Inspection system and inspection method

Abstract

We provide inspection systems and other tools to ensure proper inspection of wind power generation equipment. [Solution] The inspection system 100 is installed in the wind power generation equipment W1 and includes a communication unit 17 that communicates with the fixed-wing unmanned aerial vehicle 20, and a control unit 18 that controls the actuators of the wind power generation equipment W1. The control unit 18 performs coordinated control with the unmanned aerial vehicle 20 when the blades 14a, 14b, and 14c of the wind power generation equipment W1 are rotating and the blade 14a is photographed by the camera 22 of the unmanned aerial vehicle 20.

Description

Technical Field

[0001] The present disclosure relates to an inspection system and an inspection method.

Background Art

[0002] Regarding the inspection of blades of wind power generation equipment, for example, the technology described in Patent Document 1 is known. That is, Patent Document 1 describes "a drone that performs a hovering operation to stop in the air near a blade that is a rotating wing of a windmill device, acquires information on the deformation of the blade by a mounted sensor, and obtains information on the wind speed at its own position."

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Patent Document 1 describes the case of using a drone such as a drone capable of performing a hovering operation, but does not describe a technique for appropriately inspecting wind power generation equipment using a fixed-wing unmanned aircraft.

[0005] Therefore, an object of the present disclosure is to provide an inspection system or the like that appropriately inspects wind power generation equipment.

Means for Solving the Problems

[0006] To solve the aforementioned problems, the inspection system according to this disclosure comprises a communication unit installed in a wind power generation facility that communicates with a fixed-wing unmanned aerial vehicle, and a control unit that controls the actuators of the wind power generation facility, wherein the control unit performs coordinated control with the unmanned aerial vehicle when the blades of the wind power generation facility are photographed by the camera of the unmanned aerial vehicle while the blades are rotating. [Effects of the Invention]

[0007] According to this disclosure, it is possible to provide an inspection system, etc., for properly inspecting wind power generation equipment. [Brief explanation of the drawing]

[0008] [Figure 1] This is an explanatory diagram showing how an unmanned aerial vehicle sequentially flies over multiple wind power generation facilities in an inspection system according to an embodiment of this system. [Figure 2] This is an explanatory diagram of the inspection system according to the embodiment. [Figure 3] This is a functional block diagram of the inspection system for a wind power generation facility according to the embodiment. [Figure 4] This is a functional block diagram of an unmanned aerial vehicle for an inspection system according to an embodiment of the system. [Figure 5] This is an explanatory diagram showing the sequence of unmanned aerial vehicles flying over wind power generation equipment in an inspection system according to an embodiment of the present invention. [Figure 6] This is an explanatory diagram showing how an unmanned aerial vehicle sequentially photographs the blades of a wind turbine in an inspection system according to an embodiment of the system. [Figure 7] This is a sequence diagram showing the exchange of data between a wind power generation facility and an unmanned aerial vehicle in an inspection system according to an embodiment. [Figure 8] This is an explanatory diagram of the data transmitted from the wind power generation equipment to the unmanned aerial vehicle in the inspection system according to the embodiment. [Figure 9] This is an explanatory diagram of the data transmitted from an unmanned aerial vehicle to a wind power generation facility in an inspection system according to an embodiment of this system. [Figure 10] This is a sequence diagram of another example showing data exchange between a wind power generation facility and an unmanned aerial vehicle in an inspection system according to the embodiment. [Figure 11] This is an explanatory diagram relating to the lifespan diagnosis of wind turbine blades in an inspection system according to an embodiment of this system. [Figure 12A] This is an explanatory diagram showing the relationship between load and deflection when the blades of a wind turbine are functioning normally, in an inspection system according to an embodiment of this invention. [Figure 12B] This is an explanatory diagram showing the relationship between load and deflection when there is an abnormality in the blade of a wind turbine in the inspection system according to the embodiment. [Figure 13A] This is a front view of the inspection system according to the embodiment, showing the case when an unmanned aerial vehicle passes over the rotor surface of a wind power generation facility. [Figure 13B] This is a plan view of the inspection system according to the embodiment, showing the case when an unmanned aerial vehicle passes over the rotor surface of a wind power generation facility. [Figure 14] This is a sequence diagram showing the exchange of data between a wind power generation facility and an unmanned aerial vehicle during emergency avoidance in an inspection system according to an embodiment of this system. [Figure 15] This is a sequence diagram showing the data exchange between wind power generation equipment, an unmanned aerial vehicle, and a computer in an inspection system related to a modified configuration. [Modes for carrying out the invention]

[0009] <<Embodiment>> Figure 1 is an explanatory diagram showing the sequence of unmanned aircraft 20 flying over multiple wind power generation facilities W1, W2, and W3 in the inspection system according to the embodiment. The wind turbine W1 shown in Figure 1 is a device that generates electricity through the rotation of blades 14a, 14b, and 14c in response to wind power (the other wind turbines W2 and W3 are similar). Although Figure 1 shows an example where wind turbines W1, W2, and W3 are installed offshore, the invention is not limited to this, and this embodiment can also be applied to the inspection of onshore wind turbines.

[0010] The wind power generation facilities W1, W2, and W3 may be of the upwind type or the downwind type. The upwind type is a method of arranging the blades on the upwind side with respect to the tower. The other downwind type is a method of arranging the blades on the downwind side with respect to the tower. Each of the wind power generation facilities W1, W2, and W3 measures the wind conditions including the wind direction and wind speed, as well as the amount of sunlight and the position of clouds at each moment. In addition, the wind power generation facilities W1, W2, and W3 appropriately perform two-way communication with the unmanned aerial vehicle 20 described below.

[0011] The unmanned aerial vehicle 20 is a fixed-wing aircraft (for example, a fixed-wing type drone) that flies under automatic control. Such a fixed-wing unmanned aerial vehicle 20 can fly over a long distance and for a long time compared to a rotary-wing type drone or the like, so it is possible to easily inspect remote areas such as mountainous areas and offshore wind power generation facilities. Note that an aircraft having both a fixed wing and a propeller and capable of vertical takeoff and landing is also included in the matter of "fixed-wing unmanned aerial vehicle".

[0012] The unmanned aerial vehicle 20 is configured to grasp its own position by receiving radio waves from positioning satellites of the Global Navigation Satellite System. The flight route of the unmanned aerial vehicle 20 is appropriately set based on the season, wide-area weather information, the wind conditions observed at the wind power generation facilities W1, W2, and W3, and the history of the temperature distribution of the surrounding sea surface and ground surface. Note that the unmanned aerial vehicle 20 may have a thrust generating device (not shown) such as a propeller or a jet engine, or may be a powerless glider such as a glider. When the unmanned aerial vehicle 20 is a glider, it is assumed that takeoff is performed using a tug (not shown) or a wire traction device (not shown).

[0013] During the process of sequentially passing over the wind power generation facilities W1, W2, and W3, the unmanned aerial vehicle 20 photographs the respective blades 14a, 14b, and 14c. The photographed images of the blades 14a, 14b, and 14c are appropriately used for subsequent diagnosis.

[0014] <Configuration of the inspection system> Figure 2 is an explanatory diagram of the inspection system 100. Although Figure 2 omits the illustration of wind power generation equipment W2 and W3 (see Figure 1), the configuration and processing of these wind power generation equipment W2 and W3 are assumed to be the same as those of wind power generation equipment W1 in Figure 2. The inspection system 100 shown in Figure 2 is a system for inspecting the blades 14a, 14b, and 14c of wind power generation equipment W1, etc. In this embodiment, each blade 14a, 14b, and 14c is photographed by the camera 22 of the unmanned aerial vehicle 20, and the presence or absence of abnormalities in the blades 14a, 14b, and 14c is diagnosed based on the captured images and predetermined wind turbine operation data. Such an inspection system 100 is composed of a communication unit 17 and control unit 18 of wind power generation equipment W1, etc., an unmanned aerial vehicle 20, and a base computer 30.

[0015] As shown in Figure 2, the wind power generation equipment W1 comprises a tower 11, a nacelle 12, a hub 13, and blades 14a, 14b, and 14c. In addition to the above configuration, the wind power generation equipment W1 also comprises a yaw control motor 15 (actuator), pitch control motors 16a, 16b, and 16c (actuators), a communication unit 17, and a control unit 18.

[0016] Tower 11 is a vertically extending support column. Nacelle 12 houses a speed increaser (not shown), a generator (not shown), and a power converter (not shown), and is installed on the upper side of Tower 11. Hub 13 is the part where the bases of blades 14a, 14b, and 14c are installed, and rotates together with blades 14a, 14b, and 14c. Blades 14a, 14b, and 14c are rotor blades that convert wind energy into rotational energy (kinetic energy). The hub 13 and blades 14a, 14b, and 14c, which rotate together, are collectively referred to as the "rotor".

[0017] As the rotor rotates, electricity is generated by a generator (not shown), and the generated electricity, converted by a power converter (not shown), is transmitted via a power cable (not shown). The wind power generation equipment W1 is also equipped with a rotor brake (not shown). The rotor brake is an actuator that applies a predetermined braking force to the rotation of the rotor.

[0018] The yaw control motor 15 shown in Figure 2 is an actuator for controlling the yaw angle of the blades 14a, 14b, and 14c. The "yaw angle" is the angle indicating the rotational position of the nacelle 12 relative to the tower 11, and is adjusted within the range of 0° to 360°. During operation of the wind power generation facility W1, the yaw angle is appropriately adjusted so that the rotational plane (rotor surface) of the blades 14a, 14b, and 14c approaches perpendicular to the wind direction.

[0019] The pitch control motor 16a is an actuator for controlling the pitch angle of the blade 14a. The "pitch angle" refers to the mounting angle of the blade 14a relative to the central axis of the hub 13, and is adjusted within the range of 0° to 90°. The larger the pitch angle, the greater the amount of wind that escapes from the blade 14a. During the operation of the wind power generation facility W1, the pitch angle is adjusted as appropriate based on the wind direction and wind speed at any given moment. The same applies to the other blades 14b and 14c, and their pitch angles are individually adjusted by the pitch control motors 16b and 16c.

[0020] The communication unit 17 communicates with the fixed-wing unmanned aerial vehicle 20 at predetermined intervals. For example, two-way communication using digital simple radio may be performed as such communication. Alternatively, communication may be performed at predetermined intervals between the wind power generation equipment W1 and the base station computer 30 via the communication unit 17. In Figure 2, the communication unit 17 is shown on the outside of the wind power generation equipment W1, but in reality, the communication unit 17 is located inside the wind power generation equipment W1 (the same applies to the control unit 18 which will be described next). The wind power generation equipment W1 is also equipped with an anemometer, which measures the wind direction and wind speed at any given moment, although it is not shown in the figure.

[0021] The control unit 18 controls the actuators of the wind power generation equipment W1 based on measurements from an anemometer (not shown) and data received from the unmanned aircraft 20. The "actuator" of the wind power generation equipment W1 is composed of a rotor brake (not shown), a yaw control motor 15, and pitch control motors 16a, 16b, and 16c.

[0022] As shown in Figure 2, the unmanned aerial vehicle 20 comprises an airframe 21, a camera 22, a transmitting / receiving unit 23, a processing unit 24, a battery 25, and a recording medium 26. The airframe 21 is equipped with a pair of left and right main wings 21a (fixed wings). The camera 22 is used to photograph the blades 14a, 14b, and 14c of the wind power generation equipment W1 and is installed at a predetermined location on the airframe 21. For example, a camera 22 equipped with a high-magnification zoom lens and a tilt mechanism may be used.

[0023] The transmitting / receiving unit 23 performs predetermined wireless communication with the communication unit 17 of the wind power generation equipment W1. The transmitting / receiving unit 23 also performs predetermined wireless communication with the computer 30 at the base station. The processing unit 24 includes a processor such as a CPU (Central Processing Unit), as well as electronic circuits such as ROM (Read Only Memory), RAM (Random Access Memory), and various interfaces. The program read from the ROM is loaded into the RAM, and the processor then executes various processes.

[0024] Battery 25 is a secondary battery that supplies power to the camera 22, the transmitting / receiving unit 23, and the processing unit 24. The recording medium 26 records data received from the wind power generation equipment W1 and images captured by the camera 22. After the unmanned aerial vehicle 20 returns to the base, the recording medium 26 is removed by the user and connected to the base's computer 30. The data stored in the recording medium 26 is used as appropriate for analysis by the computer 30.

[0025] As shown in Figure 2, the computer 30 at the base station comprises a storage unit 31, an input unit 32, a processing unit 33, and a display unit 34. The storage unit 31 has predetermined programs pre-stored in it, and also stores data read from the recording medium 26 as appropriate. The input unit 32 accepts predetermined input operations from the user. The processing unit 33 executes predetermined processing based on the programs stored in the storage unit 31. The display unit 34 displays the processing results of the processing unit 33 in a predetermined manner.

[0026] Furthermore, the computer 30 may pre-set the flight route from the takeoff point of the unmanned aerial vehicle 20 to the wind power generation facility W1. For example, the computer 30 predicts the location of updrafts based on information including map information, weather information, and measured values ​​of ground temperature or sea surface temperature. Here, the computer 30 includes the location of the updrafts in the flight route from the takeoff point of the unmanned aerial vehicle 20 to the wind power generation facility W1. The unmanned aerial vehicle 20 performs soaring (gaining altitude using updrafts) at the location of the updrafts. This reduces the energy consumption required for the flight of the unmanned aerial vehicle 20.

[0027] Figure 3 is a functional block diagram of the wind power generation facility W1. As shown in Figure 3, the wind power generation equipment W1 is equipped with a storage unit 19 in addition to the communication unit 17 and control unit 18 mentioned above. The storage unit 19 has a predetermined program stored in it, and also stores measurements from an anemometer (not shown) and data received from an unmanned aerial vehicle 20 (see Figure 2) as appropriate.

[0028] As described above, the communication unit 17 communicates with the unmanned aerial vehicle 20 (see Figure 2) and the computer 30 (see Figure 2) at predetermined intervals. The control unit 18 comprises a power generation control unit 18a, a wind condition prediction unit 18b, a coordination control unit 18c, and a diagnostic unit 18d. The power generation control unit 18a controls each actuator and power converter (not shown) so that wind power generation is performed efficiently. The wind condition prediction unit 18b predicts the wind conditions near the wind power generation equipment W1 based on moment-to-moment measurements from a wind direction and speed meter (not shown), and derives control command values ​​for each actuator based on the prediction results.

[0029] The cooperative control unit 18c (i.e., control unit 18) performs predetermined cooperative control with the unmanned aerial vehicle 20 (see Figure 2) when the blades of the wind turbine W1 are being photographed by the camera 22 (see Figure 2) of the unmanned aerial vehicle 20 (see Figure 2) while the blades are rotating. Details of the cooperative control will be described later.

[0030] The diagnostic unit 18d diagnoses whether there are any abnormalities in the blades of the wind turbine W1. The diagnostic results from the diagnostic unit 18d are stored in the memory unit 19 and are also transmitted via the network to the base computer 30 (see Figure 2) as appropriate.

[0031] Figure 4 is a functional block diagram of the unmanned aerial vehicle 20. As shown in Figure 4, the unmanned aerial vehicle 20 is equipped with a storage unit 27 in addition to the camera 22, transmission / reception unit 23, processing unit 24, and recording medium 26 mentioned above. The storage unit 27 has a predetermined program pre-stored in it, as well as data for controlling the unmanned aerial vehicle 20.

[0032] As shown in Figure 4, the processing unit 24 includes a flight control unit 24a, a route setting unit 24b, and an image capture control unit 24c. The flight control unit 24a performs predetermined controls for flying the unmanned aerial vehicle 20. The route setting unit 24b sets the flight route (path) of the unmanned aerial vehicle 20. As mentioned above, the flight route from the takeoff point of the unmanned aerial vehicle 20 to the wind turbine site may be set in advance by the computer 30 (see Figure 2). On the other hand, when the unmanned aerial vehicle 20 sequentially photographs the blades of multiple wind power generation facilities W1, W2, W3 (see Figure 1), the flight route is set sequentially in the unmanned aerial vehicle 20 at relatively short intervals. The image capture control unit 24c sets the shooting timing when sequentially photographing the blades of the wind power generation facilities W1, W2, W3, and takes pictures with the camera 22 at that shooting timing.

[0033] Figure 5 is an explanatory diagram showing the unmanned aerial vehicle 20 flying sequentially over the wind power generation facilities W1, W2, and W3. The left side of Figure 5 shows the flight path of the unmanned aerial vehicle 20 in a plan view. The right side of Figure 5 shows the azimuth angles as the unmanned aerial vehicle 20 passes sequentially over the wind power generation facilities W1, W2, and W3 (i.e., at the time of photographing the blades). Here, "azimuth angle" is the angle that indicates the rotational position of the rotor, including the hub 13 and blades 14a, 14b, and 14c, in one rotation. For example, the azimuth angle may be set to 0° when the height position of the tip of a predetermined reference blade is at its highest.

[0034] The azimuth angle when a specific blade of the wind turbine W1 is photographed is set appropriately on the wind turbine W1 (the same applies to the other wind turbines W2 and W3). In other words, the azimuth angle at the time of shooting is set so that the blade is properly photographed by the camera 22 (see Figure 2) when the unmanned aircraft 20 passes over the blade to be photographed.

[0035] The unmanned aerial vehicle 20 receives wind turbine operation data, including the azimuth angle, of the wind turbine W1, and sets its flight route and attitude when passing over the wind turbine W1 (the same applies to the other wind turbines W2 and W3). Then, as the unmanned aerial vehicle 20 passes over the wind turbines W1 to W3, it sequentially photographs the blades of the target. As mentioned above, the unmanned aerial vehicle 20 is a fixed-wing aircraft and hovering (staying still in the air) is difficult, so the photography is performed while the unmanned aerial vehicle 20 moves with the wind.

[0036] Figure 6 is an explanatory diagram showing how the unmanned aerial vehicle 20 sequentially photographs the blades of wind turbines W1 and W2. The upper part of Figure 6 is a front view including the wind power generation equipment W1 and W2, and the lower part of Figure 6 is a plan view including the wind power generation equipment W1 and W2. In addition, the area indicated by the dots in the upper part of Figure 6 (triangular area) shows the field of view of the camera 22 (see Figure 2) of the unmanned aerial vehicle 20.

[0037] In this embodiment, the blades 14a, 14b, and 14c of wind power generation equipment W1, W2, etc., are rotated while the camera 22 (see Figure 2) of the unmanned aerial vehicle 20 photographs a predetermined blade. Therefore, since there is no particular need to stop the rotation of the blades 14a, 14b, and 14c when taking photographs, the decrease in power generation of wind power generation equipment W1, W2 can be suppressed, and the time and effort required for inspection can be reduced.

[0038] For example, when photographing the blades 14a of a wind turbine W1, the camera 22 (see Figure 2) is positioned so that the shadow of the unmanned aerial vehicle 20 does not fall on the blades 14a being photographed, and so that the blades 14a are photographed in direct sunlight. The entity that sets the shooting point may be the unmanned aerial vehicle 20, or it may be the wind turbine W1 having the blades 14a being photographed.

[0039] In the example shown in Figure 6, the unmanned aerial vehicle 20 is positioned to pass above the rotor surface R1 (the rotation surface of blades 14a, 14b, and 14c) of the wind turbine W1. For example, when blade 14a of the wind turbine W1 is photographed, the blade 14a is oriented nearly horizontally. The unmanned aerial vehicle 20 then photographs almost the entire surface of the front side of blade 14a in a single pass. Since sunlight is hitting blade 14a during photography, there is no need to use a separate light source for photography. This reduces the energy consumption of the unmanned aerial vehicle 20.

[0040] After photographing the blade 14a of wind turbine W1, the unmanned aerial vehicle 20 moves to another wind turbine W2 and photographs the target blade 14a as it passes over this wind turbine W2. The control unit 18 of wind turbine W2 (see Figure 2) should adjust the azimuth angle at the time of photography as part of coordinated control with the unmanned aerial vehicle 20, so that the target blade 14a is facing in a direction suitable for photography. This azimuth angle is adjusted by controlling the generated power (controlling the load factor of the power converter (not shown)) as well as by the rotor brake (not shown).

[0041] In the example at the top of Figure 6, the position of blades 14a, 14b, and 14c during filming changes from the position indicated by the dashed line (the position when the azimuth angle is not adjusted) to the position indicated by the solid line due to the adjustment of the azimuth angle during filming. As a result, the blade 14a being filmed can be clearly captured by the camera 22 of the unmanned aerial vehicle 20 (see Figure 2).

[0042] Meanwhile, the unmanned aerial vehicle (UAV) 20 sets its flight path so that it passes the shooting point of the blade 14a at the timing when the azimuth angle of the wind turbine W2 reaches a value suitable for shooting. In the example at the bottom of Figure 6, the UAV 20 passes across the wind turbine W1 diagonally behind it, then makes a predetermined turn, and then passes across another wind turbine W2 diagonally in front of it. The longer this turning radius, the closer the UAV 20's movement path becomes to a straight line, so that the UAV 20 reaches the shooting point at the wind turbine W2 at an earlier timing. For example, the UAV 20 adjusts the turning radius so that it passes the predetermined shooting point at the timing when the azimuth angle of the wind turbine W2 reaches a value suitable for shooting.

[0043] In this manner, the unmanned aerial vehicle 20 photographs the front surface of a predetermined blade as it sequentially passes over multiple wind turbines W1, W2, W3 (see Figure 1). Next, the unmanned aerial vehicle 20 flies in a turning pattern, sequentially passing over multiple wind turbines W3, W2, W1, and photographs the front surface of a blade other than the one initially photographed, or the back surface of a predetermined blade. For each wind turbine, the front and back surfaces (a total of 6 surfaces) of the three blades 14a, 14b, and 14c are photographed.

[0044] The images captured by camera 22 are associated with site information, unit number, and blade number of the wind power generation facility, as well as data indicating whether the front or back side of the blade was photographed. These images are also associated with the wind turbine operation data at the time of shooting, as described later, and stored in recording medium 26 (see Figure 2).

[0045] Figure 7 is a sequence diagram showing the data exchange between the wind power generation equipment W1 and the unmanned aerial vehicle 20. Although Figure 7 shows one wind turbine W1, the same process is assumed to be performed on the other wind turbines W2 and W3 (see Figure 1). Also, it is assumed that the blades 14a, 14b, and 14c of the wind turbine W1, etc. (see Figure 6) continue to rotate during steps S101 to S105.

[0046] In step S101, the wind power generation equipment W1 transmits its wind turbine operation data to the unmanned aerial vehicle 20 via the communication unit 17 (see Figure 2). This wind turbine operation data indicates the moment-by-moment operating status of the wind power generation equipment W1. The wind power generation equipment W1 transmits the wind turbine operation data, for example, every second. However, the transmission period of the wind turbine operation data is not limited to every second; it may be every 0.1 seconds or every few seconds.

[0047] In this manner, the control unit 18 (see Figure 2) of the wind power generation equipment W1 transmits wind turbine operation data of the wind power generation equipment W1 to the unmanned aerial vehicle 20 as part of coordinated control. Upon receiving wind turbine operation data from the wind power generation equipment W1, in step S102, the unmanned aerial vehicle 20 sets the flight route and timing for photographing the blades based on the wind turbine operation data.

[0048] This coordinated control allows the unmanned aerial vehicle 20 to photograph the rotating blade from an appropriate position. As a result, clear images of the blade can be obtained, improving the accuracy of blade anomaly diagnosis using these images. In addition, the number of times the blade needs to be re-photographed is reduced, shortening the inspection time and reducing the energy required for the flight of the unmanned aerial vehicle 20.

[0049] In step S103, the unmanned aerial vehicle 20 photographs the blades of the wind turbine W1 with its camera 22 (see Figure 2). That is, the unmanned aerial vehicle 20 photographs the blades at the moment it passes a predetermined shooting point. The type of image captured may be, for example, an RGB image, but is not limited to this.

[0050] Although not shown in Figure 7, the unmanned aerial vehicle 20 associates the captured images of the blades with the wind turbine operation data at the time of blade photography and stores them in the recording medium 26 (see Figure 2). The data stored in the recording medium 26 is transmitted wirelessly to the wind power generation equipment W1, etc. (S104), and is also used as appropriate for analysis by the base station's computer 30 (see Figure 2).

[0051] In step S104, the unmanned aircraft 20 transmits information to the wind power generation equipment W1 that associates the captured image of the blade with the wind turbine operation data at the time the blade was photographed. In step S105, the wind power generation equipment W1 diagnoses whether there are any abnormalities in the blades based on the captured images and wind turbine operation data. Such abnormalities in the blades include, but are not limited to, a decrease in rigidity. For example, cracks, rust, and paint cracks in the blades are also included as abnormalities in the blades. Furthermore, as will be described in the following modification of this embodiment, the abnormality diagnosis of the blades may be performed by the computer 30 at the base station (see Figure 2).

[0052] Furthermore, the "communication step," in which the communication unit 17 (see Figure 2) of the wind power generation equipment W1 communicates with the fixed-wing unmanned aerial vehicle 20, includes steps S101 and S104 in Figure 7. Also, the "cooperative control step," in which the control unit 18 (see Figure 2) of the wind power generation equipment W1 performs coordinated control with the unmanned aerial vehicle 20, includes step S101 in Figure 7. In other words, the processing in step S101 is both a "communication step" and a "cooperative control step."

[0053] Figure 8 is an explanatory diagram of the data D1 transmitted from the wind power generation equipment W1 to the unmanned aerial vehicle 20. The data D1 shown in Figure 8 is information such as wind turbine operation data transmitted in step S101 (see Figure 7) described above. In the example in Figure 8, wind condition data is also included in data D1 in addition to wind turbine operation data, but it is possible to omit the wind condition data as appropriate. This is because the load acting on the blades of the object being photographed can be calculated based on the wind turbine operation data.

[0054] As shown in Figure 8, the data D1 transmitted from the wind power generation facility W1 to the unmanned aerial vehicle 20 includes wind turbine operation data for the wind power generation facility W1, etc., and wind condition data. When generating such data D1, a SCADA (Supervisory Control And Data Acquisition) system may be used as appropriate.

[0055] The "site" shown in Figure 8 is the identification information for the site where the wind turbine W1 is installed. The "unit number" is the unit number of the wind turbine W1, etc., that is being inspected. The "blade number" is the identification information assigned to the three blades 14a, 14b, and 14c (see Figure 2) of the wind turbine W1. The "time" is the time when the specified wind turbine operation data and wind condition data were obtained.

[0056] The wind turbine operation data shown in Figure 8 represents the operating status of the wind power generation equipment W1, etc., at the time the blades were photographed. It is not necessary for the acquisition time of the wind turbine operation data to strictly coincide with the time the blades were photographed; data from immediately before or immediately after the photograph may also be used (in this case, it is still considered wind turbine operation data from "the time of the photograph").

[0057] As shown in Figure 8, the wind turbine operation data includes "azimuth angle," "yaw angle," and "pitch angle," as well as "yaw drive data," "pitch drive data," "rotational speed," "power generation," "braking torque," and "setting information related to wind conditions." The wind condition data also includes measured values ​​of "wind direction" and "wind speed."

[0058] In Figure 8, "azimuth angle," "yaw angle," and "pitch angle" are, in that order, the azimuth angle, yaw angle, and pitch angle of the blade being photographed at a predetermined "time." "Yaw drive data" is data indicating the drive state (rate of change of yaw angle) of the yaw control motor 15 (see Figure 2). "Pitch drive data" is data indicating the drive state (rate of change of pitch angle) of the pitch control motors 16a, 16b, and 16c (see Figure 2). "Rotation speed" is the angular velocity in the direction of rotation of the blade.

[0059] In Figure 8, "Power Generation" is the power generation at the wind power generation facility W1 at a predetermined "time". "Brake Torque" is the value of the brake torque applied to the blades by the rotor brake (not shown). "Setting Information for Wind Conditions" is setting information that indicates how the pitch angle, yaw angle, and azimuth angle are changed according to the wind direction and wind speed at each moment. "Wind Direction" and "Wind Speed" are, in this order, the measured values ​​of wind direction and wind speed at a predetermined "time". When data D1 as shown in Figure 8 is received, the unmanned aircraft 20 (see Figure 2) sets a flight route that includes a predetermined blade photography point (S102 in Figure 7) and sets the timing for the photography.

[0060] Figure 9 is an explanatory diagram of data D2 transmitted from an unmanned aerial vehicle to a wind power generation facility. The data D2 shown in Figure 9 contains information including captured images and wind turbine operation data transmitted in step S104 (see Figure 7). This data D2 is configured by omitting the "setting information for wind conditions" from the data D1 in Figure 8 and adding "captured data".

[0061] As shown in Figure 9, the "imaging data" consists of "imaging position," "camera orientation," and "imaging image." The "imaging position" is information indicating the three-dimensional position of the camera 22 (see Figure 2) of the unmanned aerial vehicle 20 (see Figure 2) when it photographs a predetermined blade. The "camera orientation" is the orientation of the camera 22 when it photographs a predetermined blade, and is expressed, for example, as the well-known Euler angle. The "imaging image" is image data obtained by photographing the blade at a predetermined shooting point.

[0062] It should be noted that the data exchange between the wind power generation equipment W1 and the unmanned aerial vehicle 20 is not limited to the example described above (see Figure 7). For example, data exchange may be carried out as shown in Figure 10.

[0063] Figure 10 is a sequence diagram of another example showing data exchange between a wind power generation facility W1 and an unmanned aerial vehicle 20. First, in step S201, the wind power generation equipment W1 transmits data including wind turbine operation data and recommended shooting points. This data is transmitted, for example, every second, every 0.1 seconds, or every few seconds. The recommended shooting points are information indicating the recommended shooting position (latitude, longitude, altitude) and shooting direction (optical axis direction of the camera 22 lens) when the unmanned aircraft 20 photographs a predetermined blade, and are set by the wind power generation equipment W1. Specifically, the wind power generation equipment W1 sets the recommended shooting points based on the latitude, longitude, and altitude of the hub 13 (see Figure 2), the shape and dimensions of the blades 14a, 14b, and 14c (see Figure 2), as well as the current time (i.e., the position of the sun), and the azimuth angle, yaw angle, and pitch angle at the time of shooting.

[0064] In step S202, the unmanned aerial vehicle 20 sets its flight route, shooting timing, and shooting points based on wind turbine operation data and recommended shooting points. The points where the unmanned aerial vehicle 20 passes along the flight route set in step S202 at the predetermined shooting timing become the shooting points. Incidentally, depending on the position and speed of the unmanned aerial vehicle 20 and the wind conditions, the shooting points of the unmanned aerial vehicle 20 may differ from the recommended shooting points set at the wind power generation facility W1.

[0065] In step S203, the unmanned aerial vehicle 20 transmits its flight operation data to the wind power generation facility W1. The flight operation data includes information such as the flight route of the unmanned aerial vehicle 20, as well as its current position, speed, steering status, shooting timing, and shooting point.

[0066] In step S204, the wind power generation equipment W1 performs a determination regarding the reachability of the unmanned aerial vehicle 20. That is, the wind power generation equipment W1 determines whether the unmanned aerial vehicle 20 can pass through a predetermined shooting point at the timing when the azimuth angle of the blade to be photographed reaches a value suitable for photography. Alternatively, the unmanned aerial vehicle 20 may perform the reachability determination in step S204 and transmit the determination result to the wind power generation equipment W1.

[0067] In step S205, the wind power generation equipment W1 controls the actuator based on the result of the reachability determination (S204). Specifically, the control unit 18 of the wind power generation equipment W1 (see Figure 3) adjusts at least one of the azimuth angle, yaw angle, and pitch angle of the blades based on flight operation data received from the unmanned aircraft 20 as coordinated control with the unmanned aircraft 20.

[0068] For example, in the feasibility determination in step S204, if it is determined that the unmanned aircraft 20 can pass the shooting point at the timing when the blade of the target to be photographed reaches a predetermined azimuth angle, the wind power generation equipment W1 controls the actuator as usual.

[0069] Furthermore, if it is determined that the unmanned aerial vehicle 20 will not be able to pass the shooting point in time, the control unit 18 of the wind power generation equipment W1 will perform the following control. Specifically, as coordinated control with the unmanned aerial vehicle 20, the control unit 18 controls the actuator so that the timing at which the azimuth angle of the wind power generation equipment W1 reaches a value suitable for shooting is delayed from the scheduled time of that timing before the start of coordinated control (before the start of S201). This allows the unmanned aerial vehicle 20 to pass the shooting point at the appropriate time.

[0070] Furthermore, if the control unit 18 of the wind power generation equipment W1 determines that the unmanned aerial vehicle 20 will pass the shooting point too early, it will perform the following control. Specifically, as coordinated control with the unmanned aerial vehicle 20, the control unit 18 controls the actuator so that the timing at which the azimuth angle of the wind power generation equipment W1 reaches a value suitable for shooting is earlier than the scheduled time for that timing before the start of coordinated control (before the start of S201). This allows the unmanned aerial vehicle 20 to pass the shooting point at the appropriate time.

[0071] In step S206, the wind power generation equipment W1 transmits a time to the unmanned aircraft 20 indicating the changed shooting timing (whether the shooting timing is later or earlier than the original timing). In step S207, the unmanned aerial vehicle 20 photographs the blades. The timing of photographing the blades is the modified photographing timing received from the wind power generation equipment W1. This allows the unmanned aerial vehicle 20 to photograph the designated blades at the time when the azimuth angle of the wind power generation equipment W1 reaches a value suitable for photography.

[0072] In step S208, the unmanned aircraft 20 transmits information (see Figure 9) that associates the captured image of the blade with the wind turbine operation data at the time of capture to the wind power generation equipment W1. In step S209, the wind power generation equipment W1 diagnoses whether there is any abnormality in the blades based on the captured images of the blades and the wind turbine operation data at the time of capture.

[0073] Furthermore, the "communication step" by the communication unit 17 (see Figure 2) of the wind power generation equipment W1 includes steps S201, S203, S206, and S208 in Figure 10. Also, the "cooperative control step" by the control unit 18 (see Figure 2) of the wind power generation equipment W1 includes steps S201, S204 to S206 in Figure 10. In other words, the processing of steps S201 and S206 is both a "communication step" and a "cooperative control step".

[0074] Figure 11 is an explanatory diagram regarding the lifespan diagnosis of wind turbine blades. The following describes how the diagnostic unit 18d (see Figure 3) of the wind power generation equipment W1 performs a diagnosis based on captured images, etc. First, the diagnostic unit 18d calculates the amount of blade deflection based on the captured images. More specifically, the diagnostic unit 18d calculates the amount of blade deflection by deformation analysis based on a comparison of data D3 acquired in advance when the blade rotation is stopped (for example, an image of the blade when stopped) and an image M1 obtained by taking a picture while the blade is rotating. As a result, the amount of deflection at each position specified by the longitudinal length of the blade is calculated, with the base of the blade as the reference point (length zero) (Graph G1).

[0075] Furthermore, the diagnostic unit 18d estimates the load acting on the blades at the time of imaging based on wind turbine operation data (see Figure 9). Specifically, based on the azimuth angle, yaw angle, and pitch angle at the time of imaging, as well as yaw drive data, pitch drive data, blade rotation speed, generated power, and brake torque, the diagnostic unit 18d calculates the load acting on the blades at the time of imaging. Then, the diagnostic unit 18d derives the distribution of blade stiffness (bending stiffness) based on the amount of blade deflection and the load acting on the blades. As shown in Graph G2, the stiffness values ​​for each position in the longitudinal direction of the blade are calculated. These deflection and stiffness values ​​are stored in the memory unit 19.

[0076] As the operating time of the wind turbine W1 increases, deterioration progresses over time, and as shown in Graph G3, the rigidity of the blades gradually decreases. Also, as shown in Graph G4, a value called DEL (Damage Equivalent Load) is calculated based on the rigidity of the blades. DEL is used as an indicator of the degree to which the constituent materials of the blades are fatigued.

[0077] The diagnostic unit 18d identifies the time (date t2 in graph G5) when the DEL value reaches a predetermined threshold α based on the change in DEL over time. This predetermined threshold α is a preset value of DEL that indicates the end of the blade's lifespan. Date t1 shown in graph G5 is the year, month, and day when the blade was photographed. Date t2 is the year, month, and day indicating the end of the blade's lifespan. This allows for an understanding of the blade's actual lifespan, thus preventing the uniform replacement of blades based on usage time even if the blade has not deteriorated significantly.

[0078] Figure 12A is an explanatory diagram showing the relationship between load and deflection when the blades of a wind turbine are functioning normally. In Figure 12A, the horizontal axis represents the load acting on the blade, and the vertical axis represents the blade deflection. As mentioned above, the blade deflection is calculated based on the captured images of the blade. The load acting on the blade is calculated based on the wind turbine operation data at the time of capture (see Figure 9).

[0079] The normal range shown in Figure 12A represents the normal range of deflection under load. In the example in Figure 12A, the data P1, which is identified by the blade deflection and load, falls within the normal range. In this case, the deterioration (decrease in rigidity) of the blade has not progressed significantly, so the diagnostic unit 18d (see Figure 3) determines that the blade is normal. In this way, the diagnostic unit 18d diagnoses whether or not there is an abnormality in the blade based on the captured image of the blade and the wind turbine operation data of the wind power generation facility W1 at the time the blade was photographed.

[0080] Figure 12B is an explanatory diagram showing the relationship between load and deflection when there is a problem with the blades of a wind turbine. In the example shown in Figure 12B, data P2, which is identified by the amount of blade deflection and load, is outside the normal range. In this case, the blade has deteriorated considerably (reduced rigidity), so the diagnostic unit 18d (see Figure 3) determines that there is an abnormality in the blade. In this way, the diagnostic unit 18d diagnoses whether or not there is an abnormality in the blade based on the relationship between the amount of blade deflection relative to the shape of the blade when it is stopped, and the load acting on the blade while it is rotating. Next, we will explain the case where the unmanned aircraft 20 passes over the rotor surface, which is the rotating surface of the blade.

[0081] Figure 13A is a front view of the case when the unmanned aircraft 20 passes over the rotor surface R1 of the wind power generation equipment W1. As described above, when photographing a specific blade, the unmanned aerial vehicle 20 is positioned higher than the rotor surface R1 (see Figure 6). However, if the lift of the unmanned aerial vehicle 20 is insufficient during photography and fuel or battery power is not used, the unmanned aerial vehicle 20 will pass over the rotor surface R1 of the blade.

[0082] It is possible to use fuel or battery power to prevent the unmanned aerial vehicle 20 from entering the rotor plane R1, but it is desirable to conserve energy in preparation for returning to base. In the example in Figure 13A, the unmanned aerial vehicle 20 is passing through the rotor plane R1 of the blades, but there is no particular need for the unmanned aerial vehicle 20 to consume fuel or battery power to compensate for the lack of lift. In addition, it is conceivable that during the flight of the unmanned aerial vehicle 20, sudden changes in wind direction or gusts may occur, causing the unmanned aerial vehicle 20 to pass through the rotor plane R1.

[0083] Figure 13B is a plan view showing the case where the unmanned aircraft 20 passes over the rotor surface R1 of the wind power generation equipment W1. It is assumed that before the unmanned aerial vehicle 20 passes over the rotor surface R1 of the wind power generation equipment W1, data including the planned time and position of passage over the rotor surface R1 is transmitted from the unmanned aerial vehicle 20 to the wind power generation equipment W1. Also, in the example in Figure 13B, the wind is blowing from the rear of the wind power generation equipment W1 toward the front.

[0084] The control unit 18 (see Figure 2) of the wind power generation equipment W1 moves the rotor surface R1 behind the unmanned aircraft 20 (changes the yaw angle) so that the rotor surface R1 faces directly toward the wind direction when the unmanned aircraft 20 approaches from the front of the wind power generation equipment W1 and passes over the rotor surface R1, which is the rotation plane of the blade. This emergency avoidance control slows down the rotation speed of the blade, thereby preventing the unmanned aircraft 20 from coming into contact with the blade.

[0085] Furthermore, the control unit 18 (see Figure 2) of the wind power generation equipment W1 may control the pitch angle so as the unmanned aerial vehicle 20 passes over the rotor surface R1 that the rotational speed of the blades slows down, and may also apply a braking force to the rotation of the blades using a rotor brake (not shown). Alternatively, the control unit 18 may control a power converter (not shown) to increase the power generated by the wind power generation equipment W1 as the unmanned aerial vehicle 20 passes over the rotor surface R1. This slows down the rotational speed of the blades, thereby preventing the unmanned aerial vehicle 20 from coming into contact with the blades.

[0086] Figure 14 is a sequence diagram showing the data exchange between the wind turbine W1 and the unmanned aerial vehicle 20 during an emergency avoidance maneuver. Steps S301 and S302 in Figure 14 are the same as steps S101 and S102 in Figure 7, and are therefore omitted from explanation. Although omitted in Figure 14, after the processing in step S302, it is determined whether or not the unmanned aircraft 20 passes over the rotor surface of the wind power generation equipment W1.

[0087] For example, if the lift of the unmanned aircraft 20 is insufficient, or if there is a sudden change in wind direction or a gust of wind, the likelihood of the unmanned aircraft 20 passing over the rotor surface of the wind power generation equipment W1 increases. If the unmanned aircraft 20 would pass over the rotor surface of the wind power generation equipment W1 if it continues flying as is, it is determined in step S303 that it has passed over the rotor surface.

[0088] Next, in step S304, the unmanned aerial vehicle 20 transmits information including the planned time and location of passage over the rotor surface to the wind turbine W1. It is not necessary for the unmanned aerial vehicle 20 to photograph the blades when passing over the rotor surface. This is because the altitude of the unmanned aerial vehicle 20 is lower than during normal photography, and the blades may not fit entirely within the field of view of the camera 22 (see Figure 2).

[0089] When the wind power generation equipment W1 receives information from the unmanned aerial vehicle 20, including the planned time and position of passage over the rotor surface, in step S305, it performs emergency avoidance control. Specifically, the control unit 18 of the wind power generation equipment W1 adjusts at least one of the azimuth angle, yaw angle, and pitch angle of the blades to avoid contact between the blades and the unmanned aerial vehicle 20, based on the information including the planned time and position of passage over the rotor surface. This slows down (or speeds up) the rotation speed of the blades, thereby suppressing contact between the unmanned aerial vehicle 20 and the blades. The unmanned aerial vehicle 20 may also appropriately change its ground speed and steering to avoid contact with the blades.

[0090] <Effects> According to this embodiment, the blades of the wind turbine W1 are rotated while the camera 22 of the unmanned aerial vehicle 20 photographs the blades. Therefore, compared to the case where the blades are stopped during photography, the decrease in power generation of the wind turbine W1 can be suppressed, and the effort and time required for photography can be reduced. Furthermore, by using a fixed-wing unmanned aerial vehicle 20, long-distance and long-duration flights become possible. In addition, since there is no particular need for workers to go to the site to inspect the blades, the cost and labor required for blade inspection can be reduced.

[0091] Furthermore, according to this embodiment, clear images of each blade can be efficiently acquired through coordinated control between the wind power generation equipment W1 and the unmanned aerial vehicle 20. This reduces the number of times the blades need to be re-examined, thereby reducing the energy required for the flight of the unmanned aerial vehicle 20.

[0092] Furthermore, in this embodiment, the diagnostic unit 18d calculates the amount of blade deflection based on the captured image and also calculates the blade load based on the wind turbine operation data at the time of capture. This allows the diagnostic unit 18d to accurately diagnose whether or not there is an abnormality in the blade based on the relationship between the amount of blade deflection and the load.

[0093] Furthermore, when the unmanned aircraft 20 passes over the rotor surface of the wind turbine W1, the wind turbine W1 controls its actuators to avoid contact between the blades and the unmanned aircraft 20. This makes it less likely for the unmanned aircraft 20 to come into contact with the blades, thereby improving reliability during inspections.

[0094] ≪Variations≫ Although the inspection system 100 and inspection methods related to this disclosure have been described above in the examples, this disclosure is not limited to these descriptions and various modifications can be made. For example, in the embodiment described, the wind power generation equipment W1 is equipped with a diagnostic unit 18d (see Figure 3), and this diagnostic unit 18d performs abnormality diagnosis of the blades. However, the embodiment is not limited to this. For example, an external computer 30 (see Figure 2) may perform abnormality diagnosis of the blades.

[0095] Figure 15 is a sequence diagram showing the data exchange between the wind power generation equipment W1, the unmanned aerial vehicle 20, and the computer 30 in a modified inspection system. Furthermore, the external computer 30 is assumed to be equipped with a diagnostic unit (not shown) for diagnosing whether or not there is any abnormality in the blade. Also, the processes in steps S401 to S403 in Figure 15 are the same in this order as the processes in steps S101 to S103 (see Figure 7) in the embodiment, so their explanation is omitted. After photographing the blades in step S403, in step S404 the unmanned aerial vehicle 20 transmits information linking the photographed images with wind turbine operation data to the computer 30. Alternatively, after the worker removes the recording medium 26 (see Figure 2) from the unmanned aerial vehicle 20, the recording medium 26 may be connected to the computer 30. In step S405, the computer 30 uses a diagnostic unit (not shown) to diagnose whether there are any abnormalities in the blades. Specifically, the diagnostic unit of the computer 30 diagnoses whether there are any abnormalities in the blades based on the wind turbine operation data of the wind power generation facility W1 and the captured images of the blades. Note that the processing content of step S405 is the same as the processing content of step S105 (see Figure 7) in the embodiment, so its explanation is omitted. The diagnostic results of the computer 30 are appropriately saved in association with the site information, unit numbers, and blade numbers of each blade of the wind power generation facilities W1, W2, and W3.

[0096] Furthermore, the wind turbine W1 (see Figure 1) may transmit wind condition data to the unmanned aerial vehicle 20, which includes its own measured wind direction and wind speed, as well as wind direction and wind speed measurements received from other wind turbines W2 (see Figure 1) located around it. In this case, the unmanned aerial vehicle 20 sets a flight route when moving from the wind turbine W1 to the other wind turbine W2 based on the aforementioned wind condition data. This allows for a high-precision understanding of the wind conditions near the wind turbines W1 and W2, enabling the unmanned aerial vehicle 20 to fly efficiently by utilizing updrafts and other factors.

[0097] Furthermore, the unmanned aerial vehicle 20 may collect data such as the temperature distribution of the ground and sea surface, airspeed, and ground speed during flight, and record the error between the predicted airflow values ​​near the wind power generation facilities W1, W2, and W3 and the actual measured values. The computer 30 (see Figure 2), which is equipped with an airflow prediction function, may improve the accuracy of airflow prediction by appropriately learning from the results of the aforementioned records. In this case, AI (Artificial Intelligence) that performs deep learning may be used for airflow prediction.

[0098] Furthermore, although the embodiment described a case in which the unmanned aerial vehicle 20 photographs the blades of the wind power generation equipment W1, it is not limited to this. For example, the unmanned aerial vehicle 20 may photograph the tower 11 or the like of the wind power generation equipment W1.

[0099] Alternatively, a predetermined strain-sensing paint (paint for stress analysis) may be applied to the blades of the wind turbine W1. In this case, the unmanned aircraft 20 sets its flight route and shooting timing so that the areas of the blades to which the strain-sensing paint is applied are within the field of view of the camera 22. The diagnostic unit 18d (see Figure 3) then diagnoses whether or not there is an abnormality in the blades based on the shooting results of the blades.

[0100] Furthermore, this disclosure is not limited to the embodiments and includes various modifications. For example, the embodiments are described in detail for illustrative purposes and are not necessarily limited to having all the configurations described. Also, some of the configurations of the embodiments can be added, deleted, or replaced with other configurations.

[0101] Furthermore, each of the aforementioned configurations, functions, processing units, processing means, etc., may be implemented in hardware, either partially or entirely, by designing them as integrated circuits, for example. Alternatively, each of the aforementioned configurations, functions, etc., may be implemented in software by having the processor interpret and execute programs that realize each function. Information such as programs, tables, and files that realize each function can be stored in memory, a recording device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

[0102] Furthermore, the control lines and information lines shown are those deemed necessary for explanatory purposes, and not all control lines and information lines are necessarily shown in the actual product. In reality, it can be assumed that almost all components are interconnected. [Explanation of Symbols]

[0103] 11 Towers 12 Nacer 13 Hubs 14a, 14b, 14c blades 15. Yaw control motor (actuator) 16a, 16b, 16c Pitch control motor (actuator) 17 Communications Department 18 Control Unit 18a Power generation control unit 18b Wind Condition Forecasting Section 18c Coordination Control Unit 18d Diagnostic Department 20 Unmanned aircraft 21 aircraft 21a Main wing (fixed wing) 22 cameras 23 Transmitter / Receiver 24 Processing Unit 24a Flight Control Unit 24b Route setting section 24c Imaging Control Unit 25 batteries 26 Recording media 30 Computers 100 Inspection Systems R1 Rotor surface S101, S201, S206, S301, S401 Steps (Communication step, Cooperative control step) S104, S203, S208, S304 Steps (Communication Steps) S102, S204, S205, S305 Steps (Cooperative Control Steps) W1, W2, W3 Wind Power Generation Facilities

Claims

1. A communication unit installed in a wind power generation facility to communicate with a fixed-wing unmanned aerial vehicle, The system includes a control unit for controlling the actuators of the wind power generation equipment, The control unit is an inspection system that performs coordinated control with the unmanned aerial vehicle when the blades of the wind turbine are photographed by the camera of the unmanned aerial vehicle while the blades of the wind turbine are rotating.

2. The control unit, as part of the coordinated control, transmits the wind turbine operation data of the wind power generation facility to the unmanned aircraft. The unmanned aircraft sets the flight route and timing for photographing the blades based on the wind turbine operation data. The inspection system according to claim 1, characterized by the following:

3. The control unit, as part of the coordinated control, adjusts the azimuth angle at the time of shooting so that the blade of the object to be photographed is facing in a direction suitable for shooting. The inspection system according to claim 1, characterized by the following:

4. The unmanned aerial vehicle sets its flight path so that it passes the shooting point of the blade at the timing when the azimuth angle of the wind power generation equipment reaches a value suitable for shooting. The inspection system according to claim 1, characterized by the following:

5. The control unit controls the actuator so that the timing at which the azimuth angle of the wind turbine reaches a value suitable for photography is later than the scheduled time before the start of the coordinated control, or earlier than the scheduled time, so that the unmanned aerial vehicle can pass the photography point of the blade at a predetermined timing. The inspection system according to claim 1, characterized by the following:

6. The wind power generation equipment is equipped with a diagnostic unit, or an external computer is equipped with such a unit, to diagnose whether or not there is an abnormality in the blade, based on the captured image of the blade and the wind turbine operation data of the wind power generation equipment at the time the blade was photographed. The inspection system according to claim 1, characterized by the following:

7. The diagnostic unit diagnoses whether or not there is an abnormality in the blade based on the relationship between the amount of deflection of the blade relative to its shape when stopped and the load acting on the blade while it is rotating. The inspection system according to claim 6, characterized by the following:

8. The unmanned aircraft transmits its flight operation data to the wind power generation equipment. The control unit, as part of the coordinated control, adjusts at least one of the azimuth angle, yaw angle, and pitch angle of the blade based on the flight operation data. The inspection system according to claim 1, characterized by the following:

9. When the unmanned aircraft passes over the rotor surface, which is the rotating surface of the blade, it transmits information including the planned time and location of passage over the rotor surface to the wind power generation equipment. Based on the information, the control unit adjusts at least one of the azimuth angle, yaw angle, and pitch angle of the blade to avoid contact between the blade and the unmanned aerial vehicle. The inspection system according to claim 1, characterized by the following:

10. The control unit controls the rotor surface to move behind the unmanned aerial vehicle so that it faces the wind direction when the unmanned aerial vehicle approaches the wind power generation equipment from the front and passes over the rotor surface, which is the rotating surface of the blades. The inspection system according to claim 1, characterized by the following:

11. The control unit controls the pitch angle so that the rotational speed of the blade slows down when the unmanned aircraft passes over the rotor surface, which is the rotating surface of the blade, and also applies a braking force to the rotation of the blade using the rotor brake. The inspection system according to claim 1, characterized by the following:

12. The unmanned aerial vehicle associates the captured images of the blades with the wind turbine operation data at the time of photographing the blades and stores them in a recording medium. The inspection system according to claim 1, characterized by the following:

13. The wind power generation equipment transmits wind condition data to the unmanned aircraft, which includes its own wind direction and wind speed measurements and wind direction and wind speed measurements received from other wind power generation equipment installed around it. The unmanned aircraft sets a flight route for moving from the wind power generation facility to the other wind power generation facility based on the wind condition data. The inspection system according to claim 1, characterized by the following:

14. The system includes a computer that predicts the location of rising air currents based on information including map information, weather information, and measured values ​​of ground or sea surface temperature. The computer includes locations where updrafts occur in the flight path from the takeoff point of the unmanned aircraft to the wind power generation facility. The aforementioned unmanned aircraft performs soaring in areas where updrafts occur. The inspection system according to claim 1, characterized by the following:

15. A communication step in which the communication unit of a wind power generation facility communicates with a fixed-wing unmanned aerial vehicle, An inspection method comprising: a coordinated control step in which a control unit that controls the actuator of the wind power generation equipment performs coordinated control with the unmanned aerial vehicle when the blades of the wind power generation equipment are photographed by the camera of the unmanned aerial vehicle while the blades of the wind power generation equipment are rotating.

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