Windmill blade repair device and method for repairing windmill blade

Abstract

To automatically perform a repair work for a damaged part that is generated in a surface of a windmill blade.SOLUTION: A windmill blade repair device for repairing a damaged part in a surface of a windmill blade includes a body and a repair part. The body is fixed to the surface of the windmill blade. The repair part performs repair treatment of attaching a repair member to a damaged part.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a wind turbine blade repair device and a wind turbine blade repair method. [Background technology]

[0002] Wind turbines that can be driven by wind energy are known. For example, in wind turbines used in wind power generation facilities, when wind energy is received by the wind turbine blades, a generator housed in a nacelle together with a hub to which the wind turbine blades are attached is driven, thereby generating electrical energy.

[0003] These types of wind turbines have become larger in recent years, increasing the likelihood that wind turbine blades located at relatively high altitudes will be damaged by lightning. Damaged areas on wind turbine blades (hereinafter referred to as "damaged areas") need to be repaired as appropriate, as they may weaken the blade or become a starting point for corrosion. Wind turbine blade repair work involves, for example, partially removing and processing a portion of the wind turbine blade containing the damaged area in the case of severe damage, then filling the opening with a repair material such as a prepreg sheet or thin resin plate. In areas with minor damage, repair work is carried out by attaching a repair material to the damaged area and sealing the hole.

[0004] Such wind turbine blade repair work has traditionally been performed manually by workers, but because it is performed at high altitudes, automation is desirable from the perspective of ensuring worker safety and quality.In response to this, for example, Patent Document 1 proposes a device for performing pretreatment on damaged areas, such as removing surface layers, removing perforated areas, and tapering, depending on the degree of damage. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 11-179609 Summary of the Invention [Problem to be solved by the invention]

[0006] The above-mentioned Patent Document 1 only proposes an apparatus that can automatically perform pre-treatments such as surface layer removal, perforated portion removal, and tapering when performing repair treatment on damaged areas, but does not go so far as to automate the repair work itself after these pre-treatments have been performed.

[0007] At least one embodiment of the present disclosure has been made in consideration of the above-mentioned circumstances, and aims to provide a wind turbine blade repair device and a wind turbine blade repair method that can automatically perform repair work on damaged areas on the surface of a wind turbine blade. [Means for solving the problem]

[0008] In order to solve the above problems, the wind turbine blade repair device according to at least one embodiment of the present disclosure includes: A wind turbine blade repair device for repairing a damaged portion on the surface of a wind turbine blade, comprising: a body whose position relative to the surface can be fixed; a repair unit for performing a repair process to attach a repair member to the damaged portion; Equipped with.

[0009] In order to solve the above problem, a wind turbine blade repair method according to at least one embodiment of the present disclosure includes: a main body whose relative position with respect to the surface of the wind turbine blade can be fixed; a repair unit for performing a repair process to attach a repair member to the damaged portion on the surface; A wind turbine blade repair method using a wind turbine blade repair device comprising: attaching the wind turbine blade repair device to the surface so that the repair portion faces the damaged portion; performing the repair process on the damaged portion by the repair unit; Equipped with. [Effects of the Invention]

[0010] According to at least one embodiment of the present disclosure, it is possible to provide a wind turbine blade repair device and a wind turbine blade repair method that can automatically carry out repair work on a damaged portion that has occurred on the surface of a wind turbine blade. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is an overall configuration diagram illustrating a wind turbine according to an embodiment. [Figure 2] 2 is a schematic diagram showing a state in which a wind turbine blade repair device according to one embodiment is attached to the wind turbine blade of FIG. 1. FIG. [Figure 3] FIG. 3 is a perspective view showing the wind turbine blade repair device of FIG. 2 alone. [Figure 4] FIG. 3 is a plan view showing the wind turbine blade repair device of FIG. 2 from below. [Figure 5] This is a modified example of FIG. [Figure 6] 1 is a flowchart illustrating a wind turbine blade repair method according to one embodiment. [Figure 7A] FIG. 7 is a schematic diagram showing an operating state of the wind turbine blade repair device corresponding to step S2 in FIG. 6. [Figure 7B] FIG. 7 is a schematic diagram showing an operating state of the wind turbine blade repair device corresponding to step S3 in FIG. 6. [Figure 8] FIG. 10 is a configuration diagram of a wind turbine blade repair device according to another embodiment. [Figure 9] FIG. 9 is a diagram illustrating the configuration of the camera in FIG. 8. [Figure 10] This is a modification of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, several embodiments of the present invention will be described with reference to the accompanying drawings. However, the configurations described as the embodiments or shown in the drawings are merely illustrative examples and are not intended to limit the scope of the present invention.

[0013] First, the overall configuration of a wind turbine 1 having a wind turbine blade 2 to be repaired by a wind turbine blade repair device 20 according to at least one embodiment of the present disclosure will be described with reference to Figure 1. Figure 1 is an overall configuration diagram that schematically shows a wind turbine 1 according to one embodiment.

[0014] The wind turbine 1 has at least one wind turbine blade 2. The wind turbine blade 2 is attached to a hub 4, thereby constituting a wind turbine rotor 6 that can rotate together with the hub 4 around the rotation axis. In the wind turbine rotor 6 of the wind turbine 1 shown in FIG. 1, three wind turbine blades 2 are attached to the hub 4 at equal intervals around the rotation axis. Each wind turbine blade 2 has a blade root 12 that is connected to the hub 4, and a blade tip 14 that is located on the opposite side of the blade root 12 in the blade span direction. The wind turbine rotor 6 is rotatably attached to a nacelle 8 that is rotatably mounted on a tower 10. In the wind turbine 1 configured as described above, when wind strikes the wind turbine blade 2, the wind turbine rotor 6, which includes the wind turbine blade 2 and the hub 4, rotates around the rotation axis.

[0015] The wind turbine 1 may be configured as, for example, a wind power generator. In this case, the nacelle 8 houses a generator and a power transmission mechanism for transmitting the rotation of the wind turbine rotor 6 to the generator. In the wind turbine 1, the rotational energy transmitted from the wind turbine rotor 6 to the generator by the power transmission mechanism is converted into electrical energy by the generator.

[0016] Next, we will explain the wind turbine blade repair device 20 for repairing the wind turbine blade 2 of the wind turbine 1 configured as described above. Figure 2 is a schematic diagram showing how the wind turbine blade repair device 20 according to one embodiment is attached to the wind turbine blade 2 of Figure 1.

[0017] The wind turbine blade repair device 20 is fixed to a position on the surface of the wind turbine blade 2 that corresponds to a damaged portion 15 caused by, for example, a lightning strike. The position of the damaged portion 15 can be identified by conducting a pre-inspection of the surface of the wind turbine blade 2. This inspection may be performed visually by a worker, or may be performed automatically using an inspection robot or the like. Figure 2 shows how a worker 27 on an aerial work vehicle 25 fixes the wind turbine blade repair device 20 to a position on the surface of the wind turbine blade 2 that corresponds to the damaged portion 15.

[0018] Note that although various damaged portions 15 may exist on the surface of the wind turbine blade 2, the damaged portions 15 to be repaired by the wind turbine blade repair device 20 may be limited to those that satisfy predetermined criteria. For example, for damaged portion 15 detected by inspecting the surface of the wind turbine blade 2, paint may be removed from the surrounding area, and the size of damaged portion 15 may be measured, and based on whether the size falls within a predetermined range, it may be determined whether or not damaged portion 15 is a target for repair by the wind turbine blade repair device 20 (for example, if the size of damaged portion 15 is larger than the predetermined range, it may be determined that damaged portion 15 is not a target for repair by the wind turbine blade repair device 20, since it will need to be dealt with by another repair method such as laminating a resin sheet).

[0019] Next, the detailed configuration of the wind turbine blade repair apparatus 20 will be described with reference to Figures 3 and 4. Figure 3 is a perspective view showing the wind turbine blade repair apparatus 20 of Figure 2 alone, and Figure 4 is a plan view showing the wind turbine blade repair apparatus 20 of Figure 2 from below.

[0020] The wind turbine blade repair device 20 includes a main body 22 and legs 24. The main body 22 is the main component of the wind turbine blade repair device 20. In this embodiment, the main body 22 is exemplified as being substantially disk-shaped, but the configuration of the main body 22 is not limited as long as it can accommodate the components of the wind turbine blade repair device 20.

[0021] The legs 24 are configured to support the main body 22 against the surface of the wind turbine blade 2 to be repaired. In this embodiment, a plurality of (three) legs 24 are provided along the edge of the main body 22, but the shape and number of the legs 24 are not limited to this.

[0022] The wind turbine blade repair device 20 can be fixed to the surface of the wind turbine blade 2 so that its position relative to the surface of the wind turbine blade 2 is fixed. Fig. 2 shows the wind turbine blade repair device 20 being attached to the surface of the wind turbine blade 2 facing downward by a worker 27 riding on an aerial work vehicle 25 such as a crane. In this manner of use, the wind turbine blade repair device 20 is configured to be fixable to the surface of the wind turbine blade 2 by the suction parts 23 provided at the tip of each leg 24.

[0023] In this case, the main body 22 is equipped with a negative pressure supply unit 26 for applying negative pressure for suction between the surface of the wind turbine blade 2 and the suction units 23. The negative pressure supply unit 26 includes an electric motor 30 as a power source mounted on the upper surface side of the main body 22, a rack and pinion mechanism 32 mounted on the lower surface side of the main body 22 for transmitting power from the electric motor 30, a syringe pump 28 for generating negative pressure by the power transmitted via the rack and pinion mechanism 32, and negative pressure tubes (not shown) for supplying the negative pressure generated by the syringe pump 28 to each of the suction units 23.

[0024] Fig. 5 is a modified example of Fig. 2. Fig. 5 shows a robot 50 that is suspended from a nacelle 4 to which the wind turbine blade 2 is attached, and thereby capable of moving over the surface of the wind turbine blade 2. While positioned above the surface of the wind turbine blade 2, the robot 50 can fix the wind turbine blade repair device 20 to a position on the surface of the wind turbine blade 2 that corresponds to the damaged portion 15 by connecting an arm 52 of the robot 50 to a connecting part 54 (see Fig. 3) provided on the main body 22 of the wind turbine blade repair device 20. In this case, the wind turbine blade repair device 20 may not require the legs 24 or the suction parts 23 provided at the tips of the legs 24 described above.

[0025] 3 and 4 , the wind turbine blade repair device 20 includes a repair unit 36 ​​and at least one pre-treatment unit 38. The repair unit 36 ​​is configured to perform a repair process on the damaged portion 15. The repair process includes attaching a repair member 40 (e.g., a patch plate) to the damaged portion 15. The repair unit 36 ​​is configured to detachably hold the repair member 40 and to be able to attach the repair member 40 to the damaged portion 15 by adjusting the position of the held repair member 40 relative to the damaged portion 15.

[0026] The pre-treatment unit 38 is configured to perform pre-treatment of the repair treatment on the damaged portion 15 to be repaired. In this embodiment, the wind turbine blade repair device 20 is equipped with a sanding unit 38a and an adhesive application unit 38b as the pre-treatment unit 38.

[0027] The sanding unit 38a is configured to perform a sanding process as a pre-processing on the damaged portion 15. The sanding process is a process of removing the blade surface paint from the area including the damaged portion 15 to match the size of the repair member 40.

[0028] The adhesive application section 38b is configured to apply an adhesive for fixing the repair member 40 to the area where the paint has been removed by the sanding process described above.

[0029] Here, in the wind turbine blade repair device 20, the repair unit 36 ​​and the sanding unit 38a and adhesive application unit 38b, which are the pre-treatment unit 38, are mounted on the main body 22 via the rotating unit 44. The rotating unit 44 has a rotation axis C (see FIG. 3) at a position eccentric to the center of the main body 22, and by rotating around the rotation axis C, the positions of the repair unit 36, sanding unit 38a, and adhesive application unit 38b, which are mounted on the rotating unit 44 along the circumferential direction, can be changed.

[0030] The repair unit 36, sanding unit 38a, and adhesive application unit 38b mounted on the rotating unit 44 can each be switched between a first position facing the damaged portion 15 and a second position not facing the damaged portion 15 when the rotating unit 44 rotates around the rotation axis C. In other words, by rotating the rotating unit 44, the repair unit 36, sanding unit 38a, or adhesive application unit 38b can be switched to the first position in that order.

[0031] Next, we will explain a wind turbine blade repair method using the wind turbine blade repair device 20 having the above configuration. Figure 6 is a flowchart showing a wind turbine blade repair method according to one embodiment, Figure 7A is a schematic diagram showing the operating state of wind turbine blade repair device 20 corresponding to step S2 in Figure 6, and Figure 7B is a schematic diagram showing the operating state of wind turbine blade repair device 20 corresponding to step S3 in Figure 6.

[0032] First, the wind turbine blade repair device 20 is fixed to the surface of the wind turbine blade 2 (step S1). In step S1, as described above, the wind turbine blade repair device 20 is fixed to the surface of the wind turbine blade 2 using the suction part 23. The fixing position of the wind turbine blade repair device 20 is set so as to correspond to a damaged portion 15 that has been identified in advance on the surface of the wind turbine blade 2.

[0033] Next, as shown in FIG. 7A, the damaged portion 15 is pretreated using the pretreatment unit 38 included in the wind turbine blade repair device 20 (step S2). If multiple pretreatment units 38 are mounted on the main body 22, multiple pretreatment units corresponding to each pretreatment unit 38 may be performed in step S2. In this embodiment, as shown in the upper part of FIG. 7A, first, by operating the rotation unit 44, the sanding unit 38a of the multiple pretreatment units 38 mounted on the main body 22 is adjusted to a first position facing the damaged portion 15. Then, as shown in the interrupted part of FIG. 7A, the sanding unit 38a is rotated while being pressed against the damaged portion 15, thereby sanding the damaged portion 15. When the sanding is performed in this manner, the damaged portion 15 is polished to form an opening 15', as shown in the lower part of FIG. 7A. In the upper and middle sections of FIG. 7A, the repaired portion 36 and the adhesive-applied portion 38b in the second position not facing the damaged portion 15 are omitted for ease of understanding.

[0034] Next, as shown in the lower part of Fig. 7A, by operating the rotating part 44, the adhesive applicator 38b among the plurality of pre-treatment parts is adjusted to a first position facing the opening 15' (damaged part 15). Then, as shown in the upper part of Fig. 7B, the adhesive applicator 38b applies adhesive to the opening 15'. In the lower part of FIG. 7A and the upper part of FIG. 7B, the repair portion 36 and the sanding portion 38a at the second position not facing the damaged portion 15 are omitted for ease of understanding.

[0035] Next, as shown in FIG. 7B, a repair process is performed on the damaged portion 15 using the repair unit 36 ​​mounted on the main body 22 (step S3). In the repair process, the repair member 40 held by the repair unit 36 ​​is attached to the pre-treated damaged portion 15 (the surface from which the surface coating has been removed by sanding and then adhesive has been applied), thereby performing repair work on the damaged portion 15. In step S3, as shown in the middle part of FIG. 7B, the rotating unit 44 is operated to adjust the repair unit 36 ​​holding the repair member 40 to a first position facing the opening 15' (damaged portion 15). Then, as shown in the bottom part of FIG. 7B, the repair member 40 is attached to the opening 15' by the repair unit 36. In the middle and bottom sections of FIG. 7B, the sanding portion 38a and the adhesive application portion 38b in the second position not facing the damaged portion 15 are omitted for ease of understanding.

[0036] 8 is a configuration diagram of a wind turbine blade repair device 20 according to another embodiment. The wind turbine blade repair device 20 may include a camera 60 for capturing an image of the damaged portion 15 (which may hereinafter be referred to as an opening 15') on the surface of the wind turbine blade 2, while being fixed at a position corresponding to the damaged portion 15. The camera 60 is positioned opposite the damaged portion 15, so that it can acquire the state of the damaged portion 15 as image data. In particular, the camera 60 is positioned eccentrically with respect to the rotation axis C of the rotating portion 44 of the main body 22, so that it does not interfere with the repair unit 36 ​​or pre-processing unit 38 mounted on the rotating portion 44.

[0037] The position of the camera 60 mounted on the main body 22 may be variable by an actuator (not shown). For example, when the camera 60 is not taking an image, the camera 60 may be placed in an arbitrary retreat position so as not to become an obstacle to the repair section 36 or the pre-treatment section 38, and when the camera 60 is taking an image, the camera 60 may be configured to move from the retreat position to an imaging position where the damaged section 15 can be imaged.

[0038] Fig. 9 is a configuration diagram of the camera 60 in Fig. 8. As shown in Fig. 9, the wind turbine blade repair device 20 is provided with a shading hood 62 provided to cover the imaging range of the camera 60. This prevents external light from entering the imaging range of the camera 60, thereby eliminating halation and shadows on the image captured by the camera 60 and improving the accuracy of detecting remaining scraping when determining the state of paint peeling of the damaged portion 15.

[0039] Fig. 10 shows a modification of Fig. 9. This modification includes an outer circumferential cover 64 attached to the main body 22. The outer circumferential cover 64 is provided at least partially along the periphery of the main body 22, and in the example of Fig. 10, the outer circumferential cover 64 is provided along half of the periphery of the main body 22. This more effectively prevents ambient light from entering the imaging range of the camera 60, thereby eliminating halation and shadows on the image captured by the camera 60 and improving the accuracy of detecting remaining scraping when determining the state of paint peeling of the damaged portion 15. It should be noted that either the light-shielding hood 62 or the outer circumferential cover 64 may be used alone, or both may be used in combination.

[0040] Returning to FIG. 8 , this embodiment may include a controller 70 that determines the state of the damaged portion 15 based on image data captured by the camera 60 and that controls each component of the wind turbine blade repair device 20 according to the determination result. The controller 70 is configured to be able to realize various functions by executing a predetermined software program in an electronic processing device such as a computer. The software program may be pre-installed in the electronic processing device, or may be installed by reading a program that has been pre-stored in a storage medium. Such a controller 70 includes an image data acquisition unit 72, a state determination unit 74, and a control unit 76.

[0041] The image data acquisition unit 72 is configured to acquire the image captured by the camera 60 as image data.

[0042] The state determination unit 74 is configured to determine the state of the damaged portion 15 based on the image data acquired by the image data acquisition unit 72. The determination target of the state determination unit 74 may be the initial state of the damaged portion 15, the state during or after preprocessing by the preprocessing unit 38, or the state during or after repair processing by the repair unit 36.

[0043] The control unit 76 is configured to control various components of the wind turbine blade repair device 20 based on the determination result of the state determination unit 74. For example, if the state determination unit 74 determines that the pre-processing or repair process has not been performed sufficiently, the control unit 76 controls the pre-processing unit 38 or the repair unit 36 ​​to re-perform the insufficient process. In this way, by re-performing the process that has been performed insufficiently by the state determination unit 74, it becomes possible to repair the wind turbine blade 2 with high quality.

[0044] For example, when the sanding process performed by the sanding unit 38a of the pre-treatment unit 38 removes a certain amount of paint from the surface of the damaged portion 15 to form an opening 15′, the camera 60 captures the image data of the opening 15′ after the sanding process, and the image data is acquired by the image data acquisition unit 72. Based on the image data, the condition determination unit 74 determines whether the sanding process performed on the opening 15′ properly removes the paint from the damaged portion 15, thereby forming the opening 15′. This determination is made by performing image processing, such as binarization and area processing, on the image data of the opening 15′ after the sanding process to identify areas where paint remains after the sanding process, and determining whether the area of ​​the remaining paint is equal to or greater than a threshold. If the sanding process results in areas where paint remains after the sanding process, the control unit 76 controls the sanding unit 38a to at least partially re-sand the remaining areas. At this time, the sanding unit 38a re-sands the areas determined to have remaining paint.

[0045] Such determination of the state of the damaged portion 15 and re-execution of various treatments may be repeated until the damaged portion 15 is properly repaired.

[0046] In addition, within the scope of the present disclosure, the components in the above-described embodiments may be replaced with well-known components as appropriate, and the above-described embodiments may be combined as appropriate.

[0047] The contents described in each of the above embodiments can be understood, for example, as follows.

[0048] (1) A wind turbine blade repair device according to one aspect includes: A wind turbine blade repair device for repairing a damaged portion on the surface of a wind turbine blade, comprising: a body securable relative to the surface; a repair unit for performing a repair process by attaching a repair member to the damaged portion; Equipped with.

[0049] According to the above aspect (1), the device performs repair processing by attaching a repair member to the damaged portion with the repair unit while the main body is fixed to the surface of the wind turbine blade where the damaged portion is located. This makes it possible to automatically perform repair work on the damaged portion without relying on human labor.

[0050] (2) In another embodiment, in the above embodiment (1), the repair portion includes a gripping portion for detachably gripping the repair member, When the main body is fixed to the surface, the gripping portion can attach the repair member to the damaged portion by adjusting the position of the repair member gripped by the gripping portion relative to the damaged portion.

[0051] According to the above aspect (2), the repairing section can suitably attach the repairing member to the damaged portion and perform the repair process by adjusting the position of the repairing member detachably held by the holding section.

[0052] (3) In another aspect, in the above aspect (1) or (2), at least one pre-treatment section for pre-treating the damaged portion before the repair treatment; The repair section and the at least one pre-treatment section are switchable between a first position facing the damaged section and a second position not facing the damaged section.

[0053] According to the above aspect (3), the present device includes a pre-treatment section for performing pre-treatment prior to the repair treatment, in addition to a repair section for performing the repair treatment, thereby enabling automation of a series of operations from pre-treatment to the repair work. In particular, the repair section and the pre-treatment section are configured to be switchable between a first position and a second position, respectively, so that a series of operations from pre-treatment to the repair work can be efficiently performed in a limited device space.

[0054] (4) In another embodiment, in the above embodiment (3), The repair unit and the at least one pre-treatment unit are mounted on a rotating unit that is rotatable relative to the main body, and are thereby switchable between the first position and the second position.

[0055] According to the above aspect (4), the repair unit and the pre-treatment unit are mounted on a rotating unit that can rotate relative to the main body, making it possible to efficiently carry out a series of operations from pre-treatment to repair work within the limited space of the device.

[0056] (5) In another aspect, in the above aspect (3) or (4), The at least one pre-treatment section includes a sanding section for performing a sanding treatment on the damaged section.

[0057] According to the above aspect (5), it is possible to automatically perform sanding of the damaged portion as a pre-treatment for the repair work.

[0058] (6) In another embodiment, in any one of the above (3) to (5), The at least one pre-treatment section includes an adhesive application section for applying adhesive to the damaged area.

[0059] According to the above aspect (6), it is possible to automatically carry out an adhesive application process for applying adhesive to the damaged portion as a pre-treatment for the repair work.

[0060] (7) In another embodiment, in any one of the above (1) to (6), The body includes an adhesive portion for fixing to the surface by suction.

[0061] According to the above aspect (7), by adsorbing the main body of the device to the surface of the wind turbine blade by the adsorption part, the main body can be stably fixed to the surface of the wind turbine blade.

[0062] (8) In another embodiment, in any one of the above (1) to (6), The main body has a connecting portion that can be connected to a robot arm of a robot that is suspended and supported from a nacelle to which the wind turbine blades are attached and that can move on the surface.

[0063] According to the above aspect (8), by connecting a robot arm of a robot that can move along the surface of the wind turbine blade to the connecting part of the device, the device can be moved by the robot arm as needed while the main body is stably fixed to the surface of the wind turbine blade.

[0064] (9) In another embodiment, in the above embodiment (5), a camera for capturing an image of the damaged area; a state determination unit for determining a state of the damaged portion based on an image captured by the camera; a sanding process execution unit for executing the sanding process based on a determination result of the state determination unit; Equipped with.

[0065] According to the above aspect (9), the state of the damaged area where the sanding process has been performed is determined based on the image captured by the camera. The sanding process performing unit appropriately performs the sanding process based on the determination result, thereby suitably improving the quality of the repair process performed after the sanding process.

[0066] (10) In another embodiment, in the above embodiment (9), The state determination unit determines, based on the image, an area where an amount of uncut material remaining after the previous sanding process is equal to or greater than a threshold value; The sanding process execution unit re-executes the sanding process on the area.

[0067] According to the above aspect (10), the amount of uncut area due to the sanding process is evaluated based on the image-based determination of the state of the damaged area where the sanding process has been performed.Then, by re-sanding the area where the evaluated amount of uncut area is identified as being equal to or greater than a threshold value (a preset reference value), the quality of the repair process performed after the sanding process can be suitably improved.

[0068] (11) In another embodiment, in the above embodiment (9) or (10), A light-shielding hood is provided to cover the imaging range of the camera.

[0069] According to the above aspect (11), the provision of the light-shielding hood prevents excess light from entering the imaging range of the camera, thereby effectively improving the imaging quality of the image used to determine the state of the damaged area.

[0070] (12) A wind turbine blade repair method according to one aspect includes: a main body that can be fixed to the surface of a wind turbine blade; a repair unit for performing a repair process to attach a repair member to the damaged portion on the surface; A wind turbine blade repair method using a wind turbine blade repair device comprising: attaching the wind turbine blade repair device to the wind turbine blade by fixing the body to the surface; performing the repair process on the damaged portion by the repair unit; Equipped with.

[0071] According to the aspect (12) above, the device carries out repair processing by attaching a repair member to the damaged portion with the repair unit while the main body is fixed to the surface of the wind turbine blade where the damaged portion is located. This makes it possible to automatically carry out repair work on the damaged portion without relying on human labor. [Explanation of symbols]

[0072] 1 windmill 2 windmill blades 4 Hub 6 Wind turbine rotor 8 Nacelle 10. Tower 12 Wing root 14 Wing tip 15 Damaged area 20 Wind turbine blade repair equipment 25 Aerial work platform 27 Workers 22 Main Unit 24 Legs 23 Adsorption part 26 Negative pressure supply unit 28 Syringe Pump 30 Electric motor 32 Rack and pinion mechanism 36 Repair Department 38 Pretreatment section 38a Sanding section 38b Adhesive application section 40 Repair parts 44 Rotating part 50 Robot 52 Arm 54 Connecting part 60 cameras 62 Shading hood 64 Outer cover 70 Controller 72 Image data acquisition unit 74 Status determination unit 76 Control Unit

Claims

1. A wind turbine blade repair device for repairing a damaged portion on the surface of a wind turbine blade, comprising: a body securable relative to the surface; a repair unit for performing a repair process by attaching a repair member to the damaged portion; A wind turbine blade repair device comprising:

2. the repair portion includes a gripping portion for detachably gripping the repair member, a wind turbine blade repair device, wherein the gripping portion is capable of attaching the repair member to the damaged portion by adjusting the position of the repair member gripped by the gripping portion relative to the damaged portion when the main body is fixed to the surface.

3. at least one pre-treatment section for pre-treating the damaged portion before the repair treatment; 3. The wind turbine blade repair device according to claim 1, wherein the repair unit and the at least one pre-treatment unit are switchable between a first position facing the damaged portion and a second position not facing the damaged portion.

4. The wind turbine blade repair device according to claim 3 , wherein the repair unit and the at least one pre-treatment unit are mounted on a rotating unit that is rotatable relative to the main body, thereby being able to switch between the first position and the second position.

5. The wind turbine blade repair device according to claim 3 , wherein the at least one pre-treatment section includes a sanding section for performing a sanding treatment on the damaged section.

6. The wind turbine blade repair device according to claim 3 , wherein the at least one pre-treatment section includes an adhesive application section for applying an adhesive to the damaged section.

7. The wind turbine blade repair device according to claim 1 or 2, wherein the main body is provided with a suction portion for fixing to the surface by suction.

8. 3. The wind turbine blade repair device according to claim 1 or 2, wherein the main body comprises a connecting portion that can be connected to a robot arm of a robot that is supported by being suspended from a nacelle to which the wind turbine blade is attached and that can move over the surface.

9. a camera for capturing an image of the damaged area; a state determination unit for determining a state of the damaged portion based on an image captured by the camera; a sanding process execution unit for executing the sanding process based on a determination result of the state determination unit; The wind turbine blade repair device according to claim 5, comprising:

10. The state determination unit determines, based on the image, an area where an amount of uncut material remaining after the previous sanding process is equal to or greater than a threshold value; The wind turbine blade repair device according to claim 9 , wherein the sanding process execution unit re-executes the sanding process on the region.

11. The wind turbine blade repair device according to claim 9 , further comprising a shading hood provided so as to cover an imaging range of the camera.

12. a main body that can be fixed to the surface of a wind turbine blade; a repair unit for performing a repair process to attach a repair member to the damaged portion on the surface; A wind turbine blade repair method using a wind turbine blade repair device comprising: attaching the wind turbine blade repair device to the wind turbine blade by fixing the body to the surface; performing the repair process on the damaged portion by the repair unit; A wind turbine blade repair method comprising:

Images