Wind turbine, information acquisition method, and wind turbine management system

Abstract

To improve the efficiency of acquiring information about wind turbines using aircraft. [Solution] The flying object 10 acquires information regarding the external condition of the wind turbine 1. The wind turbine 1 includes a tower 2, a nacelle 3 rotatably held on the tower 2, and a wireless charger 300 provided on the nacelle 3 for charging the flying object 10. The flying object 10, charged by the wireless charger 300, can reliably acquire information regarding the external condition of the wind turbine 1 without limiting its flight time.

Description

Technical Field

[0005] , , , ,

[0006] , ,

[0001] The present invention relates to a wind turbine, an information acquisition method, and a wind turbine management system.

Background Art

[0002] As disclosed in Patent Document 1, an information acquisition method for a wind turbine using an aircraft is known. The aircraft acquires information regarding the external state of the wind turbine.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The aircraft of Patent Document 1 includes a storage battery that stores power for flight. When acquiring information, the aircraft requires power to move back and forth between the wind turbine and the parking location of the aircraft. As a result of securing power for the round - trip movement in the aircraft, the flight - available time for information acquisition decreases. The present invention aims to improve the efficiency of information acquisition of a wind turbine by an aircraft.

Means for Solving the Problems

[0007] According to the present invention, the efficiency of acquiring information about wind turbines by an aircraft can be improved. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a diagram illustrating one embodiment, showing a wind turbine, an aircraft, and a building. [Figure 2] Figure 2 is a perspective view of one of the multiple wind turbines shown in Figure 1. [Figure 3] Figure 3 is a plan view of the wind turbine shown in Figure 2. [Figure 4] Figure 4 is a side view of the wind turbine shown in Figure 2. [Figure 5] Figure 5 is a schematic cross-sectional view of the wind turbine drive system shown in Figure 4. [Figure 6] Figure 6 is a block diagram of a wind turbine. [Figure 7] Figure 7 is a block diagram of the condition monitoring device. [Figure 8] Figure 8 is a block diagram of the receiving unit shown in Figure 7. [Figure 9] Figure 9 is a block diagram of the indicator unit in Figure 7. [Figure 10] Figure 10 is a perspective view of a wireless charging device. [Figure 11] Figure 11 is a block diagram of a wireless charging device. [Figure 12] Figure 12 is a perspective view of the aircraft. [Figure 13] Figure 13 is a block diagram of the aircraft. [Figure 14] Figure 14 is a flowchart illustrating how an aircraft can acquire information about wind turbines. [Modes for carrying out the invention]

[0009] One embodiment of the present invention relates to the following [1] to

[20] .

[0010] [1] A tower, a nacelle rotatably held by the tower, and a wireless charging device provided in the nacelle for charging a flying object, a windmill.

[0011] [2] The nacelle is provided with a port for landing the flying object, and the wireless charging device is arranged at the port, the windmill of [1].

[0012] <000 / / 93>[3] When observing the windmill from the axial direction parallel to the rotation axis of the nacelle with respect to the tower, the port is located on a portion where the nacelle and the tower overlap, the windmill of [2].

[0013] [4] The port is located in a recess provided in the nacelle, the windmill of [2] or [3].

[0014] [5] Further comprising an appearance receiving unit that receives a signal regarding the appearance state of the windmill from the flying object, the windmill of any one of [1] to [4].

[0015] [6] Further comprising a transmitting unit that transmits the signal received by the appearance receiving unit, the windmill of [5].

[0016] [7] A sensor that detects the operation of the windmill, and a sensor receiving unit that receives a signal regarding the detection result from the sensor, and the transmitting unit transmits the signal received by the appearance receiving unit and the signal received by the sensor receiving unit, the windmill of [6].

[0017] [8] Further comprising a transmission instruction unit that instructs the flying object to transmit the signal regarding the appearance state of the windmill to the windmill, the windmill of any one of [5] to [7].

[0018] [9] An appearance receiving unit that receives signals from the flying object regarding the external state of the wind turbine, The aircraft further comprises a transmission instruction unit that instructs the aircraft to transmit the signal relating to the external state of the wind turbine to the wind turbine, The transmission instruction unit, when the aircraft is landing at the port, instructs the aircraft to transmit a signal to the wind turbine regarding the external state of the wind turbine, to one of the wind turbines [2] to [8].

[0019]

[10] A time receiving unit that receives a signal relating to the flight time from the aircraft, The aircraft comprises a flight instruction unit that instructs the aircraft to fly, The flight instruction unit is a wind turbine [1] to [9] which instructs the aircraft to fly based on the signal received by the time receiving unit.

[0020]

[11] A sensor for detecting the operation of the wind turbine, The system further comprises a sensor receiving unit that receives a signal related to the detection result from the aforementioned sensor, The flight instruction unit instructs the aircraft to fly based on the signal received by the sensor receiving unit,

[10] wind turbine.

[0021]

[12] A charging step of charging the aircraft using the wireless charging device, A method for acquiring the state of any of the wind turbines [1] to

[11] , comprising an acquisition step of acquiring information about the wind turbine by the flying object.

[0022]

[13] The flying object includes a storage unit for storing information relating to the appearance of the wind turbine in the acquisition step, A state acquisition method

[12] further comprising, after the acquisition step, a communication step of transmitting the information relating to the appearance stored in the storage unit, and an erasure step of erasing the information relating to the appearance from the storage unit.

[0023]

[14] A condition monitoring device for monitoring the condition of the wind turbine, A wind turbine management system comprising a wireless charging device for charging an aircraft, which is installed in the nacelle of the wind turbine.

[0024]

[15] The wind turbine management system of

[14] , which includes an appearance receiving unit that receives signals from the aircraft relating to the appearance of the wind turbine.

[0025]

[16] The wind turbine management system of

[15] , the condition monitoring device includes a transmitting unit that transmits the signal received by the appearance receiving unit.

[0026]

[17] The wind turbine is further equipped with a sensor for detecting the operation of the wind turbine, The state monitoring device includes a sensor receiving unit that receives a signal related to the detection result from the sensor, The transmitting unit transmits the signal received by the external receiving unit and the signal received by the sensor receiving unit, according to any of the wind turbine management systems

[14] to

[16] .

[0027]

[18] The condition monitoring device includes a transmission instruction unit that instructs the aircraft to transmit the signal relating to the external condition of the wind turbine to the wind turbine, any of the wind turbine management systems in

[14] to

[17] .

[0028]

[19] The status monitoring device includes a time receiving unit that receives a signal from the aircraft relating to the flight time, and a flight instruction unit that instructs the aircraft to fly, The aforementioned flight instruction unit instructs the aircraft to fly based on the signal received by the time receiving unit, according to any of the wind turbine management systems

[14] to

[18] .

[0029]

[20] The wind turbine further comprises a sensor for detecting the operation of the wind turbine, The state monitoring device includes a sensor receiving unit that receives a signal related to the detection result from the sensor, The flight instruction unit is a wind turbine management system, one of

[14] to

[19] , which instructs the aircraft to fly based on the signal received by the sensor receiving unit.

[0030] An embodiment of the present invention will be described with reference to the drawings. For ease of illustration and understanding, the dimensional ratios in the drawings may be changed from the dimensional ratios of the actual object. Components shown in one drawing may be omitted in other drawings.

[0031] Shapes, terms used to specify geometric conditions such as "parallel" and "orthogonal," and length values ​​are not interpreted strictly, but rather within a range that allows for the expectation of similar functionality.

[0032] Figures 1 to 14 are diagrams illustrating one embodiment. Figure 1 shows a wind turbine 1, an aircraft 10, and a building 500. The wind turbine 1 is unmanned. The wind turbine 1 is installed outdoors. The wind turbine 1 may be installed on land or on the water surface. Figure 1 shows multiple wind turbines 1 installed on the water surface. The wind turbines 1 on the water surface may be installed in the sea or on a lake. The wind turbines 1 on the water surface may be installed along the shore or offshore away from the shore. The installation method of the wind turbines 1 on the water surface may be bottom-fixed or floating.

[0033] As shown in Figure 2, the wind turbine 1 includes a tower 2, a nacelle 3 rotatably held on the tower 2, and a rotor 4 rotatably held on the nacelle 3. The rotor 4 includes a hub 5 and a plurality of blades 6 extending radially from the hub 5. The wind turbine 1 generates electricity by the rotation of the rotor 4.

[0034] In the wind turbine 1 shown in Figure 2, the tower 2, nacelle 3, hub 5, and blades 6 are the exterior components 8 of the wind turbine 1. The exterior components 8 may be painted. In other words, the exterior components 8 may include a substrate and a coating that covers the substrate. The coating has the function of protecting the substrate from the external environment. From the viewpoint of ensuring strength against the external environment, the substrate of the exterior components 8 may be made of steel.

[0035] The operation of each of the multiple wind turbines 1 shown in Figure 1 may be remotely controlled by a wind turbine control device 100. The wind turbine control device 100 is installed in a building 500, as shown in Figure 6. The building 500 in Figure 1 is installed at a distance from the wind turbines 1. The building 500 is installed on land. The wind turbine control device 100 may control the rotation of the rotor 4, the rotation of the nacelle 3 relative to the tower 2, and the rotation of the blades 6 relative to the hub 5. Details regarding the rotation of the nacelle 3 relative to the tower 2 and the rotation of the blades 6 relative to the hub 5 will be described later. However, the wind turbine control device 100 may be installed on the wind turbine 1, as in Figure 6.

[0036] The wind turbine control device 100 is a computer. The computer includes a control circuit. The control circuit may include a processor such as a CPU (Central Processing Unit) and an MPU (Micro Processing Unit). The control circuit may include a main memory such as RAM (Random Access Memory). The control circuit may also include an auxiliary storage device such as ROM (Read Only Memory) and a hard disk.

[0037] The flying object 10 in Figure 1 is flying around the wind turbine 1. While flying, the flying object 10 is moving around the wind turbine 1. Note that "movement" of the flying object 10 is an action that involves a shift in the center of gravity of the flying object 10. The flying object 10 is unmanned. The flying object 10 may be a drone. The flying object 10 flies using power supplied from a built-in rechargeable battery 15. The rechargeable battery 15 is a reusable secondary battery. The flying object 10 is charged when power is supplied to the rechargeable battery 15 from an external power source.

[0038] The flying object 10 acquires information regarding the external state of the wind turbine 1. Hereafter, this information regarding the external state of the wind turbine 1 will also be referred to as the wind turbine 1's external information. The flying object 10 may acquire external information for multiple wind turbines 1. The wind turbine 1's external information may also be an image of the exterior component 8. That is, the flying object 10 may acquire an image of the exterior component 8. The images acquired by the flying object 10 may be still images or moving images.

[0039] The external appearance information of the wind turbine 1 is used to detect abnormalities in the exterior components 8. The abnormality in the exterior components 8 may be deterioration of the exterior components 8. For example, deterioration of the exterior components 8 may be cracks or peeling of the paint film on the blades 6. By detecting deterioration of the exterior components 8, measures can be taken early to avoid malfunctions in the wind turbine 1. Deterioration of the exterior components 8 may be detected based on the external appearance information of the wind turbine 1 by the condition monitoring device 200 described later, or by the flying vehicle 10.

[0040] The flying object 10 may acquire external information of the wind turbine 1 based on instructions from the wind turbine control device 100. The flying object 10 may acquire external information of the wind turbine 1 based on instructions from the condition monitoring device 200, which will be described later. The flying object 10 may acquire external information of the wind turbine 1 based on its own judgment. The external information of the wind turbine 1 may be acquired by the wind turbine control device 100 or by the condition monitoring device 200 of the wind turbine 1. The external information of the wind turbine 1 may be transmitted wirelessly as a signal to the condition monitoring device 200. The wind turbine control device 100 may acquire external information of the wind turbine 1 via the condition monitoring device 200. Wired communication may be performed between the wind turbine control device 100 and the condition monitoring device 200.

[0041] In Figure 1, when the aircraft 10 has not yet acquired external information of the wind turbine 1, it may be housed in the building 500 where the wind turbine control device 100 is installed. In other words, the building 500 may be a parking area for the aircraft 10. The aircraft 10 may be charged in the building 500. The aircraft 10 housed in the building 500 moves from the building 500 towards the wind turbine 1 before starting to acquire external information of the wind turbine 1. After completing the acquisition of external information of the wind turbine 1, the aircraft 10 moves from the wind turbine 1 towards the building 500.

[0042] Wind turbine 1 may be located a distance greater than the maximum transmission distance of aircraft 10. The maximum transmission distance of aircraft 10 is the maximum distance over which aircraft 10 can wirelessly transmit a signal. If wind turbine 1 is located a distance greater than the maximum transmission distance of aircraft 10, aircraft 10 cannot wirelessly transmit a signal to its parking location. Aircraft 10 may be located a distance less than or equal to its flight range. The flight range of aircraft 10 is the maximum distance over which aircraft 10 can fly without charging.

[0043] Multiple flying objects 10 may be used to acquire external information of multiple wind turbines 1 as shown in Figure 1. The multiple flying objects 10 may acquire external information of different wind turbines 1 from each other.

[0044] As described in the background technology section, the aircraft requires power to move between the parking area and the wind turbine. As shown in Figure 1, if the wind turbine is installed on the water surface, there is a risk that the aircraft may fall into the water if power cannot be secured to move between the parking area and the wind turbine. However, securing power between the parking area and the wind turbine may reduce the power available for the aircraft to fly for the purpose of acquiring external information. As a result, the time available for the aircraft to fly to acquire external information of the wind turbine may be reduced due to movement between the parking area and the wind turbine.

[0045] In contrast, the wind turbine 1 according to this embodiment includes a wireless charging device 300 for charging the aircraft 10. Specifically, as will be described later, power is supplied wirelessly from the power transmission unit 303 included in the wireless charging device 300 to the power receiving unit 16 included in the aircraft 10.

[0046] The wireless charging device 300 can charge the aircraft 10 after it has moved from building 500 to wind turbine 1. This extends the time the aircraft 10 can fly to acquire external information about wind turbine 1. The wireless charging device 300 may also charge the aircraft 10 before it acquires external information about wind turbine 1. The wireless charging device 300 may also charge the aircraft 10 after it has acquired external information about wind turbine 1, before it moves to building 500, which is its parking location.

[0047] Furthermore, since the wireless charging device 300 wirelessly charges the aircraft 10, no human intervention is required at the wind turbine 1 to charge the aircraft 10. The aircraft 10 can be charged at the unmanned wind turbine 1. It is difficult to station personnel at the wind turbine 1 for charging work. As shown in Figure 1, it is particularly difficult to station personnel when multiple wind turbines 1 are installed, and when the wind turbines 1 are located on the water surface. Therefore, wireless charging of the aircraft 10 by the wireless charging device 300 is particularly suitable when the aircraft 10 acquires visual information of multiple wind turbines 1, and when it acquires visual information of a wind turbine 1 located on the water surface.

[0048] The charging method for the aircraft 10 by the wireless charging device 300 is not particularly limited, as long as wireless power transmission is possible. For example, the charging method for the aircraft 10 by the wireless charging device 300 may be an electromagnetic induction method or an electric field coupling method.

[0049] The configuration of wind turbine 1 will be explained in more detail below, mainly with reference to Figures 1 to 11. Figure 3 is a plan view of wind turbine 1, showing it from above in the vertical direction. Figure 4 is a side view of wind turbine 1, showing it from the horizontal direction.

[0050] In the wind turbine 1 shown in Figure 1, the tower 2 is installed so as to extend upward from the water surface. When used in reference to the wind turbine 1 installed on the water surface, "upward" means the direction away from the water surface in the vertical direction.

[0051] The nacelle 3 shown in Figures 2 and 3 is rotatable relative to the tower 2 around a first axis parallel to the longitudinal direction of the tower 2. In other words, the first axis AX1 is the axis of rotation of the nacelle 3 relative to the tower 2. The illustrated first axis AX1 extends parallel to the vertical direction. The nacelle 3 may rotate relative to the tower 2 in response to changes in wind direction. The rotation of the nacelle 3 around the first axis AX1 may be referred to as the yaw rotation of the wind turbine 1.

[0052] As shown in Figure 4, an internal space 3S is formed in the nacelle 3. The internal space 3S houses, although not shown in the figure, the rotating shaft member of the rotor 4, a speed increaser that increases the rotational motion of the rotating shaft member, a rotor brake for reducing or stopping the rotation of the rotor 4 relative to the nacelle 3, and a generator, etc.

[0053] The nacelle 3 in Figures 2 and 3 has a rectangular parallelepiped shape. The nacelle 3 has a top surface 3X. The top surface 3X extends in a direction perpendicular to the longitudinal direction of the tower 2. In Figure 3, the top surface 3X extends in a horizontal direction perpendicular to the vertical direction. A port 7 for the landing of the aircraft 10 is provided on the top surface 3X.

[0054] A wireless charging device 300 is located at port 7 in Figures 2 and 3. The illustrated wireless charging device 300 charges the aircraft 10 at port 7. The aircraft 10 may be charged by the wireless charging device 300 when it is landed at port 7, i.e., when it has stopped flying at port 7. The aircraft 10 may also be charged by the wireless charging device 300 when it approaches port 7 during flight.

[0055] As shown in Figures 2 to 4, a recess 3Y may be provided on the top surface 3X of the nacelle 3. The recess 3Y is a portion that is recessed toward the tower 2 compared to the portion of the top surface 3X other than the recess 3Y. In Figure 3, the port 7 described above is located within the recess 3Y. The recess 3Y may include a horizontally extending bottom portion 3YA and a side portion 3YB extending upward from the bottom portion 3YA. The bottom portion 3YA may constitute the port 7, as shown in Figure 4. The height of the side portion 3YB, i.e., the dimension in the vertical direction, may be greater than the total height of the aircraft 10. The total height of the aircraft 10 is the total length of the aircraft 10 in the Z direction DZ shown in Figure 12, which will be described later.

[0056] As shown in Figure 3, when the wind turbine 1 is observed from a direction parallel to the first axis AX1, the nacelle 3 includes an overlapping portion 3M that overlaps with the tower 2. In Figure 3, the first axis AX1 is located within the overlapping portion 3M. The overlapping portion 3M includes the part that forms the center of the yaw rotation of the wind turbine 1. In Figure 3, the overlapping portion 3M is indicated by a circular dashed line. Port 7 in Figure 3 is located on the overlapping portion 3M. However, unlike in Figure 3, port 7 may be located on a portion other than the overlapping portion 3M.

[0057] The rotor 4 shown in Figure 1 is rotatable around a second axis AX2 parallel to the horizontal direction relative to the nacelle 3. Multiple blades 6 extend radially from the hub 5 in a direction perpendicular to the second axis AX2. The multiple blades 6 are arranged such that, in a front view, i.e., observed from a direction parallel to the rotation axis of the rotor 4 (second axis AX2), the angles between two adjacent blades 6 are equal. Figures 1 and 2 show three blades 6 arranged such that, in a front view, the angles between two adjacent blades 6 are equal. As the rotor 4 rotates relative to the nacelle 3, the speed of the blades 6 increases as they approach the tip, i.e., as they move away from the hub 5.

[0058] As shown in Figure 3, the blade 6 may be rotatable around a third axis AX3 parallel to the longitudinal direction of the blade 6 relative to the hub 5. The blade 6 may rotate relative to the hub 5 in response to changes in wind speed, etc. The blade 6 may also rotate relative to the hub 5 for purposes such as controlling the rotational speed of the rotor 4 relative to the nacelle 3 and controlling the amount of power generated. Such rotation of the blade 6 relative to the hub 5 may be referred to as the pitch rotation of the wind turbine 1.

[0059] The wind turbine 1 includes a drive unit 50 for yaw rotation or pitch rotation. The wind turbine 1 in Figure 4 includes a first drive unit 51 for yaw rotation and a second drive unit 52 for pitch rotation. The first drive unit may be referred to as the yaw drive unit. The second drive unit 52 may be referred to as the pitch drive unit. The first drive unit 51 is mounted on the nacelle 3. The second drive unit 52 is mounted on the hub 5. The number of second drive units 52 may be greater than or equal to the number of blades 6 in order to rotate each of the multiple blades 6 relative to the hub 5. The wind turbine 1 shown in Figures 1 and 2 may include three second drive units 52 to rotate each of the three blades 6 relative to the hub 5. The specific configuration of the drive unit 50 will be described below using the second drive unit 52 shown in Figure 5 as an example.

[0060] The drive unit 50 (second drive unit 52) ​​in Figure 5 includes a drive unit body 60 and a plurality of bolts 65 that fix the drive unit body 60 to the hub 5. The drive unit body 60 in Figure 5 includes an output shaft 64 having a meshing portion 64a, a case 61 that rotatably holds the output shaft 64, and an electric motor 63 fixed to the case 61. The output shaft 64 in Figure 5 is held rotatably around the rotation axis CR relative to the case 61. In Figure 5, the meshing portion 64a extends into a through hole 5a formed in the hub 5 and meshes with a ring gear 6a provided on the blade 6. Note that the individual teeth of the ring gear 6a are not shown in Figure 5.

[0061] The case 61 in Figure 5 is cylindrical. The longitudinal direction of the case 61 is parallel to the direction in which the rotation axis CR of the output shaft 64 extends. Both ends of the case 61 in the longitudinal direction are open. The output shaft 64 and the meshing portion 64a are exposed through one of the two openings. The electric motor 63 is mounted through the other opening.

[0062] The case 61 in Figure 5 has a flange portion 62. The flange portion 62 is located at the end of the drive unit body 60 in the axial direction, that is, in a direction parallel to the rotation axis CR. The case 61 is in contact with the hub 5 at the flange portion 62. The hub 5 is located between the drive unit body 60 and the blade 6 at the portion where the case 61 is in contact. As shown in Figure 5, in the direction perpendicular to the rotation axis CR, the dimensions of the flange portion 62 are larger than those of the other parts. The flange portion 62 is annular with respect to the rotation axis CR of the output shaft 64. The outer diameter of the flange portion 62 is larger than the outer diameter of the through hole 5a formed in the hub 5. As a result, the flange portion 62 cannot pass through the through hole 5a provided in the hub 5.

[0063] The flange portion 62 in Figure 5 has multiple through holes 62a. The through holes 62a extend in a direction parallel to the rotation axis CR of the output shaft 64. The multiple through holes 62a are formed along the circumference centered on the rotation axis CR. As shown in Figure 5, bolts 65 for fixing the drive unit body 60 to the hub 5 can pass through the through holes 62a.

[0064] The output shaft 64 in Figure 5 includes a portion housed in the case 61 and a portion extending from the case 61. The output shaft 64 has the aforementioned meshing portion 64a at its tip in the direction extending from the case 61. The meshing portion 64a may have various shapes for meshing with the ring gear 6a. For example, the meshing portion 64a may be a pinion gear having external teeth that mesh with the internal teeth of the ring gear 6a.

[0065] The bolt 65 in Figure 5 includes a threaded portion. The bolt 65 passes through a through hole 62a provided in the flange portion 62. The threaded portion of the bolt 65 engages with a threaded hole 5b provided in the hub 5. By engaging the threaded portion of the bolt 65 with the threaded hole 5b, the bolt 65 fixes the drive unit body 60 to the hub 5.

[0066] The wind turbine 1 includes a sensor 70 for detecting abnormalities in the wind turbine 1. The sensor 70 may also be a bolt-type sensor device 71. The bolt-type sensor device 71 detects the load on the drive unit 50, particularly the drive unit body 60. As shown in Figure 5, the bolt-type sensor device 71 is used to fix the drive unit body 60 to the hub 5 in place of some of the bolts 65. The wind turbine 1 may include multiple bolt-type sensor devices 71.

[0067] The bolt-type sensor device 71 in Figure 5 includes a bolt-type sensor body 71A and a physical change detection unit 71B joined to the sensor body 71A. The sensor body 71A includes a threaded portion. The sensor body 71A passes through a through hole 62a provided in the flange portion 62. The threaded portion of the sensor body 71A engages with a threaded hole 5b provided in the hub 5. By engaging the threaded portion of the sensor body 71A with the threaded hole 5b, the sensor body 71A, together with the bolt 65, fixes the drive unit body 60 to the hub 5.

[0068] The physical change detection unit 71B detects changes in the state of the drive unit body 60 as physical changes in the sensor body 71A. The physical change detection unit 71B may also detect tensile deformation, compressive deformation, bending deformation, torsional deformation, shear deformation, etc., of the sensor body 71A. In the bolt-type sensor device 71 shown in Figure 5, the physical change detection unit 71B is located in a through hole 62a provided in the flange portion 62.

[0069] The physical change detection unit 71B may be a strain sensor. In the bolt-type sensor device 71 of Figure 5, the electrical resistance of the strain sensor changes with the deformation of the region of the sensor body 71A to which the strain sensor is joined. The strain sensor can detect the change in electrical resistance as information related to the operation of the drive unit body 60. However, the physical change detection unit 71B is not limited to a strain sensor. The physical change detection unit 71B may be any of the following: a position sensor, an ultrasonic distance meter, a capacitive distance meter, an optical distance sensor, or a displacement sensor.

[0070] Sensor 70 may also be an acoustic sensor 72, as shown in Figure 4. The acoustic sensor 72 is installed inside the hub 5. The acoustic sensor 72 measures the waveform of sound produced when the rotor 4 rotates relative to the nacelle 3. In other words, the acoustic sensor 72 measures the operating sound of the rotor 4. If the exterior components 8, particularly the rotor 4, deteriorate, the rotor 4 may rotate relative to the nacelle 3 with an unusual sound. By comparing the sound waves measured by the acoustic sensor 72 between normal and abnormal conditions, the deterioration of the rotor 4 can be detected.

[0071] Sensor 70 may also be an acceleration sensor 73, as shown in Figure 4. The illustrated acceleration sensor 73 is attached to the blade 6. The acceleration sensor 73 measures the acceleration input to the blade 6 from the external environment. In the wind turbine 1, the acceleration sensor 73 can measure impacts to the exterior members 8, such as lightning strikes and collisions with foreign objects, as acceleration.

[0072] As shown in Figure 4, the wind turbine 1 includes a braking device 80 for decelerating or stopping yaw rotation. The braking device 80 for decelerating or stopping yaw rotation may also be referred to as a yaw brake. The wind turbine control device 100 described above may control the yaw rotation of the wind turbine 1 by controlling the operation of the drive device 50 and the braking device 80. The wind turbine control device 100 may transmit signals related to the control of the drive device 50 and the braking device 80 to the wind turbine 1.

[0073] As shown in Figure 6, the wind turbine 1 includes a condition monitoring device 200. The condition monitoring device 200 monitors the state of the wind turbine 1, i.e., whether or not there are any abnormalities in the wind turbine 1. The illustrated condition monitoring device 200 monitors the state of the drive unit 50 and the exterior member 8 as the state of the wind turbine 1. The condition monitoring device 200 may also monitor the state of the aircraft 10. The condition monitoring device 200 and the wireless charging device 300 may constitute a wind turbine management system 400. The wind turbine management system 400 may also include the sensor 70 described above.

[0074] The condition monitoring device 200 may provide the wind turbine control device 100 with information regarding the state of the wind turbine 1. The wind turbine control device 100 may acquire information regarding the state of the wind turbine 1 by receiving signals from the condition monitoring device 200. The wind turbine control device 100 may control the operation of the wind turbine 1 based on the information acquired from the condition monitoring device 200.

[0075] The status monitoring device 200, like the wind turbine control device 100, is a computer. The status monitoring device 200 is installed in the internal space 3S of the nacelle 3. The status monitoring device 200 in Figures 6 and 7 includes, as functional components, a receiving unit 210, a storage unit 220, a determination unit 230, an instruction unit 240, and a transmission unit 250.

[0076] In Figures 6, 8, 11, and 13, a solid arrow with one pointed end signifies the transmission of a signal from a component connected to the other, ungrateful end to a component connected to that end. In Figures 6, 8, 11, and 13, a solid arrow with pointed ends signifies the transmission and reception of signals between two components connected by the arrow.

[0077] The receiving unit 210 receives signals from the outside. The receiving unit 210 in Figures 7 and 8 includes a sensor receiving unit 211, a control information receiving unit 212, and an appearance receiving unit 213. The sensor receiving unit 211, the control information receiving unit 212, and the appearance receiving unit 213 receive signals related to the wind turbine 1.

[0078] The sensor receiving unit 211 receives signals related to the detection results from the sensor 70. In Figure 8, the sensor receiving unit 211 receives signals related to the state of the wind turbine 1 from the sensor 70 as detection results. The sensor receiving unit 211 may also receive the change in electrical resistance of the physical change detection unit 71B from the bolt-type sensor device 71 as the deformation amount of the sensor body 71A. The sensor receiving unit 211 may also receive signals related to the operating sound of the rotor 4 from the acoustic sensor 72. The sensor receiving unit 211 may also receive signals related to the load input to the blade 6 from the acceleration sensor 73.

[0079] The control information receiving unit 212 receives signals related to the control of the wind turbine 1 from the wind turbine control device 100. The signals related to the control of the wind turbine 1 may be signals related to the yaw rotation of the wind turbine 1, or signals related to the pitch rotation of the wind turbine 1. The signals related to the yaw rotation of the wind turbine 1 may also be signals related to the operation of the yaw drive device (first drive device 51) and the yaw brake. The signals related to the pitch rotation of the wind turbine 1 may also be signals related to the operation of the pitch drive device (second drive device 52) and the pitch brake.

[0080] The control information receiving unit 212 may receive signals from the wind turbine control device 100 regarding flight instructions for the aircraft 10.

[0081] The appearance receiving unit 213 receives signals from the flying body 10 regarding the external condition of the wind turbine 1. When the appearance receiving unit 213 receives signals regarding the external condition of the wind turbine 1, the flying body 10 transmits signals regarding the external condition of the wind turbine 1 to the condition monitoring device 200. The signals that the appearance receiving unit 213 receives from the flying body 10 may also be signals regarding images of the exterior members 8. The signals that the appearance receiving unit 213 receives from the flying body 10 may also be signals regarding whether or not the exterior members 8 have deteriorated.

[0082] The receiving unit 210 in Figures 7 and 8 further includes a time receiving unit 214 and a charging information receiving unit 215. The time receiving unit 214 and the charging information receiving unit 215 receive signals related to the aircraft 10. The time receiving unit 214 receives a signal related to the flight time from the aircraft 10. The signal related to the flight time may, for example, be the flight time of the aircraft 10 in units of seconds, minutes, and hours. Another example of the signal related to the flight time may be a numerical value related to the power of the battery 15. The unit of the numerical value related to the power of the battery 15 is %. The illustrated charging information receiving unit 215 receives a signal related to the position of the aircraft 10 from the communication unit 308 of the wireless charging device 300.

[0083] As described above, the wireless charging device 300 is located at port 7. The appearance receiving unit 213 and the time receiving unit 214 may receive signals from the aircraft 10 when it is landed at port 7. The appearance receiving unit 213 and the time receiving unit 214 may also receive signals from the aircraft 10 in flight when it is approaching port 7. The charging information receiving unit 215 may receive the detection result of the aircraft 10 landing at port 7 from the wireless charging device 300 as a signal related to the position of the aircraft 10.

[0084] The memory unit 220 stores information regarding the state of the wind turbine 1. The memory unit 220 may also store signals related to the state of the wind turbine 1 received by the sensor receiving unit 211. The memory unit 220 may also store signals related to the external state of the wind turbine 1 received by the external appearance receiving unit 213. The memory unit 220 may also store information necessary for the determination unit 230 to determine the state of the wind turbine 1.

[0085] The determination unit 230 determines whether or not there is an abnormality in the wind turbine 1. The determination unit 230 may determine whether or not there is an abnormality in the wind turbine 1 based on the signal received by the sensor receiving unit 211. The determination unit 230 may determine an abnormality in the wind turbine 1 to be an abnormal stop of the drive unit 50, that is, an unintended stop of the drive unit 50 which should be operating. The determination unit 230 may determine an abnormal stop of the drive unit 50 by comparing the data received by the sensor receiving unit 211 regarding the deformation amount of the sensor body 71A with a threshold value for the deformation amount of the sensor body 71A stored in the storage unit 220. The determination unit 230 may determine an abnormal stop of the drive unit 50 by comparing the data received by the sensor receiving unit 211 regarding the deformation amount of the sensor body 71A with past received data for the deformation amount of the sensor body 71A stored in the storage unit 220.

[0086] The determination unit 230 may determine, based on the signal received by the sensor receiver 211, that there is a suspected abnormality in the wind turbine 1, specifically that the exterior member 8 is deteriorating. When there is a suspected deterioration of the exterior member 8, the determination unit 230 may determine that it is necessary for the aircraft 10 to acquire external information of the wind turbine 1. Therefore, the determination unit 230 may determine, based on the signal received by the sensor receiver 211, whether it is necessary for the aircraft 10 to acquire external information of the wind turbine 1. The determination unit 230 may determine that there is a suspected deterioration of the wind turbine 1 by comparing the data received by the sensor receiver 211 regarding the operating sound of the rotor 4 with a threshold value for the operating sound of the rotor 4 stored in the storage unit 220. The determination unit 230 may determine that there is a suspected deterioration of the wind turbine 1 by comparing the data received by the sensor receiver 211 regarding the load input to the blade 6 with a threshold value for the load stored in the storage unit 220.

[0087] The determination unit 230 may determine whether the aircraft 10 is capable of flight based on the signal received by the time receiving unit 214. The determination unit 230 may also determine whether the aircraft 10 is capable of flight from the signal received by the time receiving unit 214. The determination unit 230 may also determine whether the aircraft 10 is capable of flight by comparing the flight time of the identified aircraft 10 with a threshold value related to the flight time stored in the storage unit 220.

[0088] The instruction unit 240 issues instructions to the aircraft 10. The instruction unit 240 in Figure 8 includes a transmission instruction unit 241. The transmission instruction unit 241 instructs the aircraft 10 to transmit a signal regarding the external state of the wind turbine 1 to the state monitoring device 200. The transmission instruction unit 241 may also instruct the aircraft 10 to transmit the above-mentioned signal based on the signal received by the charging information receiving unit 215. In other words, the transmission instruction unit 241 may instruct the aircraft 10 to transmit the above-mentioned signal when it detects that the aircraft 10 has landed on port 7.

[0089] As shown in Figure 8, the instruction unit 240 further includes a flight instruction unit 242. The flight instruction unit 242 instructs the aircraft 10 to fly. The flight instruction unit 242 may instruct the aircraft 10 to fly based on the above-mentioned determination result by the determination unit 230. The flight instruction unit 242 may also instruct the aircraft 10 to fly when the determination unit 230 determines that it is necessary for the aircraft 10 to acquire external information of the wind turbine 1. That is, the flight instruction unit 242 may also instruct the aircraft 10 to fly based on the detection result of the sensor 70 received by the sensor receiving unit 211. Furthermore, the flight instruction unit 242 may also instruct the aircraft 10 to fly when the determination unit 230 determines that the aircraft 10 is capable of flying. That is, the flight instruction unit 242 may also instruct the aircraft 10 to fly based on the signal received by the time receiving unit 214.

[0090] The transmitting unit 250 transmits a signal to the outside. The transmitting unit 250 may transmit a signal to the wind turbine control device 100 installed in the building 500. The transmitting unit 250 may transmit a signal related to the wind turbine 1 to the wind turbine control device 100. As a signal related to the wind turbine 1, the transmitting unit 250 may transmit the detection result of the sensor 70 received by the sensor receiving unit 211 to the wind turbine control device 100. The transmitting unit 250 may transmit a signal related to the external state of the wind turbine 1 received by the external appearance receiving unit 213 to the wind turbine control device 100.

[0091] The transmitting unit 250 may transmit signals relating to the aircraft 10 to the wind turbine control device 100. The transmitting unit 250 may transmit signals relating to the flight time of the aircraft 10, received by the time receiving unit 214, to the wind turbine control device 100. The transmitting unit 250 may transmit signals relating to the position of the aircraft 10, received by the charge information receiving unit 215, to the wind turbine control device 100. The transmitting unit 250 may transmit the determination result from the determination unit 230 to the wind turbine control device 100.

[0092] The transmitting unit 250 may transmit signals related to the control of the wind turbine 1, received by the control information receiving unit 212, to at least one of the drive unit 50 and the braking unit 80. The transmitting unit 250 may transmit signals related to the yaw rotation of the wind turbine 1 to the yaw drive unit or yaw brake. The transmitting unit 250 may transmit signals related to the pitch rotation of the wind turbine 1 to the pitch drive unit or pitch brake.

[0093] The transmitting unit 250 may transmit to the aircraft 10 signals received by the control information receiving unit 212 regarding the operation of the aircraft 10. The transmitting unit 250 may also transmit to the aircraft 10 signals regarding flight instructions as signals regarding the operation of the aircraft 10.

[0094] The wireless charging device 300 in Figure 11 includes an aircraft detection unit 301, a control unit 302, a power transmission unit 303, a power supply 304, and a switch 305. The control unit 302 is a computer, similar to the wind turbine control device 100 and the status monitoring device 200. Functionally, the control unit 302 includes a determination unit 306, a storage unit 307, and a communication unit 308.

[0095] As shown in Figure 10, the wireless charging device 300 includes a housing 310 that houses at least the power transmission unit 303. The illustrated wireless charging device 300 also houses the aircraft detection unit 301. The housing 310 is located at port 7. The housing 310 constitutes the landing area for the aircraft 10 at port 7. The housing 310 may also house the control unit 302, the power supply 304, or the switch 305.

[0096] The aircraft detection unit 301 detects the approach of the aircraft 10 to the wireless charging device 300. The aircraft detection unit 301 may also detect a change in the load on the housing 310 due to the aircraft 10 landing on port 7. The aircraft detection unit 301 may also be a load cell that detects the load of the aircraft 10 that has landed on port 7.

[0097] The control unit 302 is electrically connected to the aircraft detection unit 301. The control unit 302 acquires information regarding the load on the housing 310 via its electrical connection with the aircraft detection unit 301. In the control unit 302, the determination unit 306 determines whether the aircraft 10 has landed on port 7. The determination unit 306 may determine whether the aircraft 10 has landed on port 7 by comparing the acquired information regarding the load on the housing 310 with a threshold value regarding the load on the housing 310 stored in the storage unit 307. The determination result from the determination unit 306 is transmitted externally by the communication unit 308. The communication unit 308 may transmit the determination result from the determination unit 306 to the status monitoring device 200.

[0098] The power transmission unit 303 supplies power to the aircraft 10. In Figures 6 and 11, the power supplied from the wireless charging device 300, more specifically from the power transmission unit 303, to the aircraft 10 is shown by a dashed line. Power is supplied from the power transmission unit 303 to the aircraft 10 as the receiving unit 16 of the aircraft 10 approaches the power transmission unit 303. For example, when the charging method of the aircraft 10 is electromagnetic induction, the power transmission unit 303 is a power transmission coil, and the power receiving unit 16 is a power receiving coil. The power transmission coil generates a magnetic field when energized. The magnetic field is emitted around the wireless charging device 300. When the receiving unit 16 of the aircraft 10 approaches the power transmission unit 303, the magnetic field passes through the power receiving coil. As the magnetic field passes through the power receiving coil, an induced current is generated within the aircraft 10. In this way, power is supplied from the power transmission unit 303 to the power receiving unit 16. The aircraft 10 is wirelessly charged by an induced current generated within the aircraft 10.

[0099] As another example, when the charging method of the aircraft 10 is an electric field coupling method, the power transmission unit 303 is a power transmission electrode and the power receiving unit 16 is a power receiving electrode. As the power receiving unit 16 of the aircraft 10 approaches the power transmission unit 303, the power transmission electrode and the power receiving electrode form a capacitor. As a result of the formation of the capacitor, a current is generated between the power transmission unit 303 and the power receiving unit 16. In this way, power is supplied from the power transmission unit 303 to the power receiving unit 16.

[0100] The power supply 304 is electrically connected to the power transmission unit 303 via a switch 305. The switch 305 switches between energized and de-energized states between the power transmission unit 303 and the power supply 304. The switch 305 is electrically connected to the control unit 302. Based on the determination result of the determination unit 306 described above, the switch 305 switches the energized state between the power transmission unit 303 and the power supply 304. When the determination unit 306 detects that the aircraft 10 has landed on port 7, the switch 305 energizes the power transmission unit 303 and the power supply 304. When the determination unit 306 does not detect that the aircraft 10 has landed on port 7, the switch 305 de-energizes the power transmission unit 303 and the power supply 304.

[0101] Figure 12 is a perspective view of the aircraft 10 shown in Figure 1. The aircraft 10 in Figure 12 is capable of moving in at least one of the following directions during flight: X-direction DX, Y-direction DY, and Z-direction DZ. While in flight, the aircraft 10 can stop moving in the air in at least one of the following directions: X-direction DX, Y-direction DY, and Z-direction DZ. The state in which the aircraft 10 stops moving in any of the X-direction DX, Y-direction DY, and Z-direction DZ directions during flight may be referred to as hovering.

[0102] Next, the configuration of the aircraft 10 will be described in more detail, mainly with reference to Figures 12 and 13.

[0103] The arrows shown in Figure 12 indicate the direction of movement of the aircraft 10. In Figure 12, the arrows indicate the X direction DX, the Y direction DY, and the Z direction DZ. The Y direction DY is perpendicular to the X direction DX. The Z direction DZ is perpendicular to both the X direction DX and the Y direction DY. In Figure 12, the pointed tip of each arrow represents the first side of that direction. The blunt base end of each arrow represents the second side of that direction. Movement of the aircraft 10 toward the first side in the Z direction DZ while in flight may be referred to as the ascent of the aircraft 10. Movement of the aircraft 10 toward the second side in the Z direction DZ while in flight may be referred to as the descent of the aircraft 10.

[0104] The aircraft 10 in Figure 12 can change its attitude while in flight and while stationary. A "change in attitude" of the aircraft 10 during flight means an action of the aircraft 10 that does not involve a shift in its center of gravity. For example, the aircraft 10 may rotate around an axis parallel to the Z direction DZ during flight. As a change in attitude, the aircraft 10 may rotate around an axis parallel to the X direction DX, or around an axis parallel to the Y direction DY. A rotation around an axis parallel to any of the X direction DX, Y direction DY, and Z direction DZ may be referred to as a turn of the aircraft 10.

[0105] The aircraft 10 in Figures 12 and 13 includes an aircraft body 11, a camera 12, a motor 13, a rotor 14, a battery 15, a power receiving unit 16, an aircraft sensor 17, and a control unit 20 housed in the aircraft body 11. The control unit 20 controls the operation of the aircraft 10. The operation of the aircraft 10 controlled by the control unit 20 includes the flight of the aircraft 10. The control unit 20 is a computer, similar to the wind turbine control device 100, the condition monitoring device 200, etc. The control unit 20 includes, as functional components, a communication unit 21, a storage unit 22, a determination unit 23, an instruction unit 24, and a calculation unit 25.

[0106] In the aircraft 10, the motor 13 and the battery 15 are electrically connected to each other. The motor 13 rotates the rotor 14 using power supplied from the battery 15. The aircraft 10 flies due to the rotation of the rotor 14.

[0107] As shown in Figure 12, the aircraft 10 may include multiple motors 13 and multiple rotors 14. The aircraft 10 may fly by the rotation of the multiple rotors 14. An aircraft 10 including multiple rotors 14 may be called a multicopter. The aircraft 10 in Figure 12 includes four motors 13 and four rotors 14.

[0108] The camera 12 in Figure 13 is electrically connected to the control unit 20. The camera 12 captures images of the exterior of the wind turbine 1. While the aircraft 10 is in flight, it captures images of the exterior members 8. The camera 12 captures images of one or more of the tower 2, nacelle 3, hub 5, and blades 6. The image data from the camera 12 is stored in the storage unit 22 of the control unit 20. By storing the image data from the camera 12 in the storage unit 22, the aircraft 10 acquires external information of the wind turbine 1. The external information of the wind turbine 1 may be images of the exterior members 8, as described above. The camera 12 used in the aircraft 10 only needs to be capable of acquiring at least one of still images and video through imaging.

[0109] The battery 15 in Figure 13 supplies power to the motor 13. In addition to the motor 13, the battery 15 may also supply power to the camera 12 and the control unit 20. The battery 15 may be any type of battery available for secondary use. As an example of such a battery, the battery 15 may be a lithium-ion battery.

[0110] The power receiving unit 16 in Figure 13 is electrically connected to the battery 15. The power receiving unit 16 receives power from the power transmitting unit 303 of the wireless charging device 300, as shown by the dashed line in Figure 13. The power supplied to the power receiving unit 16 is stored in the battery 15. The aircraft 10 is wirelessly charged by the power supplied from the power receiving unit 16 being stored in the battery 15. When the charging method of the aircraft 10 is electromagnetic induction, the power receiving unit 16 is a power receiving coil. When the charging method of the aircraft 10 is electromagnetic induction, the power receiving unit 16 is a power receiving electrode.

[0111] In the aircraft 10 shown in Figure 13, the power receiving unit 16 is attached to the aircraft body 11 from below. The aircraft 10 lands on the power receiving unit 16. The aircraft 10 may also land on the port 7 on the power receiving unit 16. As described above, when a portion of the port 7 is composed of a wireless charging device 300, the aircraft 10 that lands on the port 7 may come into contact with the wireless charging device 300 on the power receiving unit 16.

[0112] The aircraft sensor 17 in Figure 13 may be a sensor that detects any of the following: information regarding the position of the aircraft 10, information regarding the attitude of the aircraft 10, or information regarding the movement of the aircraft 10. The aircraft 10 may include multiple aircraft sensors 17. The sensor that detects information regarding the position of the aircraft 10 may be a positioning sensor using GNSS (Global Navigation Satellite System). The aircraft sensor 17 that detects information regarding the attitude of the aircraft 10 may be an electronic compass that detects direction. The aircraft sensor 17 that detects information regarding the movement of the aircraft 10 may be an accelerometer that detects the acceleration of the aircraft 10, or a gyroscope that detects the angular velocity of the aircraft 10.

[0113] The communication unit 21 in Figure 13 enables wireless communication between the aircraft 10 and the outside. As shown in Figure 6, the aircraft 10 may also communicate wirelessly with the condition monitoring device 200 installed on the wind turbine 1. The aircraft 10 may also communicate wirelessly with the wind turbine control device 100 installed on the building 500. Wireless communication between the aircraft 10 and the condition monitoring device 200 may be performed at a location where wireless communication between the aircraft 10 and the wind turbine control device 100 is not possible.

[0114] The communication unit 21 may transmit signals regarding the external state of the wind turbine 1, acquired by the aircraft 10, to at least one of the wind turbine control device 100 and the state monitoring device 200. The signals regarding the external state of the wind turbine 1 transmitted by the communication unit 21 may include image data from the camera 12.

[0115] The aircraft 10 may receive signals from the wind turbine control device 100 regarding the operation of the aircraft 10. Based on instructions from the wind turbine control device 100, the aircraft 10 may start acquiring external information of the wind turbine 1. The aircraft 10 may transmit signals regarding the external state of the wind turbine 1 to the wind turbine control device 100.

[0116] The aircraft 10 may receive signals from the status monitoring device 200 regarding the operation of the aircraft 10. Specifically, the aircraft 10 may start flying and acquiring external information of the wind turbine 1 based on flight instructions from the flight instruction unit 242. The aircraft 10 may also transmit signals regarding the external state of the wind turbine 1 to the status monitoring device 200 based on transmission instructions from the transmission instruction unit 241.

[0117] The memory unit 22 stores the image data from the camera 12. The memory unit 22 may also store a program relating to the flight path of the aircraft 10. In the control unit 20, the stored program relating to the flight path may be executed by the processor. Through such operation of the control unit 20, the aircraft 10 may fly along a pre-created flight path.

[0118] The determination unit 23 makes a determination regarding the operation of the aircraft 10. For example, the determination unit 23 may determine whether or not the aircraft 10 needs to be charged. The determination unit 23 may determine whether or not the aircraft 10 needs to be charged by comparing a numerical value related to the power stored in the storage battery 15 with a threshold value related to power stored in the memory unit 22. The numerical value related to the power stored in the storage battery 15 may be the voltage of the storage battery 15.

[0119] The determination unit 23 may determine the charging status of the aircraft 10 while it is being charged. The determination unit 23 may determine when the aircraft 10 is fully charged by comparing a signal relating to the aircraft 10's flight time with a threshold value relating to the flight time stored in the memory unit 22.

[0120] The instruction unit 24 issues instructions to external devices. The instruction unit 24 may also issue instructions to components of the aircraft 10 other than the control unit 20. For example, the instruction unit 24 may, based on instructions from the wind turbine control device 100 or the status monitoring device 200, instruct the camera 12 to acquire an image of the exterior member 8. The instruction unit 24 may also issue instructions to the wind turbine 1. As another example, the instruction unit 24 may, based on the determination result of the determination unit 23, instruct the wireless charging device 300 to start up, that is, to energize the power transmission unit 303 and the power supply 304 as described above.

[0121] The calculation unit 25 calculates numerical values ​​related to the operation of the motor 13 according to the attitude that the aircraft 10 should maintain, the direction in which the aircraft 10 should move, the direction in which the aircraft 10 should turn, etc. The calculation unit 25 may also calculate numerical values ​​related to the operation of the motor 13 based on the detection results of the aircraft sensor 17. The calculation unit 25 may calculate different current values ​​among multiple motors 13. The calculation unit 25 may generate a signal related to the flight time from the voltage of the storage battery 15.

[0122] The operation of the wind turbine 1 and the flying body 10 described above will now be explained. Specifically, the method for acquiring the state of the wind turbine 1 by the flying body 10 will be explained with reference to Figure 14. The flying body 10 acquires external information of the wind turbine 1 by performing the state acquisition method of the wind turbine 1 shown in Figure 14. The flying body 10 may start acquiring the external state of the flying body 10 based on instructions from the wind turbine control device 100. The flying body 10 may also start acquiring external information of the flying body 10 based on instructions from the state monitoring device 200.

[0123] Figure 14 shows an example of a method for acquiring the state of the wind turbine 1 by the flying object 10. The method for acquiring the state of the wind turbine 1 includes a first movement step S1, a charging step S2, an acquisition step S3, a communication step S4, a first determination step S5, a second determination step S6, an erasure step S7, and a second movement step S8.

[0124] In the first movement process S1, the aircraft 10 moves from the parking area to the wind turbine 1. The aircraft 10 shown in Figure 1 moves from building 500 towards wind turbine 1. When the aircraft 10 reaches wind turbine 1, the first movement process S1 is completed. At the completion of the first movement process S1, the aircraft 10 may be in a state of having landed at port 7.

[0125] In charging step S2, the aircraft 10 is charged by the wireless charging device 300. As described above, the aircraft 10 is charged by supplying power from the power transmission unit 303 of the wireless charging device 300 to the power receiving unit 16 of the aircraft 10. In charging step S2, the power consumed in the first movement step S1 is replenished by the wireless charging device 300. In the aircraft 10, charging step S2 is completed when the value of the power stored in the battery 15 exceeds the threshold value of the power stored in the memory unit 22. The completion of charging step S2 may also be determined by the determination unit 23 of the aircraft 10 as described above.

[0126] The aircraft 10 may be charged in the charging process S2 to a degree that allows it to perform the subsequent steps of the wind turbine 1 information acquisition method. In the example shown in Figure 14, the aircraft 10 only needs to be charged in the charging process S2 to a degree that allows it to perform the acquisition process S3 and the communication process S4. The above-mentioned power threshold stored in the memory unit 22 may be based on the flight time of the aircraft 10 in the acquisition process S3 and the power consumption of the battery 15 in the communication process S4.

[0127] In charging process S2, the aircraft 10 is charged in a position where it can be charged by the wireless charging device 300. In charging process S2, the aircraft 10 may move to a position where it can be charged by the wireless charging device 300. The aircraft 10 may be charged by the wireless charging device 300 while it is landed on port 7. In charging process S2, the aircraft 10 may be charged while it is stopped flying. In charging process S2, the aircraft 10 may be charged while it is flying.

[0128] In acquisition step S3, the aircraft 10 acquires external information of the wind turbine 1. In acquisition step S3, the aircraft 10 flies around the wind turbine 1. In acquisition step S3, as described above, the aircraft 10 may acquire an image of the exterior member 8 as external information of the wind turbine 1. In acquisition step S3, the aircraft 10 may also image the exterior member 8 with the camera 12. The image of the exterior member 8 may be stored in the storage unit of the aircraft 10.

[0129] The aircraft 10 may perform the acquisition process S3 by the execution of a program by the control unit 20. The flight path of the aircraft 10 in the acquisition process S3 may be stored in advance as a program in the storage unit 22. The aircraft 10 may complete the acquisition process S3 when the execution of the program by the control unit 20 is completed. The aircraft 10 may complete the acquisition process S3 at a position where wireless communication with the status monitoring device 200 is possible. The aircraft 10 may complete the acquisition process S3 while having landed on port 7.

[0130] The landing of port 7 on the aircraft 10 is detected by the aircraft detection unit 301 and determination unit 306 of the wireless charging device 300, as described above. The determination result from the determination unit 306 may be transmitted from the communication unit 308 of the wireless charging device 300 to the status monitoring device 200. The status monitoring device 200 may receive the determination result from the determination unit 306 regarding the landing of the aircraft 10 as information regarding the position of the aircraft 10 in the charging information receiving unit 215.

[0131] In communication process S4, the aircraft 10 communicates wirelessly with the outside. The aircraft 10 may also communicate wirelessly with the wind turbine control device 100 in communication process S4. The aircraft 10 may also communicate wirelessly with the condition monitoring device 200 in communication process S4. In communication process S4, the condition monitoring device 200 and the wind turbine 1 on which the condition monitoring device 200 is installed are located closer to the aircraft 10 than to the wind turbine control device 100. Wireless communication between the aircraft 10 and the condition monitoring device 200 can provide a more stable communication environment than wireless communication between the aircraft 10 and the wind turbine control device 100.

[0132] In communication process S4, the aircraft 10 may transmit a signal regarding the external state of the wind turbine 1 to an external source. Based on the instructions from the transmission instruction unit 241 described above, the aircraft 10 may transmit a signal regarding the external state of the wind turbine 1 to the state monitoring device 200. The transmission instruction unit 241 may instruct the aircraft 10 to transmit a signal regarding the external state of the wind turbine 1 when the aircraft 10 is landing on port 7. The landing of the aircraft 10 on port 7 may be detected by the state monitoring device 200 when the charging information receiving unit 215 receives the determination result from the determination unit 306 described above.

[0133] In the wireless communication between the aircraft 10 and the condition monitoring device 200 during communication process S4, the appearance receiving unit 213 receives a signal from the aircraft 10 regarding the appearance of the wind turbine 1. The time receiving unit 214 receives a signal from the aircraft 10 regarding the flight time.

[0134] The first determination step S5 is a step to determine whether or not the aircraft 10 needs to be charged. The first determination step S5 may be performed on the wind turbine 1 or on the aircraft 10. When the first determination step S5 is performed on the wind turbine 1, the determination unit 230 of the condition monitoring device 200 determines whether or not the aircraft 10 needs to be charged. When the first determination step S5 is performed on the aircraft 10, the determination unit 23 of the control unit 20 determines whether or not the aircraft 10 needs to be charged. If, in the first determination step S5, the determination unit 23 or the determination unit 230 determines that the aircraft 10 needs to be charged, the aircraft 10 satisfies the charging requirement. If, in the first determination step S5, the determination unit 23 or the determination unit 230 determines that the aircraft 10 does not need to be charged, the aircraft 10 does not satisfy the charging requirement.

[0135] When it is determined that the aircraft 10 meets the charging requirements, the charging process S2 described above is executed again. When it is determined that the aircraft 10 meets the charging requirements, the method for acquiring the state of the wind turbine 1 is executed in the order of the first determination process S5, the charging process S2, and the second determination process S6. When it is determined that the aircraft 10 does not meet the charging requirements, the charging process S2 is not executed again. When it is determined that the aircraft 10 does not meet the charging requirements, the method for acquiring the state of the wind turbine 1 is executed in the order of the first determination process S5 and the second determination process S6.

[0136] The charging process S2 performed before the acquisition process S3 may be referred to as the "pre-acquisition charging process." The charging process S2 performed after the acquisition process S3 may be referred to as the "post-acquisition charging process."

[0137] The second determination step S6 is a step to determine whether the completion conditions for the wind turbine 1 state acquisition method are met. The second determination step S6 may be performed on the wind turbine 1. When the second determination step S6 is performed on the wind turbine 1, the determination unit 230 of the state monitoring device 200 determines that the wind turbine 1 state acquisition method is complete. The completion conditions for the wind turbine 1 information acquisition method may be met when at least one of the following conditions (A) and (B) is met. (A) The flight instruction unit 242 has not instructed the acquisition of external information of the wind turbine 1. (B) The aircraft is being instructed by Flight Instruction Unit 242 to move to the parking area. If it is determined that the completion conditions are met, the process proceeds to the second movement step S8. If it is determined that the completion conditions are not met, the acquisition step S3, communication step S4, and first determination step S5 described above are repeated.

[0138] As shown in Figure 14, the method for acquiring the state of the wind turbine 1 may include an erasure step S7. The erasure step S7 is performed between the second determination step S6 and the second movement step S8, and between the second determination step S6 and the acquisition step S3. In the erasure step S7, the appearance information of the wind turbine 1 acquired in the acquisition step S3 and stored in the storage unit 22 is erased from the storage unit 22. By including the erasure step S7 in the method for acquiring the state of the wind turbine 1, capacity for storing the appearance information of the wind turbine 1 can be secured in the storage unit 22 after the completion of the acquisition step S3 or after the completion of the state acquisition method.

[0139] In the second movement process S8, the aircraft 10 moves from the wind turbine 1 to the parking area. The aircraft 10 shown in Figure 1 moves from the wind turbine 1 towards the building 500. When the aircraft 10 reaches the building 500, the second movement process S8 is completed. With the completion of the second movement process S8, the method for acquiring the state of the wind turbine 1 shown in Figure 14 is completed.

[0140] In the embodiment described above, the wind turbine 1 includes a tower 2, a nacelle 3 rotatably held on the tower 2, and a wireless charging device 300 provided on the nacelle 3 for charging the aircraft 10. In the embodiment described above, the wind turbine management system 400 includes a status monitoring device 200 for monitoring the status of the wind turbine 1, and a wireless charging device 300 provided on the nacelle 3 of the wind turbine 1 for charging the aircraft 10. According to these configurations, the aircraft 10 can be charged by the wireless charging device 300 after moving from the parking area to the wind turbine 1. The flight time of the aircraft 10 can be extended by the wireless charging device 300. In addition, wireless charging of the aircraft 10 allows the aircraft 10 to be easily charged even in an unmanned environment. As a result, the wind turbine 1 can improve the efficiency of information acquisition by the aircraft 10.

[0141] In the embodiment described above, the nacelle 3 is provided with a port 7 for the landing of the aircraft 10. The wireless charging device 300 charges the aircraft 10 when it lands on port 7. According to this embodiment, the aircraft 10 can easily land on port 7 from above. This allows the aircraft 10 that has landed on port 7 to be charged in a stable state by the wireless charging device 300.

[0142] In the embodiment described above, port 7 is located on the overlapping portion 3M where the nacelle 3 and tower 2 overlap when the wind turbine 1 is observed from an axial direction parallel to the rotation axis (first axis AX1) of the nacelle 3 relative to the tower 2. According to this embodiment, the position of port 7 can be suppressed regardless of the rotation state of the nacelle 3 relative to the tower 2. As a result, the aircraft 10 can easily land on port 7 regardless of the rotation state of the nacelle 3 relative to the tower 2. However, the position of port 7 is not limited to the example described above, and may be located on a portion other than the overlapping portion 3M.

[0143] In the embodiment described above, port 7 is located within a recess 3Y provided in the nacelle 3. According to this embodiment, the aircraft 10 lands on port 7 located within recess 3Y. Within recess 3Y, the aircraft 10 can be prevented from moving horizontally relative to the wind turbine 1 due to external environmental factors such as wind blowing on the wind turbine 1. As a result, the aircraft 10 that has landed on port 7 can be charged more stably by the wireless charging device 300.

[0144] In the embodiment described above, the wind turbine 1 includes an appearance receiving unit 213 that receives signals relating to the external state of the wind turbine 1. In the embodiment described above, the state monitoring device 200 of the wind turbine management system 400 includes an appearance receiving unit 213 that receives signals relating to the external state of the wind turbine 1. According to these configurations, the wind turbine 1 can acquire external information of the wind turbine 1 early, before the aircraft 10 returns to its parking location. This prevents the loss of acquired external information of the wind turbine 1 even if, for example, the aircraft 10 is lost during movement from the wind turbine 1 to its parking location.

[0145] In the embodiment described above, the wind turbine 1 includes a transmitting unit 250 that transmits signals received by the visual receiving unit 213. In the embodiment described above, the status monitoring device 200 of the wind turbine management system 400 includes a transmitting unit 250 that transmits signals received by the visual receiving unit 213. According to these configurations, signals relating to the visual status of the wind turbine 1 can be transmitted to the outside from the wind turbine 1 or the wind turbine management system 400 instead of being transmitted from the aircraft 10. As a result, even if the wind turbine 1 moves a distance greater than the maximum transmission distance of the aircraft 10 to the parking location of the aircraft 10, signals relating to the visual status of the wind turbine 1 can be transmitted to the outside.

[0146] In the embodiment described above, the wind turbine 1 further includes a sensor 70 for detecting the operation of the wind turbine 1, and a sensor receiving unit 211 for receiving signals related to the detection results from the sensor 70. The transmitting unit 250 transmits the signals received by the appearance receiving unit 213 and the signals received by the sensor receiving unit 211. In the embodiment described above, the wind turbine management system 400 further includes a sensor 70 for detecting the operation of the wind turbine 1. The condition monitoring device 200 further includes a sensor receiving unit 211 for receiving signals related to the detection results from the sensor 70. The transmitting unit 250 transmits the signals received by the appearance receiving unit 213 and the signals received by the sensor receiving unit 211. According to these configurations, the wind turbine 1 or the wind turbine management system 400 can transmit signals related to the external state of the wind turbine 1 to the outside using equipment for transmitting signals related to the detection results of the sensor 70. In a wind turbine 1 where equipment for transmitting signals related to the detection results of the sensor 70 is already provided, it is possible to avoid adding equipment for transmitting information acquired by the aircraft 10.

[0147] In the embodiment described above, the wind turbine 1 further includes an appearance receiving unit 213 that receives a signal relating to the external state of the wind turbine 1, and a transmission instruction unit 241 that instructs the aircraft 10 to transmit a signal relating to the external state of the wind turbine 1 to the wind turbine 1. The transmission instruction unit 241 instructs the aircraft 10 to transmit a signal relating to the external state of the wind turbine 1 to the wind turbine 1 when the aircraft 10 is landed at port 7. According to this embodiment, the wind turbine 1 can acquire external information of the wind turbine 1 from the aircraft 10 that is being charged by the wireless charging device 300 at port 7. In other words, the wind turbine 1 can avoid acquiring external information of the wind turbine 1 from the aircraft 10 that is not being charged by the wireless charging device 300 at port 7. According to this embodiment, when multiple aircraft 10 are acquiring external information of different wind turbines 1 from each other, the wind turbine 1 can avoid mistakenly acquiring external information of a different wind turbine 1 from an aircraft 10 that is not the aircraft 10 that has landed at port 7. Therefore, this embodiment is particularly suitable when the external appearance information of multiple wind turbines 1 is acquired by multiple flying objects 10.

[0148] In the embodiment described above, the wind turbine 1 further includes a time receiving unit 214 that receives a signal from the aircraft 10 regarding the flight time, and a flight instruction unit 242 that instructs the aircraft 10 to fly. The flight instruction unit 242 instructs the aircraft 10 to fly based on the signal received by the time receiving unit 214. In the embodiment described above, the status monitoring device 200 of the wind turbine management system 400 further includes a time receiving unit 214 that receives a signal from the aircraft 10 regarding the flight time, and a flight instruction unit 242 that instructs the aircraft 10 to fly. The flight instruction unit 242 instructs the aircraft 10 to fly based on the signal received by the time receiving unit 214. According to these configurations, the flight instruction unit 242 can instruct the aircraft 10 to fly in accordance with information regarding the flight time of the aircraft 10. For example, the flight instruction unit 242 can, on the one hand, quickly instruct the aircraft 10 to fly when the flight time of the aircraft 10 is sufficiently long. On the other hand, the flight instruction unit 242 can also instruct the aircraft 10 to fly after the time required for charging by the wireless charger 300 has elapsed, when the aircraft 10 has a short flight time remaining.

[0149] In the embodiment described above, the wind turbine 1 further includes, in addition to the time receiving unit 214 and flight instruction unit 242 described above, a sensor 70 that detects the operation of the wind turbine 1, and a sensor receiving unit 211 that receives a signal related to the detection result from the sensor 70. The flight instruction unit 242 instructs the aircraft 10 to fly based on the signal received by the sensor receiving unit 211. In the embodiment described above, the wind turbine management system 400 further includes a sensor 70 that detects the operation of the wind turbine 1. The condition monitoring device 200 includes a sensor receiving unit 211 that receives a signal related to the detection result from the sensor 70. The flight instruction unit 242 instructs the aircraft 10 to fly based on the signal received by the sensor receiving unit 211. According to these configurations, the aircraft 10 can acquire information on the exterior member 8 suspected of deterioration based on the signal received by the sensor receiving unit 211.

[0150] Although one embodiment has been described with reference to specific examples, the above-mentioned example does not limit the embodiment. The above-described embodiment can be implemented in various other examples, and various omissions, substitutions, modifications, and additions can be made without departing from its essence.

[0151] The wind turbine control device 100 described above was installed in building 500. However, it is not limited to this, and the wind turbine control device 100 may also be installed in wind turbine 1.

[0152] In the wind turbine 1 described above, the port 7 for the landing of the aircraft 10 was located within a recess 3Y provided on the top surface 3X of the nacelle 3. However, it is not limited to this, and the top surface 3X of the nacelle 3 where the port 7 is located does not necessarily have to have a recess 3Y. On the top surface 3X where there is no recess 3Y, the port 7 may be surrounded by a fence.

[0153] The condition monitoring device 200 described above was installed on the wind turbine 1. However, it is not limited to this, and the condition monitoring device 200 may be installed at a location away from the wind turbine 1. For example, it may be installed on the building 500. The wind turbine management system 400 may be composed of the condition monitoring device 200 installed on the building 500 and the wireless charging device 300 installed on the wind turbine 1.

[0154] In the wind turbine 1 state acquisition method described above, the aircraft 10 was charged by the wireless charging device 300 after the completion of the first movement process S1 without determining whether or not the aircraft 10 needed to be charged. However, the method is not limited to this, and the need for charging of the aircraft 10 may be determined after the completion of the first movement process S1. The aircraft 10 may also be charged by the wireless charging device 300 after the acquisition process S3 without determining whether or not the aircraft 10 needed to be charged. In the wind turbine 1 state acquisition method, it is sufficient that the aircraft 10 is charged by the wireless charging device 300 at least once.

[0155] Among the embodiments disclosed herein, those composed of multiple objects may be integrated, and conversely, those composed of a single object may be divided into multiple objects. Whether or not they are integrated, the invention can be constructed in a way that achieves its objective.

[0156] In the embodiments disclosed herein, those in which multiple functions are provided in a distributed manner may have some or all of those multiple functions integrated into a single unit, and conversely, those in which multiple functions are integrated may have some or all of those functions provided in a distributed manner. Whether the functions are integrated or distributed, the configuration should be such that the objective of the invention can be achieved. [Explanation of Symbols]

[0157] 1: Wind turbine, 2: Tower, 3: Nacelle, 3M: Overlap, 3X: Top surface, 3Y: Recess, 4: Rotor, 5: Hub, 6: Blade, 7: Port, 8: Exterior components, 10: Aircraft, 15: Battery, 16: Power receiving unit, 50: Drive unit, 51: First drive unit, 52: Second drive unit, 70: Sensor, 80: Braking unit, 100: Wind turbine control device, 200: Status monitoring device, 210: Receiving unit, 211: Sensor receiving unit, 212: Control information receiving unit, 213: Appearance receiving unit, 214: Time receiving unit, 215: Charging information receiving unit, 220: Memory unit, 230: Judgment unit, 240: Instruction unit, 241: Transmission instruction unit, 242: Flight instruction unit, 250: Transmission unit, 300: Wireless charging device, 400: Wind turbine management system, 500: Building

Claims

1. The tower and The nacelle is rotatably held in the tower, A wind turbine comprising a wireless charging device for charging an aircraft, which is provided on the nacelle.

2. The nacelle is provided with a port for the aircraft to land. The wind turbine according to claim 1, wherein the wireless charging device charges the aircraft that has landed on the port.

3. The wind turbine according to claim 2, wherein the port is located on the portion where the nacelle and the tower overlap when the wind turbine is observed from an axial direction parallel to the rotation axis of the nacelle with respect to the tower.

4. The wind turbine according to claim 2, wherein the port is located in a recess provided in the nacelle.

5. The wind turbine according to claim 1, further comprising an appearance receiving unit that receives a signal from the flying object relating to the external state of the wind turbine.

6. The wind turbine according to claim 5, further comprising a transmitting unit that transmits the signal received by the external receiving unit.

7. A sensor for detecting the operation of the wind turbine, The system further comprises a sensor receiving unit that receives a signal related to the detection result from the aforementioned sensor, The wind turbine according to claim 6, wherein the transmitting unit transmits the signal received by the external receiving unit and the signal received by the sensor receiving unit.

8. The wind turbine according to claim 5, further comprising a transmission instruction unit that instructs the flying object to transmit the signal relating to the external state of the wind turbine to the wind turbine.

9. An appearance receiving unit that receives signals from the aforementioned flying object regarding the external state of the wind turbine, The aircraft further comprises a transmission instruction unit that instructs the aircraft to transmit the signal relating to the external state of the wind turbine to the wind turbine, The wind turbine according to claim 2, wherein the transmission instruction unit instructs the aircraft to transmit a signal relating to the external state of the wind turbine to the wind turbine when the aircraft is landing at the port.

10. A time receiving unit that receives a signal regarding the flight time from the aforementioned aircraft, The aircraft comprises a flight instruction unit that instructs the aircraft to fly, The wind turbine according to claim 1, wherein the flight instruction unit instructs the aircraft to fly based on the signal received by the time receiving unit.

11. A sensor for detecting the operation of the wind turbine, The system further comprises a sensor receiving unit that receives a signal related to the detection result from the aforementioned sensor, The wind turbine according to claim 10, wherein the flight instruction unit instructs the aircraft to fly based on the signal received by the sensor receiving unit.

12. A charging step of charging the aircraft using the wireless charging device, A method for acquiring the state of a wind turbine according to any one of claims 1 to 11, comprising an acquisition step of acquiring information about the wind turbine by the flying object.

13. The flying object includes a storage unit for storing information regarding the appearance of the wind turbine in the acquisition process, The state acquisition method according to claim 12, further comprising: a communication step of transmitting information relating to the appearance stored in the storage unit after the acquisition step; and an erasure step of erasing the information relating to the appearance from the storage unit.

14. A condition monitoring device for monitoring the condition of the wind turbine, A wind turbine management system comprising a wireless charging device for charging an aircraft, which is installed in the nacelle of the wind turbine.

15. The wind turbine management system according to claim 14, wherein the condition monitoring device includes an appearance receiving unit that receives signals from the aircraft relating to the external state of the wind turbine.

16. The wind turbine management system according to claim 15, wherein the condition monitoring device includes a transmitting unit that transmits the signal received by the appearance receiving unit.

17. The system further includes a sensor that detects the operation of the wind turbine, The state monitoring device includes a sensor receiving unit that receives a signal related to the detection result from the sensor, The wind turbine management system according to claim 16, wherein the transmitting unit transmits the signal received by the external receiving unit and the signal received by the sensor receiving unit.

18. The wind turbine management system according to claim 15, wherein the condition monitoring device includes a transmission instruction unit that instructs the aircraft to transmit the signal relating to the external state of the wind turbine to the wind turbine.

19. The status monitoring device includes a time receiving unit that receives a signal from the aircraft regarding the flight time, and a flight instruction unit that instructs the aircraft to fly. The wind turbine management system according to claim 14, wherein the flight instruction unit instructs the aircraft to fly based on the signal received by the time receiving unit.

20. The system further includes a sensor that detects the operation of the wind turbine, The state monitoring device includes a sensor receiving unit that receives a signal related to the detection result from the sensor, The wind turbine management system according to claim 19, wherein the flight instruction unit instructs the aircraft to fly based on the signal received by the sensor receiving unit.

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