Service robot for wind turbines and navigation method thereof

Abstract

The present invention relates to a service robot and a navigation method specifically designed for wind turbines. The robot boasts versatile features, including arms, a tool head with interchangeable tools and grippers, an AI-driven control system, advanced sensors, and cameras, enabling a wide range of inspections and maintenance tasks, including component exchange. Navigating within the wind turbine is achieved through a crane rail or equivalent railing system mounted on the turbine's ceiling, ensuring smooth movement and obstructionfree operations along predefined routes. Moreover, the robot's remote control capability enhances efficiency, allowing inspection and maintenance tasks to be executed seamlessly from back office environments.

Description

SERVICE ROBOT FOR WIND TURBINES AND NAVIGATION METHOD THEREOFFIELD OF THE INVENTION:The present invention is generally related to a robot capable of performing various services in wind turbines, including inspection and maintenance tasks.The present invention is furthermore related to a novel method wherein the robot utilizes crane rails or a similar railing system as a navigational mechanism within the wind turbine.BACKGROUND OF THE INVENTION:As the demand for renewable energy, particularly in offshore windfarms, continues to rise, developers are confronted with the imperative to reduce maintenance costs, considering that these costs are ultimately borne by consumers through their electricity bills.The effective operation and maintenance of a windfarm relies on several key factors, including the duration and number of hours that technicians spend inside a turbine and the frequency of visits per wind turbine. To tackle these challenges, the vital need for automating service and maintenance activities has never been more crucial than ever, aimed at reducing the need for technicians to be present inside the turbine for service and maintenance tasks, as well as lowering the frequency of visits.One of the significant components contributing to operation and maintenance expenses in offshore windfarms is the transportation of technicians to the turbines. Reducing the number of technicians needed for maintenance inside the turbines, consequently, is leading to a reduction in the size of transportation vessels used in offshore windfarms. This reduction in vessel size translates to a decrease in CO2 emitted by transportation means such as service operation vessels, while simultaneously curbing the operation and maintenance expenses for the windfarm owners.Furthermore, by automating the maintenance tasks, the period for which transportation means are utilized will be minimized, resulting in a substantial drop in CO2 emissions and further cost savings for the windfarm owners.Moreover, decreasing the frequency and duration of maintenance tasks at windfarms contributes to mitigating health and safety risks, making the operation safer for technicians, and minimizing potential incidents.It's worth noting that current offshore windfarm developers face additional challenges. A lack of available vessels worldwide necessitates the construction of specialized transportation vessels for servicing and maintenance. Additionally, there is a shortage of skilled technicians required for the upkeep of future windfarms, presenting another hurdle that needs to be addressed.By introducing the service robot and its innovative method of navigating within wind turbines, the present invention introduces a promising solution to enhance the efficiency and sustainability of windfarm services while effectively tackling various challenges in the wind energy industry.DESCRIPTION OF THE INVENTIONTo address this imperative need effectively, it is an objective of the present invention to provide a cutting-edge service robot that has been purposefully designed to operate within wind turbines. Utilizing the wind turbine crane rail or an equivalent railing system, the robot gains unparalleled access to diverse and hard-to-reach locations within the turbine structure. This innovative approach marks a significant advancement in the field of wind turbine services, enabling the robot to navigate through the intricate and confined spaces of the nacelle with precision and agility.In one embodiment of the present invention, the service robot's utilization of the crane rail or equivalent railing system revolutionizes the process, providing a seamless and efficient means of movement. The robot can traverse along predefined routes, designed to avoid obstacles, and optimize its path, ensuring smooth navigation through the nacelle. This innovation not only minimizes downtime and labor costs but also significantly improves the overall safety and reliability of wind turbine services.The ability of the service robot to access diverse and hard-to-reach locations within the turbine is of paramount importance for comprehensive inspections and maintenance tasks. It allows the robot to perform visual assessments, conduct measurements, and carry out critical maintenance activities that might otherwise be challenging or dangerous for human technicians. By reaching these inaccessible areas, the robot can identify potential issues or anomalies early on, facilitating prompt intervention and preventive maintenance, ultimately enhancing the wind turbine's overall performance and lifetime.By incorporating the crane rail or an equivalent railing system, the service robot gains a significant advantage in terms of navigation. In another embodiment of the present invention, the predefined route, coupled with the robot's diligently designed trolley system specifically tailored for its movement, ensures a seamless and obstacle-free path. This level of precision enhances overall efficiency during various tasks, including inspections and maintenance activities. With the ability to traverse along this preplanned pathway, the robot can access crucial areas within the wind turbine's nacelle with utmost accuracy and safety. By avoiding potential obstacles, the robot minimizes the risk of collisions or disruptions, streamlining its movement and task execution. This optimized navigation not only saves valuable time and resources but also contributes to the lifetime and proper functioning of the wind turbine.In another embodiment of the present invention, the operational control of the service robot is centralized in a secure back-office environment, representing a pivotal advancement in wind turbine service operations. Skilled technicians can remotely oversee and manage the robot's functions, thus reducing the need for physical presence during tasks. This remote operation significantly enhances implementation efficiency by eliminating the logistical challenges of sending technicians to the turbine site for every inspection or maintenance job. Instead, technicians can utilize real-time data, live feeds from the robot's cameras, and advanced control systems to monitor and direct the robot's actions from the back office. This efficient remote management optimizes resource allocation and minimizes downtime, allowing technicians to focus on high-priority tasks and critical decision-making rather than being occupied with routine or mundane activities.The present invention introduces a state-of-the-art service robot that streamlines task execution, improves safety, reduces operational costs, and enables comprehensive inspections and maintenance, making it a game-changer in the field of wind turbine services.In achieving its first objective of automating the inspection and maintenance tasks of wind turbines, the present invention employs a one or two-arm robot. This robot comprises essential components such as a trolley with a drive for transportation along the crane rail or equivalent railing system, a sophisticated control system, independent arm(s) (in the case of multiple arms), sets of sensors, cameras, and a diverse range of tools. These tools comprise sets of grippers, tailored for handling different types of tasks, a hand-shaped gripper, trolley gripper, screwdrivers, bolt tension measuring devices, wrench tools, and a snake camera system.In one embodiment of the present invention, the service robot is equipped with a highly versatile tool head that facilitates the seamless exchange of various grippers empowering the robot's capabilities to efficiently handle different type of tasks including the replacement or maintenance of components, such as filters, fans, and other essential parts.The robot's grippers are designed with precision and adaptability in mind, enabling it to securely grip and manipulate different types of components. When tasked with component exchange, the robot first receives the command for the specific component replacement from the back office. Once the target component is identified, the robot proceeds to use its specialized gripping mechanism to safely and accurately remove the old or malfunctioning part.After successfully removing the component, the robot seamlessly exchanges it with the new one, ensuring proper alignment and attachment. This precise and efficient component exchange process is made possible by the robot's sophisticated control system and utilization of distance and position sensors, cameras and artificial intelligence, which allows for fine-tuned movements and adjustments.The ability of the service robot to exchange various components within the wind turbine offers several significant advantages. Firstly, it reduces the need for human technicians to physically carry out these tasks. Additionally, the robot's capability to swiftly and accurately exchange components enhances the overall efficiency of troubleshooting operations, reducing downtime, and maximizing the wind turbine's availability and energy production.Furthermore, as another embodiment of this invention, the robot's tool heads and grippers are carefully designed and engineered to ensure the safety and integrity of the wind turbine's components. It includes a hand-shaped gripper designed to mimic the human hand's anatomy for precise manipulation of intricate parts.The robot’s tool head can also employ bolt tension measuring devices to measure the tension of the bolts, ensuring proper fastening and tensioning of critical components. Various wrench tools are available to cater to different nut and bolt sizes, allowing the robot to address diverse maintenance needs.Furthermore, the integration of a snake camera system offers, as another embodiment of the present invention, enhanced inspection capabilities, enabling the robot to navigate and survey hard-to-reach areas with high-definition visual feedback.To facilitate comprehensive and accurate inspection purposes, the robot is equipped with a sophisticated snake camera system. This cutting-edge technology ensures that even the most challenging-to-reach areas can be effectively surveyed.To ensure safe and obstacle-free operation, the robot is outfitted with advanced positioning and distance sensors, in conjunction with an array of cameras. These integrated systems work harmoniously to detect and avoid potential collisions with turbine components. Thanks to the integration of artificial intelligence, the service robot can efficiently navigate its environment, successfully omitting any collision risks.The precise and controlled movements of the robot's arm, coupled with its advanced AI collision avoidance system, prevent any accidental damage or misalignment during component exchange.For real-time monitoring and enhanced situational awareness, cameras are thoughtfully placed around the gripper or tool head of the robot, enabling operators to have continuous visual access to ongoing operations.Additionally, the service robot incorporates an autonomous system to facilitate swift and effortless changes of grippers or tool heads. This autonomy enables the robot to be readily prepared for executing specific tasks, further improving its versatility and operational efficiency.This extensive array of interchangeable tools equips the robot to adapt to specific tasks, maximizing its efficiency and effectiveness in wind turbine servicing.Additionally, in one embodiment of this invention, a trolley gripper is designed to facilitate smooth movement between independent crane rail paths, ensuring efficient access to various areas within the nacelle.The trolley gripper integrated into the robot's design plays a crucial role in facilitating its movement between independent crane rail paths when situated within the nacelle of the wind turbine. In nacelle, with multiple crane rail systems, each serving distinct areas or functionalities within the nacelle, the robot must efficiently navigate between these paths to access various locations for inspection, maintenance, or other tasks.In another embodiment of this invention, when the robot needs to transition between crane rail paths, the trolley gripper comes into action, ensuring a smooth and precise maneuver. The robot retrieves the trolley gripper from its secure storage in the tool magazine and positions it onto the new crane rail path with utmost precision and control. The robot's main trolley, which primarily holds and supports the service robot, is then detached from the initial crane rail path and moved towards the new path, where it securely attaches.Once in place, the trolley gripper is disengaged, ready to be exchanged for any other tool in the tool magazine, thus enabling the robot to seamlessly execute tasks achievable by moving along the new path. This strategic deployment of the trolleys ensures that the robot can traverse the new rail safely, without any disruptions or collision risks.The use of the trolley gripper is not limited to movement between crane rail paths alone. In another embodiment, the trolley gripper is ingeniously utilized when the robot is in its parking position. When the robot is not actively engaged in performing tasks and is temporarily parked, the trolley gripper is employed to enhance stability and minimize vibrations.In the parking position, the robot's trolley gripper, which is mounted on the wrist, is securely placed within the crane rail or equivalent railing system. This arrangement provides additional support and stability, ensuring that any potential vibrations, which may arise due to environmental factors or movements within the wind turbine caused by its operation, are significantly reduced. By employing the trolley gripper, the robot remains steady and wellbalanced during its idle state, optimizing its overall performance and safeguarding its components from unnecessary wear and tear.In summary, the incorporation of the trolley gripper allows the robot to deftly switch between independent crane rail paths, enabling access to different areas within the wind turbine. Furthermore, when the robot is parked, the trolley gripper provides enhanced stability, minimizing vibrations, and ensuring the robot is always ready for efficient and reliable operation. This thoughtful design element enhances the robot's versatility and performance, making it a valuable asset for carrying out intricate tasks in wind turbines.The robot's connectivity to service plugs and the uninterruptible power supply (UPS) system in the wind turbine provides crucial operational flexibility. This allows the robot to perform tasks regardless of the turbine's operational status, whether it is in operation or temporarily shut down for maintenance. By being connected to the uninterruptible power supply (UPS) system, the robot can access power even during power outages, ensuring continuous functionality and allowing it to execute tasks that might require energy isolation. This capability enhances the robot's autonomy and reduces the need for human intervention, as it can seamlessly carry out tasks without being dependent on the turbine's operating state.The robot's ability to utilize multiple independent arms offers a significant advantage when dealing with complex and sophisticated tasks. With multiple arms, the robot can collaborate and coordinate its movements, allowing it to handle intricate maintenance activities more efficiently. For instance, while one arm stabilizes a component, another arm can perform precise adjustments or inspections. This collaborative approach streamlines operations, reduces task completion time, and minimizes the need for multiple robots or human assistance. The multiple-arm configuration empowers the robot to tackle a broader range of tasks with greater precision and adaptability, making it an invaluable asset for comprehensive wind turbine servicing.The seamless integration of these capabilities into the service robot's design ensures comprehensive and efficient wind turbine inspections and maintenance, contributing to the overall safety, reliability, and availability of the wind energy generation system. These capabilities are explained in a logical order as follows:A) Inspections:In one embodiment of the present invention, the service robot showcases its capabilities by conducting thorough statutory inspections of anchor points, stairs, and ladders within the wind turbine's nacelle. These meticulous checks are essential to ensure compliance with safety regulations and standards, providing a safe working environment for technicians and maintenance personnel.Additionally, the robot demonstrates its proficiency by thoroughly inspecting hatches, including rescue hatches and service hatches, to ensure their smooth operation and proper functionality. Maintaining well-functioning hatches is crucial for efficient access and response during emergencies.Furthermore, the service robot showcases its precision and attention to detail as it diligently inspects the health and safety equipment installed in the wind turbine. This may include fire extinguishers, first aid kits, fire blankets, spine boards, stretchers, survival kits, rescue, and escape kits. Ensuring the proper functioning of this safety equipment is critical for effectively responding to any potential emergencies that may arise.In one embodiment of the present invention, the robot showcases its versatility by utilizing cameras and a snake camera system to identify any leakages within the turbine's systems, including hydraulic systems, lubrication systems, and cooling systems. With these advanced visual tools, the robot swiftly detects and locates leaks, allowing for timely and precise resolutions. By promptly addressing any leakages, the robot helps prevent further damage to components and ensures the wind turbine's overall efficiency and reliability are maintained at optimal levels.The service robot showcases its precision by meticulously inspecting the sealings throughout the wind turbine’s components. It identifies areas that may require repair or replacement, ensuring that all components are adequately sealed to prevent ingress and protect the turbine from environmental elements that could compromise its performance and lifetime.Moreover, the service robot demonstrates its expertise by conducting a detailed inspection of the coating and surface treatment on turbine components. This critical step ensures that all components are adequately protected against corrosion and wear, extending their lifespan, and maintaining the turbine's operational integrity. Through these embodiments, the service robot proves to be a valuable asset in enhancing the efficiency and safety of windfarm services while effectively conducting inspections of wind turbines.The service robot may demonstrate its capability to conduct inspections of the rotor lock and yaw lock within the wind turbine. These critical components play a vital role in ensuring the safety and stability of the turbine during specific operational conditions. During the inspection, the robot carefully examines the rotor lock and yaw lock for any signs of damage or wear.Identifying potential issues early on allows for timely repairs or replacements, preventing any unforeseen malfunctions that could pose safety risks or lead to costly downtime.B) Measurement and reading of measurement devices:In one embodiment of the present invention, the service robot harnesses the power of Artificial Intelligence (AI) to efficiently conduct various critical tasks related to measurement and monitoring within the wind turbine.With AI-enhanced visual processing capabilities, the robot's cameras work in tandem with the AI system to read and record values from pressure gauges, temperature gauges, dial gauges, and other measurement devices positioned throughout the turbine, including the oil level gauge in the gearbox and yaw gears. This enables the robot to continuously monitor the turbine's performance and promptly identify any deviations or potential issues.This AI-powered real-time monitoring ensures precise data acquisition, enabling the robot to measure the thickness of brake pads and the air gaps between different components.In another embodiment of the present invention, the robot can utilize the filler gauge to check the status of yaw motor brakes. By verifying the presence and condition of sufficient braking pads, the robot guarantees reliable braking capabilities, which are essential for precise wind direction adjustments and overall turbine safety.C) Checking and TestingIn one embodiment of the present invention, the robot conducts tests on emergency stops and smoke detectors to verify their responsiveness in critical situations. Ensuring the functionality of these emergency systems is vital for guaranteeing personnel safety and protecting the turbine from potential hazards.In another embodiment of this invention, the service robot demonstrates its advanced capabilities by conducting comprehensive tests and checks on various electrical components and panels within the nacelle and electrical cabinets. The robot can examine cables, connectors, control units, and electrical measuring devices using its precision sensors, cameras, and AI-driven algorithms to verify their functionality. This process is crucial for detecting any faulty or damaged components that could potentially disrupt the turbine's electrical systems.The robot is designed to be capable of testing circuit breakers, relays, and switches, which are integral to the turbine's electrical protection system. The robot ensures that these electrical protection devices are functioning as intended, promptly responding to any electrical faults or overloads that may occur during the turbine's operation. By confirming the proper operation of these critical components, the robot helps prevent electrical faults and potential damage to the turbine.The robot's capabilities are highlighted in another embodiment of the present invention, where it conducts a thorough examination of the lightning protection connections and contacts. This ensures the wind turbine is adequately safeguarded against lightning strikes and electrical hazards, minimizing the risk of potential damage.The service robot's advanced capabilities extend to conducting tests on various lights within the wind turbine, including emergency lights and sockets. Functional lights, especially emergency lights, play a critical role during maintenance tasks and emergency situations. They provide adequate illumination for technicians and maintenance personnel to carry out their duties safely and efficiently. Additionally, well-functioning sockets are essential for powering tools and equipment needed for various tasks within the turbine.The service robot adeptly conducts checks and tests on various valves, including relief valves and air breathers located within hydraulic stations, pressurized components, and the cooling system of the wind turbine. These critical valves play a pivotal role in regulating fluid flow and pressure within the turbine's systems, ensuring smooth and controlled operation.The robot's advanced capabilities allow it to precisely assess the reliability and functionality of vibration sensors and overspeed protection sensor. By testing their responsiveness, the robot can promptly identify any issues or malfunctions that may arise.Furthermore, the robot's AI-driven control system enables it to make precise adjustments to pressure levels in pressurized components, such as hydraulic systems and accumulators. This capability ensures that these systems consistently operate at optimal pressure levels, maximizing their efficiency and safety.D) Maintenance and Replacement of the ComponentsIn one embodiment of the present invention, the service robot, equipped with a dexterous arm and various interchangeable tools and grippers, demonstrates its capability to safely and precisely exchange components within the wind turbine. These additional modules allow the robot to perform a range of tasks, including but not limited to:● Replacing batteries in various compartments and cabinets within the turbine, ensuring uninterrupted power supply and optimal operation;● Replacing filters in cabinets, hydraulic stations, cooling system and dehumidifiers to maintain the cleanliness and efficiency of vital systems;● Replacing fans in different systems within the turbine, essential for proper ventilation and temperature regulation; and● Replacing inverter modules in the converters, ensuring seamless energy conversion and overall turbine performance.With its versatile toolset and advanced arm, the robot streamlines the component replacement process, contributing to the overall efficiency and reliability of wind turbine operation. By handling these tasks remotely, the service robot reduces the need for human intervention, minimizing downtime, and improving the turbine's productivity and performance.In one embodiment of the present invention, the service robot inspects bolt connections within the wind turbine to detect any signs of looseness by utilizing the power of AI. When necessary, the robot carefully retightens these bolts using screwdrivers or the appropriate wrench tool to ensure the structural integrity of the turbine and maintain the secure connectivity of electrical routes. By proactively addressing potential mechanical failures and electrical disruptions, the robot enhances the overall safety and reliability of the wind turbine's operation.In one embodiment of the present invention, the service robot utilizes specialized tools, such as an ultrasound bolt measuring device, to accurately measure the tension of structural bolts within the wind turbine. By ensuring proper bolt tension, the robot enhances the turbine's stability and structural integrity, critical for its safe and extended lifetime operation. Additionally, equipped with a variety of wrenches stored in its tool magazine, the robot can expertly retighten bolts to the necessary tension level.In one embodiment of the present invention, the service robot is equipped with specialized tools designed for precise lubrication of mechanical joints and surfaces within the wind turbine. The robot's ability to apply lubrication with accuracy ensures that friction is reduced, minimizing wear and tear on critical components, and enhancing the longevity and efficiency of moving parts. By performing this task with precision, the robot contributes to the overall maintenance and reliability of the turbine, ultimately leading to improved performance and reduced operational costs.This may include lubrication of the rotor lock and yaw lock, ensuring smooth engagement and disengagement. Properly functioning locks are essential for securely positioning the turbine's rotor and yaw systems, especially during maintenance and emergency situations. By regularly inspecting and lubricating these critical components, the service robot enhances the overall reliability and safety of the wind turbine, contributing to the sustainable and efficient operation of renewable energy sources.E) Operating service crane hoist:In one embodiment of the present invention, the service robot is equipped with advanced features and capabilities that empower it to efficiently operate the service crane, allowing for seamless hoisting of goods from the designated area in the entrance platform outside of the wind turbine.To initiate the operation of the service crane, a skilled technician remotely controls the service robot from either the back-office or the entrance platform, utilizing a user-friendly interface to guide the robot's actions. The robot's control system is equipped with precision controls, affording the technician the ability to navigate the crane's movements with utmost accuracy.Once assigned the task, the robot skillfully utilizes its hand-shaped gripper with dexterity and precision to open the service hatch. These hatches serve as entry points to the nacelle, facilitating the transfer of goods into the nacelle. With the service hatches now opened, the robot's array of advanced sensors and cameras come into play. These sophisticated sensors provide real-time feedback and data to the technician, enabling them to closely monitor the hoisting process and assess the smooth entry of goods into the nacelle.In this embodiment, the service robot can also be equipped with specially designed grippers or tools, tailored to assist in handling service goods. These goods may include spare parts, tools, or equipment required for maintenance tasks. The robot's designed grippers ensure secure movement and maneuvering of the crane hoist within the nacelle.Once the robot has expertly positioned itself and obtained the necessary service goods, the service crane is skillfully operated to hoist and transport the items to their designated location. The robot's advanced control system enables precise movements, ensuring that the goods are placed accurately without posing any damage to the turbine's components.Throughout the entire process, the service robot's AI-driven collision avoidance system remains actively engaged, continuously analyzing the surroundings to ensure that the robot and the crane operate safely, navigating without encountering any obstacles or potential hazards. This cuttingedge safety feature further enhances the efficiency and reliability of the service robot's operation, prioritizing both the safety of the technicians and the integrity of the wind turbine.By adeptly operating the service crane and performing tasks with unparalleled accuracy and precision, the service robot effectively minimizes downtime and optimizes the overall effectiveness of wind turbine servicing.BRIEF DESCRIPTION OF THE DRAWINGSFig. 1 illustrates the schematic drawing of a wind turbine, showcasing the mounted crane rail or the equivalent railing system on the ceiling inside nacelle.Fig. 2 provides a comprehensive visual representation of the service robot's overall schematic.Fig. 3 presents the robot's schematic drawing within the nacelle, positioned near the yaw drive.Fig. 4 depicts the schematic method of attachment of the robot’s main trolley to the crane rail or the equivalent railing system.Fig. 5A shows the trolley gripper in an open position and Fig. 5B shows the trolley gripper engaged in the crane rail or the equivalent railing system.Fig. 6 displays the parking position of the service robot.DETAILED DESCRIPTION OF DRAWINGSThe schematic drawing in Figure 1 illustrates a wind turbine's interior, specifically focusing on the nacelle area, where a crane rail or an equivalent railing system is mounted on the ceiling. This rail system provides a crucial pathway for the service robot's navigation, enabling efficient access to various components and locations within the wind turbine for inspection and maintenance tasks.Figure 2A presents a comprehensive visual representation of the service robot's schematic design, highlighting its highly versatile arm equipped with multi-axis degrees of freedom. This innovative feature provides the robot with exceptional flexibility and adaptability during its operation. The multi-axis arm allows the robot to execute precise movements, resembling human-like motions and efficiently performing intricate tasks. With this adaptability, the robot is well-equipped to handle a wide range of inspection and maintenance activities within the wind turbine, encompassing both basic checks and more complex operations. It is essential to note that the service robot is designed with modularity in mind, offering the flexibility to be equipped with one or two arms depending on the requirements. The depicted picture shows a single-arm configuration, but the robot's modular design allows for customization and adaptation to various turbine types and specific operational needs.Figure 2B provides a detailed view of the versatile tool head, a crucial component of the service robot. The tool head is designed to accommodate various grippers, monitoring and measuring devices, and tools, allowing the robot to adapt to different tasks efficiently. The robot's autonomous capabilities enable it to seamlessly exchange tools as needed during its operations. To facilitate this process, the robot accesses the tool magazine, conveniently stored within the wind turbine. The tool magazine serves as a repository for different grippers, measuring devices, and tools, ensuring easy and quick access for the robot during maintenance and inspections. This autonomous tool exchange capability enhances the robot's versatility, enabling it to perform a wide range of tasks without the need for manual intervention, ultimately contributing to the efficiency and effectiveness of wind turbine servicing.In Figure 3, the robot's schematic drawing within the nacelle is showcased, highlighting its positioning near the yaw drive area. This location allows the robot to conduct essential inspections, such as assessing the condition of the yaw motor brake. The robot's precise positioning, supported by the rail system, provides it with optimal access to crucial components, ensuring thorough inspections and maintenance activities. The integration of the rail system aids the robot's navigation, allowing it to move with accuracy and agility within the cramped space of the nacelle.Figure 4 illustrates the schematic method of attaching the service robot to the crane rail or equivalent railing system. This efficient and secure attachment mechanism ensures the robot's stable movement along the predefined pathway, enabling seamless navigation within the wind turbine during its various tasks. It is important to note that this design is schematic and will be customized to match the available crane rail or equivalent system within the specific nacelle.Figures 5A and 5B showcase the trolley gripper, demonstrating its open and engaged positions, respectively. The trolley gripper is a tool stored in the tool magazine, capable of being added to the service robot for two specific purposes. In one embodiment, when the robot is in the park position, the trolley gripper is utilized to provide additional stability and prevent vibration as the robot arm is attached to the rail from both ends. In another embodiment, the trolley gripper is employed when a wind turbine has two separate rail paths that are not connected for moving with the main trolley. In such cases, the trolley gripper is temporarily engaged to facilitate the smooth transition of the main trolley into the new rail path.Figure 6 showcases the designated parking position of the service robot. The specific parking position may vary depending on the turbine type, but in one embodiment of the present invention, the robot's design ensures that it is stationed appropriately when not in active operation, thereby avoiding obstruction of technicians' passageways and work areas. The strategic placement of the robot in this designated parking position ensures a smooth workflow for technicians, allowing them to move freely and safely without any hindrance.Moreover, as a continuation of the embodiment mentioned regarding the trolley gripper, it provides an additional level of safety when technicians are inside the turbine. The trolley gripper can be locked to prevent any unintentional movement of the robot when technicians are present, thus avoiding potential safety hazards and ensuring a secure working environment. This safety feature adds an extra layer of protection for personnel working in close proximity to the service robot, contributing to a safer and more efficient working environment within the wind turbine.List of reference numerals1- Wind turbine nacelle2- Hub,3- Tower4- Crane rail or equivalent railing system5- Service Robot6- Main trolley7- Service robot base8- Waist joint9- Sholder joint10- Link-111- Elbow joint12- Link-213- Wrist joint14- Gripper15- Cameras and sensors16- Camera17- Yaw drive18- Trolley drive19- Trolley gripper – open20- Trolley gripper – closed

Claims

PATENT CLAIMS:

1. A service robot for wind turbines comprising, one or more dexterous arm(s), a versatile tool head with interchangeable tools and grippers, an AI-driven control system, and advanced sensors and cameras for conducting various inspections and maintenance tasks.

2. A method of utilizing the crane rail or another railing system mounted on the ceiling of the wind turbine to provide support, facilitate navigation, and enable traversal along predefined routes by the wind turbine service robot of claim 1.

3. The wind turbine service robot of claim 1 incorporates a trolley designed for efficient movement along preplanned paths defined by crane rails or an equivalent railing system, allowing obstacle-free navigation.

4. The wind turbine service robot of claim 1, incorporates an advanced collision avoidance system, utilizing cameras, sensors, and AI technology, enabling precise and controlled movements of its arm(s), thereby minimizing the risk of accidental damage or misalignment during component exchange and navigation within the wind turbine.

5. The wind turbine service robot of claim 1, comprising a hand-shaped gripper designed to mimic the human hand's anatomy for precise manipulation of intricate parts.

6. The wind turbine service robot of claim 1, wherein the adaptable grippers enable seamless exchange of various components within the wind turbine, including inverter modules, filters, fans, and other parts, while ensuring precise alignment and attachment.

7. The wind turbine service robot of claim 1, wherein it further comprises a snake camera system integrated with its cameras, enabling enhanced inspection capabilities in hard-toreach areas within the wind turbine's interior, and providing high-definition visual feedback.

8. The wind turbine service robot of claim 1, comprising AI-enhanced visual processing capabilities, utilizing sensors and cameras to read and record values from various measurement devices throughout the turbine.

9. The wind turbine service robot of claim 1, utilizes relevant tools, precision sensors, cameras, and AI-driven algorithms to conduct tests on electrical components, ensuring their functionality is verified and detecting any faulty or damaged parts.

10. The wind turbine service robot according to claim 1, further comprising a bolt tension measuring device to accurately measure the tension of structural bolts within the wind turbine.

11. The wind turbine service robot of claim 1, further utilizing bolt tightening tools to tighten the bolts within the wind turbine, ensuring the stability and structural integrity of the turbine as well as connectivity in electrical routes.

12. The wind turbine service robot of claim 1 is further capable of operating the wind turbine crane hoist.

13. A method enabling the wind turbine service robot of claim 1 to smoothly move between separate and unconnected rail paths, utilizing the trolley gripper or other types of grippers specifically designed to ensure efficient access to various areas within the wind turbine.

14. A method of parking the wind turbine service robot of claim 1, wherein the robot engages the trolley gripper or other types of grippers to the rails when in a parking position, ensuring stable support from both ends and minimizing vibrations during idle periods.

15. The wind turbine service robot of claim 1 is controlled remotely, facilitating the execution of inspection and maintenance tasks.