the service robot 100. The vertical movement aid 250 may include an elevator 260 on which the service robot 100 can move. The actuator 261 may be an elevator drive that moves the elevator 260 between floors 211 and 212 in a direction that is at least partially vertical. Such an elevator 260 may be installed on existing stairs and / or handrails, or may be provided as a separate vertical movement aid between two floors (in which case the elevator may include corresponding guides, such as tracks or rails, for moving the elevator platform thereon). The elevator 260 may specifically include an elevator platform configured to receive the service robot 100, mechanical guiding devices configured to guide the movement of the corresponding platform between two floors, and the actuator 261. The actuator may include, for example, a chain or rack and pinion configuration, a rope and winch, an electric motor, a hydraulic or pneumatic cylinder, or any other suitable configuration for moving the elevator platform between two floors.

[0093] Figure 6 Another exemplary embodiment of the vertical movement aid 250 is illustrated, which also includes an elevator 260 and an actuator 261. Figure 6In the example, elevator 260 is mounted on ladder 255 between two floors 211 and 212. Additional guide rails 252 may be installed on or adjacent to ladder 255 to guide elevator 260. Using such elevator 260, service robot 100 can span large vertical distances in a (substantially) vertical direction.

[0094] exist Figure 5 and Figure 6 In the example, the service robot 100 interacts with the vertical movement aid by being driven onto and lifted together with the platform of the elevator 260. Therefore, the holding device 120 is not required on the service robot. In other embodiments providing driven movement of the service robot, the vertical movement aid may include, for example, a conveyor, escalator, or crane that transports the service robot between floors 211, 212. For example, a conveyor chain or belt may extend between the two floors 211, 212, and the service robot may include the holding device 120 to clamp onto such a conveyor chain or belt for elevation from floor 211 to floor 212. Preferably, the service system 10 includes at least a vertical movement aid providing driven movement of the service robot, or the service robot 100 includes a holding device to support self-driven movement by the robot 100 between two floors. Both may be present to reach different floors.

[0095] Figure 7 Another exemplary embodiment of the mobile unit 110 is illustrated, wherein one or more tracked drives are provided. The service robot 100 preferably includes two, three, or four tracked drives 115, each tracked drive including a track 116, such as a rubber track or track plate assembly or track chain. This allows the self-propelled robot 100 to climb steeper slopes and traverse greater vertical distances as well as uneven surfaces (such as steps). The service robot 100 may additionally or alternatively include legs to improve mobility. In certain embodiments, such as Figure 7 As shown, the outriggers can be provided by a tracked drive 115. As illustrated, these may include multiple rollers and have a longitudinal extension whose orientation can be changed. Figure 8 As illustrated, this configuration of the mobile unit 110 facilitates interaction with vertical movement aids and, in particular, allows the service robot to climb steeper vertical movement aids, such as steep stairs. The service robot can be configured to climb stairs steeper than 45°. To support such movement, the service robot 100 may optionally be equipped with a holding device 120, such as one, two, or more hooks, which can hold or clamp onto the handrail 253 of the stairs. Thus, the service robot can traverse steep ramps between floors in a self-propelled manner.

[0096] Figure 9 The diagram illustrates another exemplary implementation, in which, Figure 7 The service robot 100 is equipped with a holding device 120, which includes one, two, or more hooks 122 configured to interact with vertical movement aids 250 (such as the steps 256 of a ladder 255). Thus, the service robot 100 can be configured to climb the ladder 255 in a self-propelled manner. Even in confined spaces where steps with low inclines cannot be provided, the service robot 100 is allowed to use existing vertical movement aids made for humans (such as steep ladders or steps) to travel between different vertical floors of a wind turbine.

[0097] Figure 10 An exemplary embodiment of the manipulator 150 of the service robot 100 described above is illustrated. The manipulator 150 includes at least one, preferably at least two, robotic arms 151, 152. Each robotic arm may have at least one, preferably at least two or three joints, such as articulated joints and / or rotary joints. At the ends of the robotic arms, end effectors or connection interfaces 153 configured to receive end effectors may be provided. Thus, the robotic arms may be equipped with different end effectors. Additionally or alternatively, the robotic arms may be equipped with sensors or cameras. This allows imaging of the wind turbine components to be serviced in a desired manner, such as from different predefined orientations.

[0098] Optionally, the manipulator 150 may include a height adjustment mechanism 170 capable of extending the reach of the manipulator 150 in a vertical direction. The height adjustment mechanism 170 may be mounted to a mobile platform, and the one or more robotic arms may be mounted to the height adjustment mechanism, such as on a height adjustment platform. The height adjustment mechanism 170 may include a telescopic section (such as a telescopic cylinder) or other mechanisms (such as a scissor mechanism, a folding mechanism, etc.). Starting from the retracted state, the vertical extension provided by the mechanism is at least 50%, 100%, or 150% of its vertical height.

[0099] Optionally, the manipulator 150 may include a rotating mechanism 180, which is mounted to the mobile platform, for example, directly or via a height adjustment mechanism 170 (if provided). The rotating mechanism 180 may allow rotation of one, two, or more robotic arms 151, 152. The rotating mechanism may include: a rotary drive 181, such as an electric drive motor, for example a geared motor; and a mounting base 182, such as a plate, on which the robotic arms may be mounted. Figure 11An exemplary embodiment is illustrated, wherein the height adjustment mechanism 170 includes a mounting base 172, such as a plate. A rotation mechanism 180 is mounted to the mounting base 172. Two robotic arms 151 and 152 are mounted on the mounting base 182. This allows for changing the orientation of the arrangement of the two robotic arms, which facilitates manipulation in confined spaces. In particular, it is not necessary to rotate the robot 100 to achieve the desired relative arrangement of the two robotic arms. In other embodiments, the rotation mechanism 180 may be mounted below the height adjustment mechanism 170, or the rotation mechanism may not be provided.

[0100] The service robot 100 may include a camera for performing inspection tasks; therefore, the manipulator 150 is optional. However, mounting the camera on a robotic arm to provide increased flexibility during imaging is beneficial. Figure 12 The illustration depicts an inspection task that can be performed by a service robot 100 on any of the floors of the aforementioned wind turbine, particularly on one or a combination of the converter platform, hollow shaft platform, and top platform. The service robot can move to anchor point 280, which may be on the same floor as the service robot or on a different floor, such that the movement involves interaction with a vertical movement aid. An attachment of the robot, including a camera (such as a robotic arm), can then be moved in front of anchor point 280. Robot movement and camera alignment can occur automatically or under the control of an operator (e.g., at a remote operations center 300). Software (which may include the aforementioned artificial intelligence program) can detect anchor point 280 and can initiate an automated inspection task as part of the service task. This may involve taking images from at least two different locations and / or angles, such as from... Figure 12 The images shown are taken from the front and side (not shown). The corresponding images can be evaluated by the service robot 100, by the computing unit 24 in the wind turbine, and / or by the remote operations center 300, for example automatically or by an operator via the user interface 304. Anchor point 280 may include a buttonhole 281 to which a safety belt for personnel safety can be hooked. Alignment mark 282 indicates that the tension and drop direction of the anchor point conform to specifications, such as... Figure 12 The left-hand side is illustrated. The right-hand side shows anchor points that have become misaligned or loose, which can be identified from the image data. Similarly, deformation of anchor points (e.g., using a side image) and / or corrosion can be detected. By detecting such degradation of anchor points 280 by the service robot 100, the safety of service personnel can be improved, and the service requirements of wind turbines can be met.

[0101] Other service tasks may include testing tasks and / or functional check tasks. Figure 13 and Figure 14The illustration shows two end effectors 160 that can be used for such a task. Figure 13 A first end effector 161 is shown, which is in the form of a gripper with two clamping elements 165 (such as fingers, claws, etc.). Using the gripper 161, the service system 10 can be configured to perform an emergency stop test, which may include pressing a corresponding emergency stop button and resetting the emergency stop. This test can be performed on one or more emergency stop devices located on at least one of the base platform, tower platform, converter platform, and transformer platform. (Regarding...) Figure 12 The described inspection tasks are similar, and such testing tasks may include moving the service robot to the location of the emergency stop device, aligning the end effector on the robotic arm with the emergency stop device, and executing the described test procedure, which may occur automatically or under the control of an operator at a remote operations center 300. If the test indicates a failure of the emergency stop device, repairs to the corresponding system can be scheduled.

[0102] Figure 14 The illustration shows a second end effector 162, which takes the form of a key 166 for a cabinet (such as a switch cabinet) for a wind turbine. The end effector 162 can be operable to turn the key 166 to open the cabinet door. This allows the service robot 100 to perform one or more inspection and / or testing tasks within the corresponding cabinet. The robot 100 can be moved back to the cabinet location, and the attachment with the end effector 162 can be positioned in front of the electrical cabinet's door lock, which can again be detected via an AI procedure. An opening task can then be performed, in which the end effector 162 unlocks the lock and further opens the cabinet door, which can again occur automatically or under operator control.

[0103] The circuit breaker function check can then be performed by robot 100 within the electrical cabinet. This may involve triggering the circuit breaker, for example, by actuating a test switch using gripper 161. If the relay or circuit breaker is triggered after actuating the test button, it can be reset using gripper 161. If the function test fails, maintenance can be scheduled.

[0104] As another example, the cabinet may include a smoke detector, or such a smoke detector may be provided at another location within the wind turbine. An end effector including a smoke detector test spray (generating test smoke) may be further provided. A service robot may be moved to the location of the smoke detector, and an attachment including the test spray (e.g., a robotic arm) may be positioned in front of the smoke detector, again automatically or under operator control. The AI ​​program can detect the corresponding smoke detector and can automatically or by the operator initiate the corresponding functional check sequence. The test spray type end effector generates test smoke and can monitor the response of the smoke detector. Upon successful alarm activation, the alarm can be reset, for example, from a remote operations center 300. If the functional check is unsuccessful, maintenance can be scheduled.

[0105] It should be clear that the service system 10 can be configured such that the service robot 100 subsequently performs one or more service tasks and can further return to the charger, such as docking station 20, after performing the last service task.

[0106] Figure 15A flowchart of the method according to an embodiment is shown. In step S11, the service robot receives a command to move to a location within the wind turbine, which can be any location described above with respect to the exemplary service task. The command can be a remote control command from user interface 304, computing unit 24, or processing unit 301. The service robot 100 may also simply receive the location within the wind turbine and move to that location autonomously. In step S12, the service system operates in a first motion mode in which the service robot freely (i.e., without mechanical guidance) moves to a vertical movement aid on the floor above which it is stationed (step S12-1). Upon reaching the vertical movement aid, the service system operates in a second motion mode (step S13), which may include the service robot engaging the vertical movement aid (step S13-1). As mentioned above, the holding device 120 may, for example, be clamped to a corresponding support, or the robot may move to a platform such as elevator 260. In step S13-2, the service system is operated to move the service robot from the first floor of the wind turbine to a second different floor. This can occur through the operation of the robot's movement unit 110 or through the operation of the actuator 261. Upon reaching the second floor, the service system is operated again in a first motion mode, in which the service robot freely moves to the corresponding position on the second floor (step S14). Upon reaching the position, the service robot can be controlled to perform the corresponding service task (step S15). Detailed examples of such service tasks to be performed at the corresponding positions have been given above. Therefore, a variety of different service tasks on different floors of the wind turbine can be performed efficiently and without requiring service personnel to be present at the wind turbine.

[0107] While specific embodiments have been disclosed herein, various changes and modifications can be made without departing from the scope of the invention. These embodiments are to be considered illustrative in all respects and not restrictive, and all changes are intended to be covered therein within the meaning and scope of the appended claims.

Claims

1. A wind turbine service system configured to perform at least one service task in a wind turbine (200), wherein, The wind turbine (200) comprises at least two floors (211, 212) at different vertical positions, wherein at least two of the floors are arranged within a nacelle (204) of the wind turbine, wherein the wind turbine service system (10) comprises: a service robot (100) which is self-propelled and controllable to perform the at least one service task, wherein the at least one service task comprises an inspection task and / or a test task; and a vertical movement aid (250) extending between at least two of the floors (211, 212), wherein the vertical movement aid (250) comprises a vertical movement aid between the at least two floors within the nacelle (204); and a docking station (20) configured to provide electrical power to the service robot (100) in order to charge an energy storage device of the service robot, the docking station (20) being provided on one of the floors in the nacelle (204) on which the service robot is stationed, wherein the wind turbine service system (10) is configured to have a first movement mode in which the service robot (100) moves self-propelled and without mechanical guidance on at least one of the floors (211, 212), the first movement mode providing free movement of the service robot (100) in two dimensions on the respective floor, and wherein the wind turbine service system (10) is further configured to have a second movement mode in which the service robot (100) interacts with the vertical movement aid (250) to move the service robot between the at least two floors (211, 212) within the nacelle.

2. The wind turbine service system of claim 1, wherein, The service system (10) is configured to provide in the second movement mode a mechanically guided movement of the service robot (100) and / or a driven movement of the service robot (100), the driven movement being driven by an actuator (261) external to the service robot (100).

3. The wind turbine service system according to claim 1 or 2, wherein, The vertical movement aid (250) comprises one or a combination of the following: a guiding rail (251, 252), a track, a ladder (255), a staircase (251), a conveyor, an escalator, an elevator (260) and a crane.

4. The wind turbine service system according to any of the preceding claims, wherein, The service robot (100) comprises a holding device (120) configured to interact with the vertical movement aid (250), such as a clamp (123), a hook (122), a grip, a roller (121), a cradle and / or a pinion.

5. A wind turbine service system according to any of the preceding claims, wherein, The service system (10) comprises an end effector station (23) comprising at least one, two or more end effectors (160) for the service robot (100), wherein the service robot (100) and / or the end effector station (23) is preferably configured controllable to mount an end effector (160) to the service robot and to dismount an end effector (160) from the service robot, and further preferably to store a dismounted end effector (160) in the end effector station (23).

6. A wind turbine service system according to claim 5, wherein, The end effectors provided by the end effector station (23) comprise at least one of a gripper, a key for a cabinet in the wind turbine, and a testing device.

7. A wind turbine service system according to any of the preceding claims, wherein, The service system (10) is configured to perform service tasks on each of at least two floors (211, 212) within the nacelle by means of the service robot (100).

8. A wind turbine service system according to any of the preceding claims, wherein, The at least two floors comprise one or a combination of the following: a converter platform (211) comprising an electrical power converter (207); a transformer platform (213) comprising an electrical power transformer (208); a transmission platform (214) comprising electrical power transmission equipment; a yaw platform (215) at a location of a yaw drive or a yaw bearing of the wind turbine; a foundation floor (216) at a foundation of the wind turbine; a generator floor (212) within a hollow shaft of a generator of the wind turbine or comprising a generator of the wind turbine; a hub floor (217) within a hub of a wind turbine rotor (201) of the wind turbine; a top platform (219) on a top of a nacelle (204) of the wind turbine; and a tower platform (218) in a tower (205) of the wind turbine.

9. A wind turbine service system according to any of the preceding claims, wherein, The service robot (100) comprises a manipulator (150), sensors and / or cameras (168).

10. A wind turbine service system according to claim 9, wherein, The manipulator (150) comprises a height adjustment mechanism (170) configured to extend a reach of the manipulator in a vertical direction.

11. A wind turbine service system according to any of the preceding claims, wherein, The at least one service task comprises inspecting mechanical components (280) of the wind turbine, preferably inspecting bolted connections and / or anchor points (280).

12. A wind turbine service system according to any of the preceding claims, wherein, The service system is configured to cause the service robot (100) to perform a circuit breaker test on at least one of two floors within the nacelle (204).

13. A wind turbine service system according to claim 12, wherein, The service robot (100) comprises a robotic arm (151, 152) with an end effector (160) configured to press a test button to test the circuit breaker, wherein the service robot (100), in particular the end effector, is preferably further configured to reset the circuit breaker after verifying its functionality.

14. A wind turbine service system according to any of the preceding claims, wherein the smoke A detector is located on one, two or more of the floors of the wind turbine, wherein the at least one service task comprises a smoke detector test, wherein the service robot is preferably configured to employ a test-sprinkler type end effector and apply test smoke from the test sprinkler to the smoke detector to test the smoke detector.

15. A wind turbine service system according to claim 14, wherein, The smoke detector is arranged in a cabinet, wherein the service robot is configured to employ a key type end effector to open the cabinet containing the smoke detector prior to applying test smoke from the test sprinkler.

16. A wind turbine service system according to any of the preceding claims, wherein, An emergency stop located on one, two or more floors of the wind turbine, which is configured to stop potentially harmful operation of the wind turbine, wherein the at least one service task comprises an emergency stop test, wherein the service robot is configured to activate the service stop to test the service stop, wherein the service robot is preferably provided with an end effector which is controllable to activate the service stop.

17. The wind turbine service system according to any of the preceding claims, further comprising a remote operation center (300), wherein, The service system (10) comprises a data connection between the service robot (100) and the remote operation center (300) to transmit monitoring data from the service robot (100) to the remote operation center (300) and / or to transmit control commands from the remote operation center (300) to the service robot (100).

18. A method of servicing a wind turbine (200) by means of a service system, wherein The wind turbine (200) comprises at least two floors (211, 212) at different vertical positions, wherein at least two of the floors are arranged within a nacelle (204) of the wind turbine, and wherein the service system (10) comprises: a self-propelled service robot (100); and a vertical movement aid (250) extending between at least two of the floors (211, 212), wherein the vertical movement aid (250) comprises a vertical movement aid between the at least two floors within the nacelle (204); and a docking station (20) configured to provide electrical power to the service robot (100) in order to charge an energy storage device of the service robot, the docking station (20) being arranged on one of the floors in the nacelle (204) on which the service robot is stationed, wherein the method comprises: controlling the service system (10) to perform at least one service task in the wind turbine (200), wherein the at least one service task comprises an inspection task and / or a test task, wherein controlling the service system comprises: operating the service system (10) in a first movement mode in which the service robot (100) moves self-propelled and without mechanical guidance on one of the at least two floors (211, 212), the first movement mode providing free movement of the service robot (100) in two dimensions on the respective floor; operating the service system (10) in a second mode of motion, in which the service robot (100) interacts with the vertical movement aid (250) between the at least two floors within the machine cabin (204) to move the service robot (100) from one of the at least two floors (211, 212) within the machine cabin (204) to another floor; and controlling the service robot (100) to perform the at least one service task.

19. A method of operating a wind turbine, wherein, The wind turbine (200) is an offshore wind turbine, in particular a floating offshore wind turbine, wherein the method comprises: generating electrical power and / or electrical energy by the wind turbine (200) during operation; transmitting at least a portion of the generated electrical power and / or electrical energy to an electrical receiving arrangement, in particular wherein the electrical receiving arrangement is not positioned in international waters, is positioned on land and / or is positioned within a 12-mile zone of a respective sovereign state having jurisdiction over the 12-mile zone; supplying at least a portion of the electrical power and / or the electrical energy to an electrical utility grid, in particular to a land-based electrical utility grid; and performing the method of servicing the wind turbine according to claim 18.

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