DEVICE FOR MOVING ON WIND TURBINE BLADE, AND METHOD AND PROGRAM FOR CONTROLLING SAME

Abstract

A control method for a device for moving on a windmill blade according to the present invention involves measuring the cross-sectional shape of the windmill blade, and controlling the device such that the device behaves according to the cross-sectional shape. The control of the device may include controlling the device such that the device repairs a damaged portion of the windmill blade in accordance with the cross-sectional shape; and the control of the device may include controlling the device such that the device controls the attitude of the device in accordance with the cross-sectional shape.

Description

[Technical field]

[0001] The present invention relates to a device and system for moving on the blades of a wind turbine, and a control method and control program for the device. [Background technology]

[0002] The nacelle of a large wind turbine has a height of about 100 m. The circumferential speed of the blade tips of a large wind turbine is about 100 to 120 m / s, and the leading edge, which is the edge of the blade that cuts the wind, wears down by about 20 μm every year. The blades of large wind turbines are also susceptible to damage from lightning. For this reason, the blades are provided with lightning receptors to channel lightning current to the ground as a lightning protection measure, but if the lightning receptors fail to conduct electricity due to a malfunction, the blades will be destroyed because they cannot channel the lightning current caused by a lightning strike to the ground. Therefore, the blades of large wind turbines require regular maintenance. A device for performing maintenance on wind turbine blades is known (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2018 / 155704 Summary of the Invention [Means for solving the problem]

[0004] The inventors of the present invention discovered that it is possible to control a device that moves on the wind turbine blades by using the cross-sectional shape of the wind turbine blades, and as a result of extensive research, developed a method for controlling a device that moves on the wind turbine blades.

[0005] The present invention provides, for example, the following items. (Item 1) A method for controlling a device moving on a blade of a wind turbine, comprising the steps of: Measuring a cross-sectional shape of a blade of the wind turbine; Controlling the device so that the device behaves in accordance with the cross-sectional shape; The method includes: (Item 2) Controlling the apparatus includes: controlling the device so that the device repairs the damaged portion of the blade of the wind turbine according to the cross-sectional shape. The method according to the above item, comprising: (Item 3) Repairing a damaged portion of the blade of the wind turbine according to the cross-sectional shape includes: estimating a surface shape of the wind turbine blade after repair based on the cross-sectional shape; and Repairing the damaged portion to achieve the estimated surface shape. The method according to any one of the above items, comprising: (Item 4) Controlling the apparatus includes: Determining whether the blade of the wind turbine needs to be repaired based on the cross-sectional shape. Further comprising: 2. The method according to any one of the preceding claims, wherein when it is determined that the blade of the wind turbine should be repaired, the device is controlled to repair the damaged portion. (Item 5) Controlling the apparatus includes: Identifying the damaged portion based on the cross-sectional shape. The method according to any one of the preceding claims, further comprising: (Item 6) measuring a cross-sectional shape of the blade of the wind turbine while repairing the damaged portion; Storing the results of measuring the cross-sectional shape of the blades of the wind turbine; The method according to any one of the preceding claims, further comprising: (Item 7) 13. The method of any one of the preceding claims, further comprising adjusting repair of the damaged portion based on the stored results. (Item 8) Controlling the apparatus includes: controlling the device such that the device controls a posture of the device in accordance with the cross-sectional shape; The method according to any one of the preceding claims, further comprising: (Item 9) Controlling the attitude of the device according to the cross-sectional shape includes: determining a peak in each cross-sectional shape based on a cross-sectional shape at a first position and a cross-sectional shape at a second position in a direction along the blade of the wind turbine; controlling the attitude of the device so that a line connecting a peak of the cross-sectional shape at the first position and a peak of the cross-sectional shape at the second position is parallel to a center line of the device; The method according to any one of the above items, comprising: (Item 10) 2. The method according to any one of the preceding claims, wherein controlling an attitude of the device according to the cross-sectional shape comprises controlling an attitude of the device when the device lands on a blade of the wind turbine. (Item 11) Estimating a surface shape of the wind turbine blade after repair based on the cross-sectional shape, Using a polynomial approximation, a curve that smoothly connects the cross-section having the damaged portion with the cross-section shape of the undamaged portion is estimated. The method according to any one of the above items, comprising: (Item 12) The method of estimating a curve that smoothly connects the cross-sectional shape having the damaged portion with the cross-sectional shape of the undamaged portion using a polynomial approximation includes: Adjusting the degree of the polynomial approximation; Dividing the cross-sectional shape having the damaged portion into a plurality of regions and estimating a curve for each of the plurality of regions; estimating a first curve and estimating a second curve while ignoring a cross-sectional shape inside the first curve; Estimating the curve based on the cross-sectional shape of a cross section that does not have a damaged portion The method according to any one of the preceding items, comprising at least one of the following: (Item 13) The method of estimating a curve that smoothly connects the cross-sectional shape having the damaged portion with the cross-sectional shape of the undamaged portion using a polynomial approximation includes: Modifying the curve based on user input; Estimating the curve based on the design data of the wind turbine blade The method according to any one of the preceding claims, further comprising at least one of the following: (Item 14) Estimating a surface shape of the wind turbine blade after repair based on the cross-sectional shape, determining whether the estimated curve satisfies a predetermined condition; The method according to any one of the preceding claims, further comprising: (Item 15) The predetermined condition is: a matching rate between the estimated curve and a curve representing a cross-sectional shape of an undamaged portion in the cross-sectional shape having the damaged portion exceeds a predetermined threshold; The rate at which the estimated curve is located inside the measured cross-sectional shape does not exceed a predetermined threshold value. The method according to any one of the above items, comprising: (Item 16) 2. The method according to claim 1, wherein the cross-sectional shape includes a cross-sectional shape perpendicular to a direction in which a leading edge of the wind turbine blade extends and a cross-sectional shape parallel to a direction in which a leading edge of the wind turbine blade extends. (Item 17) 1. An apparatus comprising: a moving means for moving along the blades of the wind turbine; A measuring means for measuring a cross-sectional shape of the blade of the wind turbine; A control means for controlling the device so that the device behaves in accordance with the cross-sectional shape; An apparatus comprising: (Item 18) A control program for a device that moves on a blade of a wind turbine, the program being executed in a processor included in the device, the program comprising: receiving data representative of a cross-sectional shape of a blade of the wind turbine; Controlling the device so that the device behaves in accordance with the cross-sectional shape; A program that causes the processor to perform the above steps. (Item 18A) 19. A non-transitory computer-readable storage medium storing the program according to item 18. (Item 19) A method for controlling a device moving on a blade of a wind turbine, comprising the steps of: Measuring a cross-sectional shape of a blade of the wind turbine; controlling the device such that the device controls an attitude of the device according to the cross-sectional shape; controlling the device so that the device repairs the damaged portion of the blade of the wind turbine according to the cross-sectional shape; The method includes: (Item 20) receiving data representative of a cross-sectional shape of a blade of a wind turbine; Determining whether the blade of the wind turbine needs to be repaired based on the cross-sectional shape. The method includes: Effect of the Invention

[0006] According to the invention it is possible to provide a method for using the cross-sectional shape of the blades of a wind turbine to control a device moving on the blades of the wind turbine. [Brief description of the drawings]

[0007] [Figure 1A] A diagram explaining the procedure for performing maintenance on wind turbine blades. [Figure 1B] A diagram explaining the procedure for performing maintenance on wind turbine blades. [Figure 1C] A diagram explaining the procedure for performing maintenance on wind turbine blades. [Figure 1D]A diagram explaining the procedure for performing maintenance on wind turbine blades. [Diagram 2] FIG. 1 is a conceptual diagram of the configuration of an apparatus 100 according to the present invention. [Diagram 3] FIG. 1 shows an example of the configuration of an apparatus 100. [Figure 4] FIG. 1 shows a schematic diagram of a device 100 moving over a blade 11. [Figure 5A] FIG. 1 is a diagram showing a schematic diagram of controlling the attitude of the device 100 by an attitude control means. [Figure 5B] FIG. 1 is a diagram showing a schematic diagram of controlling the attitude of the device 100 by an attitude control means. [Figure 5C] FIG. 1 is a diagram showing a schematic diagram of controlling the attitude of the device 100 by an attitude control means. [Figure 5D] 1 shows an example of data representing a cross-sectional shape measured by measuring means 160A and 160B, and a side view and a rear view showing the posture of the device 100 at that time. [Figure 6] 1 is a flow chart showing an example of a method 600 for controlling a device 100 for moving on a blade of a wind turbine. [Figure 7] A flowchart showing an example of the flow of a process (process 700) for estimating a surface shape after repair. [Figure 8A] A diagram explaining the concept of adjusting the degree of polynomial approximation [Figure 8B] A diagram explaining the concept of dividing a cross-sectional shape having a damaged portion into multiple regions and estimating a curve for each of the multiple regions. [Figure 8C] A diagram explaining the concept of estimating a first curve and estimating a second curve while ignoring the cross-sectional shape inside the first curve. [Figure 8D] FIG. 1 is a diagram illustrating the concept of estimating a curve based on the cross-sectional shape of a cross section that does not have a damaged portion. [Figure 8E] Diagram illustrating the concept of modifying a curve based on user input [Figure 8F] A diagram explaining the concept of estimating curves based on wind turbine blade design data. [Figure 8G]FIG. 1 is a diagram illustrating the concept of measuring the cross-sectional shape of a cross section at multiple points along the leading edge LE. [Figure 9A] FIG. 1 is a diagram showing a schematic diagram of controlling the attitude of the device 100 by the attitude control means when the device 100 lands on a blade. [Figure 9B] FIG. 1 is a diagram showing a schematic diagram of controlling the attitude of the device 100 by the attitude control means when the device 100 lands on a blade. [Figure 9C] FIG. 1 is a diagram showing a schematic diagram of controlling the attitude of the device 100 by the attitude control means when the device 100 lands on a blade. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0009] 1. Wind turbine blade maintenance With reference to Figures 1A to 1D, a procedure for performing maintenance on wind turbine blades using the device of the present invention will be described. Figures 1A to 1D (a) show the front of a wind turbine 10, and Figures 1A to 1D (b) show the right side of the wind turbine 10. Figures 1A to 1D (b) show only blade 11, which is the subject of maintenance, and the other two blades 12 and 13 are omitted. The wind turbine shown in Figures 1A to 1D (a) is a wind turbine that rotates clockwise on the drawing, and the straight edge of each blade becomes the leading edge.

[0010] In this specification, the term "wind turbine" refers to a device that obtains power by catching wind. An example of a wind turbine is a wind power generator.

[0011] In this specification, "maintenance" refers to the inspection or maintenance of an object. Maintenance includes repair. Examples of maintenance include imaging the surface of an object, inspecting the continuity of the lightning receiving part of the object, cleaning the surface of the object, grinding and / or polishing the surface of the object, applying paint to the surface of the object, applying materials such as putty, adhesive, sealant, etc. to the surface of the object. Repair may include cleaning the damaged part to remove foreign matter, applying materials such as putty, adhesive, sealant, etc. to the damaged part after cleaning, polishing the applied material so as to smoothly connect with the undamaged part, and applying paint to the polished surface or attaching a protective material to the polished surface. In this specification, the "damaged part" may be used synonymously with the "part requiring repair". For example, even if a part is not damaged, if it needs repair, it may be called a "part requiring repair" or a "damaged part".

[0012] FIG. 1A shows a state in preparation before the device 100 of the present invention is attached to a blade 11 of a wind turbine 10.

[0013] Maintenance of the blade 11 is performed with the blade 11 positioned so that it extends vertically downward. This is the same state as the blade is in in the conventional method of performing maintenance by a worker moving over the blade along a rope stretched over the blade, and is therefore easily accepted at existing work sites. When the blade 11 is positioned so that it extends vertically downward, the leading edge is inclined at about 5 degrees with respect to the vertical, as shown in FIG. 1A(b).

[0014] In a preparation stage before the device 100 is attached to the blades 11 of the wind turbine 10, the ropes 20 are installed on the wind turbine 10. Here, the manner in which the ropes 20 are installed on the wind turbine 10 does not matter. The ropes 20 can be installed at any position on the wind turbine 10 by any method.

[0015] In one example, the rope 20 is fixed to the nacelle 14 of the wind turbine 10. The nacelle 14 is a housing that houses a generator, a gearbox, and the like. The rope 20 can be fixed to a hatch of the nacelle 14, for example. The rope 20 can be fixed to the nacelle 14 using, for example, a dedicated fastener. At this time, the rope 20 can be transported to the nacelle 14 of the wind turbine 10 by, for example, an airborne device such as a drone.

[0016] In another example, the rope 20 may be fixed to a constriction near the root of the blade 11, or the rope 20 may be hooked onto the blades 12, 13, or the rope 20 may be fixed to the tower of the wind turbine 10.

[0017] When the rope 20 is hooked to the blades 12, 13, the rope 20 may, for example, wrap around the blades 12, 13, one end of the rope 20 extends to the ground and is fixed thereto, and the other end of the rope 20 may extend toward the blade 11. In this case, the rope 20 may be carried above the blades 12, 13 by a flying device such as a drone, and hooked to the blades 12, 13.

[0018] Alternatively, for example, two ropes 20 may be used, a loop may be formed at one end of each rope, and the blade 12 may be passed through the loop of one rope 20, and the blade 13 may be passed through the loop of the other rope 20, so that the two ropes 20 are hooked onto the blades 12, 13, respectively. In this case, the two ropes 20 may be transported to the tips of the blades 12, 13 by a flying device such as a drone, and hooked onto the blades 12, 13.

[0019] In the following, an example will be described in which the two ropes 20 are fixed to the nacelle 14 of the wind turbine 10. Each of the two ropes 20 extends from the nacelle 14 of the wind turbine 10 to the ground, passing near the hub 15. The hub 15 is a member that rotatably couples the blades 11, 12, and 13 to the nacelle 14.

[0020] 1B-1C show the stage of placing the device 100 on the blade 11 of the wind turbine 10. FIG.

[0021] Two ropes 20 extend from the nacelle 14 of the wind turbine 10 to the device 100. The two ropes 20 are connected to the device 100.

[0022] The device 100 includes a moving means for moving along the two ropes 20. The moving means is, for example, a winch. The device 100 includes, for example, two winches, one rope connected to one of the two winches, and the other rope connected to the other of the two winches. One end of the rope 20 is fixed to the ground by, for example, a weight or the like. The device 100 can ascend along the rope 20 by winding up the rope 20 using the winch.

[0023] When the device 100 rises along the rope 20 and reaches approximately the same height as the tip of the blade 11 , the spatial position of the device 100 is controlled so that it rests on the tip of the blade 11 .

[0024] The spatial position of the device 100 can be controlled by any method. For example, the spatial position may be controlled by pulling one of the two ropes 20, or by pulling both of the two ropes 20, or by connecting at least one rope other than the two ropes 20 to the device 100 and pulling the at least one rope. These ropes may be pulled by, for example, a worker or robot on the ground, a worker or robot on or underwater, or a worker or robot in the air. Pulling the ropes by a worker or robot on or underwater, or a worker or robot in the air, is preferable, for example, when performing maintenance on an offshore or coastal wind turbine.

[0025] Preferably, the spatial position of the device 100 is controlled by pulling one or both of the two ropes 20 from the ground, since this allows the spatial position of the device 100 to be controlled safely from the ground without requiring any additional equipment.

[0026] The control of the spatial position is not limited to the control via the rope. For example, instead of or in addition to the control via the rope, the spatial position may be controlled by the control via a position control device that the device 100 may have. The position control device may be a device capable of generating thrust to control the position of the device 100. For example, the position control device may be a propeller attached to the device 100, or a flying device such as a drone attached to the device 100. Alternatively, the position control device may be, for example, a rotatable counterweight. The rotatable counterweight is useful in controlling the roll, pitch, or yaw rotation of the device 100.

[0027] 1C, when the device 100 reaches above the blade 11, the device 100 that has reached the blade 11 can be attached to the blade 11 by any mechanism. The device 100 may be attached to the blade 11 by, for example, mechanical force, magnetic force, electrical force, or pressure. The mechanism for attaching to the blade 11 by mechanical force may be, for example, a pair of frames that are biased to clamp the blade 11. The mechanism for attaching to the blade 11 by pressure may be, for example, a mechanism for attaching to the blade 11 by generating negative pressure to adhere to the blade 11.

[0028] The device 100 also includes a moving means for moving over the blade 11. The moving means is, for example, a wheel. The device 100 can move over the blade, for example, by using a winch to wind or unwind the rope 20 with the wheel in contact with the blade 11.

[0029] FIG. 1D shows device 100 moving along rope 20 over the leading edge of blade 11.

[0030] When the device 100 moves along the leading edge, the device 100 can maintain a state of being attached to the blade 11. This allows the device 100 to move on the leading edge of the blade 11 without lifting up. Also, as described above, since the leading edge of the blade 11 is inclined at about 5 degrees (in some cases, about 1 degree to about 10 degrees) with respect to the vertical, gravity acting on the device 100 acts to press the device 100 against the leading edge of the blade 11, preventing the device 100 from lifting up.

[0031] The device 100 performs maintenance on the blade 11 while moving over the leading edge of the blade 11. For example, the device 100 measures the cross-sectional shape of the blade 11 using a scanner while moving over the leading edge of the blade 11. For example, the device 100 images the surface of the leading edge using a camera while moving over the leading edge of the blade 11. For example, the device 100 inspects the continuity of the lightning receiving part using a probe while moving over the leading edge of the blade 11. For example, the device 100 cleans the surface of the leading edge using a cleaning device while moving over the leading edge of the blade 11. For example, the device 100 polishes the surface of the leading edge using a sander while moving over the leading edge of the blade 11. For example, the device 100 applies paint to the surface of the leading edge using a paint application device while moving over the leading edge of the blade 11. For example, the device 100 uses an electric gun to apply a material such as putty, adhesive, sealant, or the like to the surface of the leading edge of the blade 11 while moving over the leading edge of the blade 11. The applied material can fill holes in the blade 11.

[0032] By controlling the winding and unwinding of the winch, the device 100 can move on the leading edge of the blade 11 in the direction in which the rope 20 extends, for example, in the direction from the tip of the blade to the base of the blade and in the direction from the base of the blade to the tip of the blade. This allows the device 100 to perform maintenance while moving back and forth on the leading edge of the blade 11. Furthermore, in the unlikely event that the device 100 becomes detached from the blade 11, the rope 20 connected to the winch of the device 100 serves as a lifeline, preventing the device 100 from falling off.

[0033] The device 100 can utilize the measured cross-sectional shape of the blade 11 to perform various actions.

[0034] For example, the apparatus 100 can control the attitude of the apparatus 100 by utilizing the measured cross-sectional shape of the blade 11. In this specification, the "attitude" of the apparatus refers to the position and / or orientation of the apparatus in space, and "controlling the attitude" of the apparatus means controlling the position of the apparatus in space, or controlling the orientation of the apparatus in space, or controlling the position and orientation of the apparatus in space. For example, the apparatus 100 can control the attitude of the apparatus with a precision according to the resolution of the measured cross-sectional shape.

[0035] For example, the device 100 can use the cross-sectional shape of the blade 11 at at least one point along the direction from the tip to the root of the blade 11 to control the attitude. For example, by using the cross-sectional shape of the blade at at least one point, the device 100 can control the position of the device 100 relative to the blade. For example, the peak of the cross-sectional shape of the blade can be identified, and the position of the device 100 can be controlled so that the device 100 is located at a predetermined relative position to the peak (for example, a position where the center of the device and the peak are aligned). Alternatively, for example, a portion in the cross-sectional shape of the blade that needs repair can be identified, and the position of the device 100 can be controlled so that the device 100 is located at a predetermined relative position to the portion that needs repair (for example, a position where the center of the device and the center of the portion that needs repair are aligned).

[0036] For example, by using the cross-sectional shape of the blade 11 at at least two points along the direction from the tip to the root, the device 100 can control the orientation of the device with respect to the blade. For example, at each of the at least two points, the peaks of the cross-sectional shape of the blade 11 are identified, and the attitude of the device 100 is controlled so that the line connecting the peaks is parallel to the center line of the device 100 (for example, representing the traveling direction of the device 100). This allows the traveling direction of the device 100 to be aligned with the direction from the tip to the root of the blade 11, and it is possible to ensure that the device 100 travels in the direction from the tip to the root of the blade 11. Alternatively, for example, at each of the at least two points, the parts requiring repair in the cross-sectional shape of the blade 11 are identified, and the attitude of the device 100 is controlled so that the line connecting the centers of the parts requiring repair is parallel to the center line of the device 100 (for example, representing the traveling direction of the device 100). This allows the moving direction of the device 100 to match the direction in which the portion requiring repair extends, and ensures that the device 100 moves in the direction in which the portion requiring repair extends.

[0037] For example, the apparatus 100 can use the measured cross-sectional shape of the blade 11 to repair the damaged portion of the blade. The apparatus 100 can use, for example, the cross-sectional shape of a cross section having a damaged portion to repair the damaged portion of the blade. Furthermore, the apparatus 100 can use the cross-sectional shape of a cross section not having a damaged portion in addition to the cross-sectional shape of a cross section having a damaged portion. For example, the apparatus 100 can estimate the surface shape of the blade after repair based on the cross-sectional shape of a cross section having a damaged portion, or the cross-sectional shapes of a cross section having a damaged portion and a cross-sectional shape of a cross section not having a damaged portion, and repair the damaged portion of the blade to achieve the estimated surface shape.

[0038] Preferably, the device 100 can repair the damaged portion of the blade while controlling the attitude of the device 100 using the measured cross-sectional shape of the blade 11. For example, if the attitude of the device 100 changes during the blade repair, the device 100 will work at a position that is shifted from the surface on which it should be working, and high-precision repair may not be possible. By performing repairs while controlling the attitude of the device 100 using the measured cross-sectional shape, repairs can be performed while controlling the attitude with high precision according to the resolution of the measured cross-sectional shape, enabling repairs with high precision (for example, precision of 1 mm or less). This can lead to the completeness of the shape after repair and the smoothness of the connection between the damaged and undamaged parts.

[0039] For example, the device 100 can use the measured cross-sectional shape of the blade 11 to determine whether or not the blade should be repaired before repairing the damaged portion of the blade. For example, the difference between the cross-sectional shape of the blade 11 in an undamaged state or in an ideal state after repair and the measured cross-sectional shape is calculated, and if the difference in any part exceeds a predetermined threshold, it can be determined that the blade should be repaired. This allows the necessity of repair to be determined with higher accuracy than, for example, when a human visually judges the condition on-site or when a two-dimensional image captured by an imaging means such as a camera is used to judge the necessity. This is because the measured cross-sectional shape allows a judgment to be made taking into account damage in the depth direction that cannot be seen by visual inspection or a two-dimensional image. Such a judgment is advantageous in that it enables maintenance to be performed at an appropriate time.

[0040] For example, the device 100 can identify the damaged portion by using the measured cross-sectional shape of the blade 11 before repairing the damaged portion of the blade. For example, the difference between the cross-sectional shape of the blade 11 in an undamaged state or in an ideal state after repair and the measured cross-sectional shape can be calculated, and a portion where the difference exceeds a predetermined threshold can be identified as the damaged portion. This allows the damaged portion to be identified with higher accuracy than, for example, a human visually identifying the damaged portion on-site or a two-dimensional image captured by an imaging means such as a camera. This is because the measured cross-sectional shape can also identify damage in the depth direction that cannot be identified by visual inspection or a two-dimensional image.

[0041] The determination of whether or not the blade needs repair and / or the identification of the damaged portion of the blade may be performed by the device 100 itself, or may be performed by an external device that communicates with the device 100. For example, when performed by the external device, the device 100 transmits data of the measured cross-sectional shape to the external device, and receives data indicating whether or not repair is required and / or data indicating the identified damaged portion from the external device.

[0042] In the above example, the control of the attitude of the device 100 while the device 100 is moving on the blade 11 has been described, but the cross-sectional shape of the blade 11 can also be applied to control the attitude of the device 100 when the device 100 is attached to the blade 11. For example, as shown in FIG. 1C, when the device 100 reaches the blade 11, the device 100 is attached to the blade 11. If the device 100 does not land on the blade 11 well, the device 100 or the blade 11 may be damaged. Therefore, when the device 100 lands on the blade 11, it is necessary to precisely control the attitude of the device 100. In this specification, "landing" refers to an action of approaching and contacting an object, and the device 100 landing on the blade 11 refers to an action of the device approaching and contacting the blade 11.

[0043] By utilizing the cross-sectional shape of the blade 11, the attitude of the device 100 when the device 100 lands on the blade 11 can be precisely controlled. Specifically, as shown in FIG. 1B, when the device 100 ascends along the rope 20 and approaches the blade 11 by controlling the spatial position, the cross-sectional shape of the portion of the blade 11 that the device 100 is approaching is measured. The device 100 can be controlled so that the device 100 lands while maintaining an appropriate landing attitude while monitoring the measured cross-sectional shape. The device 100 can be controlled, for example, so that the device 100 approaches closer to the blade 11 or moves away from the blade 11 with tension from at least one of the two ropes 20 or another rope. At least one of the two ropes 20 or another rope can be operated by an operator or a robot, and the operator or robot will operate the rope according to instructions from the device 100. The device 100 can be controlled, for example, by an attitude control means (e.g., a roll rotation control unit that controls the roll angle, a pitch rotation control unit that controls the pitch angle, or a yaw rotation control unit that controls the yaw angle) provided in the device 100 so that the device 100 is in an appropriate angular position relative to the blade 11.

[0044] In the above example, the cross-sectional shape used by the device 100 may be measured while the device 100 is moving over the blade 11, or may be measured in a different manner. For example, the cross-sectional shape used by the device 100 can be measured by another measuring device before the device 100 moves over the blade 11. Preferably, the cross-sectional shape of the blade 11 can be measured while the device 100 is moving over the blade 11, and more preferably, the cross-sectional shape of the blade 11 can be measured while the device 100 is repairing the blade 11. This makes it possible to obtain and store data on the cross-sectional shape at each stage of the repair, and for example, these data can be used for process assurance of the repair. Furthermore, by analyzing the stored data on the cross-sectional shape at each stage, progress management of the repair, adjustment of the ongoing repair, and the like can be performed.

[0045] For example, three-dimensional shape data of the blade 11 can be obtained by continuously measuring the cross-sectional shape of the blade 11 in a direction from the tip to the root or along the direction in which the leading edge of the blade 11 extends (i.e., the Z direction). The cross-sectional shape represented by the three-dimensional shape data includes the shape of a cross section (XY cross section) perpendicular to the direction in which the leading edge of the blade 11 extends (Z direction) and the shape of a cross section (ZY cross section or ZX cross section) parallel to the direction in which the leading edge of the blade 11 extends (Z direction). By using the three-dimensional shape data, the shape of the blade can be grasped more accurately and easily, and the efficiency of attitude control can be improved. Furthermore, damaged parts can be identified more accurately and easily, and the efficiency of repair work can be improved.

[0046] In this specification, "while moving" refers to the period during which the device 100 is moving from one position to another, and does not necessarily have to be moving continuously. For example, the period during which the device 100 is moving from the tip of the blade to the base of the blade, and during which the device 100 moves by repeating forward and stoppage, is also included in "while moving."

[0047] In the above example, the maintenance of the wind turbine blades is performed using one device 100, but it is also possible to perform the maintenance of the wind turbine blades using a plurality of devices 100.

[0048] Additionally, the apparatus 100 can be used in conjunction with auxiliary devices to hold the ropes on the blade 11 and / or secure the ropes to the root of the blade or to the nacelle. These auxiliary devices can facilitate mounting the apparatus 100 on the blade 11.

[0049] In the above example, it is assumed that the device 100 performs maintenance on the blades of a wind turbine, but the device 100 of the present invention is not limited to a device that performs maintenance. The device 100 of the present invention may be any device as long as it moves on the blades of a wind turbine and behaves in accordance with the cross-sectional shape of the blades. For example, the device 100 may be a device that moves on the blades of a wind turbine while controlling its attitude in accordance with the cross-sectional shape of the blades in order to perform measurements (for example, meteorological observations) on the blades of the wind turbine.

[0050] The above-mentioned device 100 may have, for example, the configuration described below.

[0051] 2. Configuration of the device that moves on the wind turbine blades The device 100 of the present invention can have any configuration as long as it moves on the blade of the wind turbine and behaves in accordance with the cross-sectional shape of the blade.

[0052] FIG. 2 shows a schematic diagram of the configuration of the device 100 of the present invention.

[0053] The device 100 of the present invention comprises a moving means 110 for moving along the wind turbine blades, a behavior means 120 capable of behaving in accordance with the cross-sectional shape of the wind turbine blades, and a control means 130 for controlling the behavior means 120 so as to behave in accordance with the cross-sectional shape of the wind turbine blades.

[0054] The moving means 110 can be any means as long as it is capable of moving along the blades of the wind turbine.

[0055] For example, the moving means 110 includes a winch that allows the device 100 to move along a rope that extends over the blade. For example, the moving means 110 includes wheels that allow the device 100 to move over the blade. The wheels can be non-driven wheels, but can also be driven wheels that are driven by a power source. For example, the device 100 can move over the blade using a winch and non-driven wheels, or can move over the blade using driven wheels without the use of a winch (and rope).

[0056] The behavior means 120 may be any means as long as it is capable of performing a behavior according to the cross-sectional shape of the wind turbine blade.

[0057] For example, the behavior means 120 may be a posture control means for controlling the posture of the device 100 according to the cross-sectional shape of the blade of the wind turbine. The posture control means may be, for example, an actuator mechanism capable of applying a force to the blade of the wind turbine and controlling the posture of the device 100 by the reaction force. The actuator mechanism includes an action part and a drive part for driving the action part, and the drive part drives the action part and applies a force to the blade by the action part, thereby controlling the posture of the device 100 by the reaction force. The actuator mechanism may be any mechanism as long as it can apply a force to the blade of the wind turbine. For example, the actuator mechanism may be a mechanism having a linear cylinder as a drive part and an action part at the tip of the linear cylinder. For example, the linear motion of the linear cylinder can apply a force to the blade by pressing the action part at the tip of the linear cylinder against the blade. The linear cylinder may be, for example, electrically operated or pneumatically operated. For example, the actuator mechanism may be a mechanism having a linear cylinder as a drive part and an arm to which the linear cylinder is connected as an action part. For example, a pneumatic cylinder is connected to the base of the arm, and the arm is pivoted by linear motion of the pneumatic cylinder to press the tip of the arm (e.g., a wheel or roller) against the blade, thereby applying force to the blade. For example, the actuator mechanism may be a winch that is also the moving means 110. For example, by stopping one of the winches on both sides of the device 100 and moving the other winch, a torque around the device is generated, and the attitude of the device 100 can be controlled by the torque.

[0058] The attitude control means may include, for example, a means for controlling the attitude of the device 100 without contacting the wind turbine blades in addition to or instead of a means for controlling the attitude by applying a force to the wind turbine blades. This may be useful, for example, when adjusting the attitude of the device 100 when the device 100 lands on the wind turbine blades. Such attitude control means may include, but are not limited to, a rope fixed or connected to the device 100, a rotatable counterweight, a winch, etc.

[0059] For example, the behavior means 120 may be a maintenance means for repairing a damaged portion of a wind turbine blade according to the cross-sectional shape of the wind turbine blade. The maintenance means can repair the damaged portion so as to achieve a surface shape after repair estimated based on the cross-sectional shape. The maintenance means includes, for example, an application means for applying a material such as putty, adhesive, sealant, etc. to the damaged portion, and a polishing means for polishing the damaged portion so as to smoothly connect with the undamaged portion. For example, the application means can also apply paint to the surface after polishing. The maintenance means can further include, for example, a cleaning means for cleaning the surface before applying the material or after polishing, and / or a grinding means for grinding the surface before applying the material. The maintenance means can also include, for example, an attachment means for attaching a protective material (for example, a surface protective material such as a film sheet) to the surface after polishing.

[0060] The application means may be any means capable of applying a material to an object. Examples of materials applied by the application means include paint, putty, adhesive, and sealant. For example, the application means may be a spraying device capable of spraying paint. When applying paint to a blade using such a spraying device, the device 100 moves over the blade to move the spraying device as well, thereby applying paint to a target location, or the device 100 is stationary and the spraying means itself is moved to apply paint to a target location. For example, the application means may be a caulking gun capable of extruding putty, adhesive, sealant, and the like. When applying a material such as putty, adhesive, sealant, and the like to a blade using such a caulking gun, the device 100 moves over the blade 11 to move the caulking gun as well, thereby applying the material to a target location, or the device 100 is stationary and the caulking gun is moved to apply the material to a target location.

[0061] The polishing means may be any means capable of polishing an object. For example, the polishing means may be a mechanism for polishing using sandpaper, a grinder, a disk grinder, etc. When polishing the surface of the blade using such a mechanism, the surface can be polished by moving the sandpaper, grinder, or disk grinder as the device 100 moves over the blade, or the surface can be polished by moving the sandpaper, grinder, or disk grinder while the device 100 is stationary.

[0062] The cleaning means may be any means capable of cleaning an object. For example, the cleaning means may be a mechanism for wiping off dirt using a cleaning liquid and a rag. When cleaning the surface of the blade using such a mechanism, the surface can be cleaned by moving the rag as the device 100 moves over the blade, or by moving the rag while the device 100 is stationary.

[0063] The grinding means can be any means capable of grinding an object. For example, the grinding means can be a mechanism for grinding using a mill (or hand grinder or precision grinder), a belt sander, etc. When grinding the surface of the blade using such a mechanism, the device 100 can move over the blade to also move the mill or belt sander to grind the surface, or the device 100 can be stationary and the mill or belt sander can be moved to grind the surface.

[0064] The maintenance means is not limited to the above-mentioned cleaning means, polishing means, grinding means, pasting means, and coating means. The device 100 may be provided with other means for performing maintenance (e.g., imaging means, continuity inspection means, etc.) instead of or in addition to the above-mentioned means.

[0065] The behavior means 120 may be, for example, a determination means for determining whether or not the blade should be repaired based on the cross-sectional shape of the blade. The determination means can compare the measured cross-sectional shape with the cross-sectional shape of an undamaged state or an ideal state after repair, or with the cross-sectional shape after repair estimated based on the measured cross-sectional shape, and determine that the blade should be repaired if the difference or deviation between them is equal to or greater than a predetermined threshold. Here, the predetermined threshold can be appropriately set on-site. Also, the cross-sectional shape after repair can be estimated by, for example, a process described below with reference to FIG. 7.

[0066] The behavior means 120 may be, for example, a determination means for determining a damaged portion of the blade based on the cross-sectional shape of the blade. The determination means can compare the cross-sectional shape of the blade with the cross-sectional shape of an undamaged state or an ideal state after repair, or with the cross-sectional shape of a repaired state estimated based on the measured cross-sectional shape, and determine as the damaged portion a portion where the difference or deviation between the measured cross-sectional shapes is equal to or greater than a predetermined threshold value. Here, the predetermined threshold value can be appropriately set on-site. The cross-sectional shape of the blade after repair can be estimated by a process described later with reference to FIG. 7, for example.

[0067] The control means 130 may be any means as long as it can control the behavior means 120 to behave in accordance with the cross-sectional shape of the wind turbine blade. The control means 130 may be implemented, for example, by a processor operably coupled to the behavior means 120. The processor may control the behavior means 120, for example, by sending a control signal to the behavior means 120. For example, the behavior means 120 as a determination means or identification means may be implemented by a processor, similar to the control means 130.

[0068] The control means 130 can, for example, control the behavior means 120 (attitude control means) so that the behavior means 120 controls the attitude of the device 100 in accordance with the cross-sectional shape.

[0069] The control means 130 can control the behavior means 120 so that the behavior means 120 (maintenance means) repairs the damaged portion of the blade according to the cross-sectional shape, for example. At this time, the control means 130 controls the behavior means 120 so that the behavior means 120 (maintenance means) repairs the damaged portion of the blade according to the cross-sectional shape to achieve a surface shape after repair estimated based on the cross-sectional shape. The surface shape after repair may be estimated by the control means 130, or may be estimated outside the device 100 and transmitted to the control means 130 of the device 100 from outside the device 100. The surface shape after repair can be estimated by a process described below with reference to FIG. 7, for example.

[0070] The control means 130 is configured to receive data representing the cross-sectional shape of the blade. The data representing the cross-sectional shape of the blade may be, for example, point cloud data. The data representing the cross-sectional shape of the blade may be obtained by the device 100 measuring the cross-sectional shape, or may be obtained by a device other than the device 100 measuring the cross-sectional shape.

[0071] When the device 100 measures the cross-sectional shape, the device 100 may include a measuring means. The measuring means may be any means capable of measuring the cross-sectional shape, for example, a laser scanner, an ultrasonic scanner, etc. The measuring means may be a contact sensor. The measuring means may measure the cross-sectional shape with a predetermined resolution. For example, the measuring means may measure the cross-sectional shape of a passing blade position when the device 100 moves over the blade. Alternatively, the measuring means may measure the cross-sectional shape of an approaching blade position when the device 100 approaches the blade, for example.

[0072] When the cross-sectional shape is measured by something other than the device 100, for example, a measurement device separate from the device 100 measures the cross-sectional shape of the blade prior to the device 100 moving over the blade. The separate measurement device can measure the cross-sectional shape with a predetermined resolution.

[0073] The data representing the cross-sectional shape of the blade may preferably also represent the relative position of the cross-sectional shape of the blade with respect to the measuring means. For example, the data representing the cross-sectional shape of the blade may be expressed by position coordinates on a two-dimensional plane with the position of the measuring means as the origin for each of a plurality of points constituting the cross-sectional shape. This allows the data representing the cross-sectional shape of the blade to be plotted or drawn in a two-dimensional plane, for example, as shown in FIG. 5D(a).

[0074] Data representing the measured cross-sectional shape may be passed to the control means 130 for estimation of the repaired surface shape, or may be passed to an estimation means external to the apparatus 100. The estimation means external to the apparatus 100 may be implemented, for example, by a computer processor external to the apparatus 100.

[0075] The data representing the measured cross-sectional shape may be stored in a storage means that may be included in the apparatus 100, or may be transferred to and stored in a storage means external to the apparatus 100. The stored data representing the cross-sectional shape may be, for example, data representing the cross-sectional shape at each stage of the repair, which can be used for process assurance of the repair. Furthermore, the data representing the cross-sectional shape at each stage of the repair can also be used for progress management of the repair and adjustment of the repair process.

[0076] For example, a determination means for determining whether or not the blade should be repaired based on the cross-sectional shape of the blade, and / or a determination means for determining a damaged portion of the blade based on the cross-sectional shape of the blade, may be external to the apparatus 100. The determination means or determination means can determine whether or not repair is necessary or determine a damaged portion based on data representing the cross-sectional shape transmitted from the apparatus 100 or data representing the stored cross-sectional shape. Data indicating the determined need for repair or the determined damaged portion can be transmitted to the apparatus 100. In this way, the present invention covers not only the apparatus 100 or a method performed by the apparatus 100, but also a method performed outside the apparatus 100 for the apparatus 100, etc.

[0077] FIG. 3 shows an example of the configuration of the device 100.

[0078] The device 100 comprises a movement means 110, a behavior means 120, and a control means 130.

[0079] The moving means 110 includes a winch 111 and wheels 112. The winch 111 is mounted on the main body 101 of the device 100. The wheels 112 are mounted on an arm 102 extending from the main body 101.

[0080] The winch 111 may be a mechanism that can be connected to the rope 20. For example, the rope 20 enters the winch 111 from a first end 1111 of the winch 111, connects to the winch 111, and exits from a second end 1112 of the winch 111. When the winch 111 winds the rope 20 so that it enters the first end 1111 (spools out the rope 20 from the second end 1112), the device 100 moves in the direction of the first end 1111 (leftward in FIG. 3). When the winch 111 winds the rope 20 so that it enters the second end 1112 (spools out the rope 20 from the first end 1111), the device 100 moves in the direction of the second end 1112 (rightward in FIG. 3). The winding operation of the winch 111 can be controlled by the control means 120. The winch 111 winds up the rope 20 in accordance with a control signal from the control means 130 .

[0081] The rope 20 may or may not pass through the winch 111. That is, the rope 20 may or may not enter from one end of the winch 111 and exit from the other end. If the rope 20 does not pass through the winch 111, the rope 20 may not extend between the device 100 and the ground. For example, the winch 111 winds up the rope extending between the wind turbine nacelle 14 (see FIG. 1D ) and the device 100, causing the device 100 to move in a direction toward the wind turbine nacelle 14. For example, the winch 111 pays out the rope extending between the wind turbine nacelle 14 and the device 100, causing the device 100 to move in a direction away from the wind turbine nacelle 14.

[0082] The wheels 112 are wheels that assist the device 100 in moving smoothly when the winch 111 winds up the rope 20. The wheels 112 are non-driven wheels, but may be driven wheels. If the wheels 112 are driven wheels, the drive of the wheels 112 can be controlled by the control means 130. The wheels 112 rotate according to a control signal from the control means 130.

[0083] In the above example, the device 100 is described as including a winch, but for example, instead of the device 100 including a winch, the wind turbine nacelle 14 ( FIG. 1D ) may include a winch. In this case, a rope extending from a winch of the wind turbine nacelle 14 may be fixed to the device 100, and the device 100 may move up to and over the blade 11 by the winch of the wind turbine nacelle 14 winding or unwinding the rope.

[0084] The behavior means 120 includes a maintenance means 121 and an actuator 122 .

[0085] The maintenance means 121 is a means for performing maintenance on the blade, and can repair damaged portions so as to achieve a surface shape after repair that is estimated based on the cross-sectional shape. As described above, the maintenance means 121 includes a coating means and a polishing means, and can further include a cleaning means and / or a grinding means.

[0086] The operation of the maintenance means 121 can be controlled by the control means 130. The maintenance means 121 can be controlled to repair the damaged portion of the blade according to the cross-sectional shape, specifically, to repair the damaged portion of the blade so as to achieve the surface shape after repair estimated based on the cross-sectional shape. For example, in order to achieve the surface shape after repair estimated based on the cross-sectional shape, the cleaning means of the maintenance means 121 is controlled to clean the damaged portion to remove foreign matter, then the application means of the maintenance means 121 is controlled to apply a material to the damaged portion, and then the polishing means of the maintenance means 121 is controlled to polish the applied material. The application means can be controlled, for example, to apply a necessary amount of material to a necessary range to achieve the surface shape after repair estimated based on the cross-sectional shape. The polishing means can be controlled, for example, to polish the applied material by a necessary amount to a necessary range to achieve the surface shape after repair estimated based on the cross-sectional shape. In this way, the estimated surface shape after repair can be achieved.

[0087] For example, before the application means is controlled to apply a material to the damaged portion, the grinding means of the maintenance means 121 may be controlled to grind the damaged portion so as to make it easier to apply the material to the damaged portion. For example, after the polishing means polishes the applied material, the cleaning means of the maintenance means 121 may be controlled to clean the polished surface. For example, after the polishing means polishes the applied material or after the cleaning means cleans the surface, the application means of the maintenance means 121 may be controlled to apply paint, or the attachment means of the maintenance means 121 may be controlled to attach a protective material.

[0088] The maintenance means 120 is not limited to the above-mentioned means, and may include other means for performing maintenance instead of or in addition to the above-mentioned means.

[0089] The actuator 122 constitutes a posture control means.

[0090] For example, the actuator 122 constitutes a posture control means together with a contact portion with the blade connected to the actuator 122. At this time, the actuator 122 drives the contact portion so as to press the contact portion against the blade. The posture of the device 100 is controlled by the reaction force at this time.

[0091] For example, the actuator 122 constitutes an attitude control means together with the arm 102 and the wheel 112. At this time, the actuator 122 drives the arm to pivot about the axis 103 so as to press the wheel 112 against the blade. The attitude of the device 100 can be controlled by the reaction force at this time.

[0092] The actuator 122 may be, for example, an electric cylinder or a pneumatic cylinder.

[0093] The apparatus 100 further comprises a communication means 140 and a memory 150 .

[0094] The communication means 140 is any means for receiving a signal from outside the device 100 and transmitting a signal to outside the device 100. The communication means 140 may receive a signal from outside the device 100 wirelessly or by wire. The communication means 140 may transmit a signal to outside the device 100 wirelessly or by wire. The communication means 140 can receive, for example, a signal for controlling each operation of the device 100 from outside the device 100 (for example, an operation terminal used by an operator). The communication means 140 can transmit, for example, data representing a cross-sectional shape measured by a measurement means to outside the device 100 (for example, an estimation means for estimating a surface shape after repair, a determination means for determining whether or not repair is necessary, a specification means for specifying a damaged portion, a storage means for storing data representing a cross-sectional shape, etc.). The communication means 140 can, for example, receive data representing the estimated surface shape after repair from outside the device 100 (for example, an estimation means for estimating the surface shape after repair, a judgment means for determining whether repair is necessary, an identification means for identifying damaged parts, etc.).

[0095] The memory 150 stores programs required for executing the processes of the device 100, data required for executing the programs, etc. The memory 150 can be implemented by any storage means.

[0096] The device 100 may be configured as a passive device in which each operation is controlled according to a signal from outside the device 100, or as an active device that autonomously performs each operation. In the latter case, for example, a program for realizing a series of operations for performing blade maintenance or a program for executing the process shown in Fig. 7 may be stored in the memory 150 of the device 100, and the control means 130 of the device 100 can read and execute the program to cause the device 100 to function as a device that automatically performs blade maintenance. The program may be stored in a non-transitory computer-readable storage medium, and the device 100 may execute the process shown in Fig. 7 by reading the program.

[0097] Fig. 4 shows a schematic diagram of the device 100 moving over the blade 11. In Fig. 4, a part of the blade 11 is shown with a cross section. LE denotes the leading edge of the blade 11. In Fig. 4, the device 100 is depicted in a simplified manner, and for example the maintenance means 121 are omitted.

[0098] The device 100 is equipped with a winch 111 and wheels 112 as a moving means 110, and the rope 20 passes through the winch 111. The winch 111 winds or unwinds the rope 20, thereby enabling the device 100 to move on the blade 11 in the direction in which the rope extends (i.e., the direction in which the leading edge LE runs).

[0099] The apparatus 100 includes a posture control means as the behavior means 120, and the posture control means is composed of actuators 122A-D and contact portions 123A-D. Furthermore, the posture control means can also be composed of an actuator connected to the arm 102 and a wheel 112 coupled to the arm 102. The arm 102 is pivotable around the pivot shaft 103. Furthermore, the posture control means can also be composed of a winch 111.

[0100] The attitude control means constituted by the actuators 122A-D and the contact parts 123A-D drives the actuators 122A-D so that the actuators 122A-D press the respective contact parts 123A-D against the blade. The attitude control means constituted by the actuator 122A and the contact part 122A and the attitude control means constituted by the actuator 122B and the contact part 122B are arranged in pairs facing each other on both sides of the device 100. This allows force to be applied from both sides of the blade (both sides based on the leading edge LE). The attitude control means constituted by the actuator 122C and the contact part 122C and the attitude control means constituted by the actuator 122C and the contact part 122C are respectively arranged on the front side and the rear side along the central axis extending in the traveling direction of the device 100. This allows force to be applied approximately to the leading edge LE of the blade.

[0101] While the apparatus 100 is moving, the apparatus 100 can measure the cross-sectional shape of the blade 11 using the measuring means 160A, B. The measuring means 160A is disposed on the front side of the apparatus 100 and can measure the cross-sectional shape of the blade 11 at the front side of the apparatus 100. The measuring means 160B is disposed on the rear side of the apparatus and can measure the cross-sectional shape of the blade 11 at the rear side of the apparatus 100. The control means of the apparatus 100 can control the attitude control means to control the attitude of the apparatus 100 according to the cross-sectional shapes measured by the measuring means 160A and / or the measuring means 160B.

[0102] 5A to 5C are schematic diagrams showing how the attitude of the device 100 is controlled by the attitude control means. FIG. 5A shows a plan view of the device 100, FIG. 5B shows a side view of the device 100, and FIG. 5C shows a rear view of the device 100. FIGS. 5A to 5C show the state when the device 100 moves on the blade 11. FIG. 5A shows a cross section of the blade 11. In FIG. 5B, the actuators 122A and 122B are omitted.

[0103] The attitude control means of the device 100 can control the attitude of the device by adjusting the position and / or orientation of the device in the direction of the arrow shown in Fig. 5A to Fig. 5C. The X direction shown in Fig. 5A is the left-right direction perpendicular to the traveling direction of the device 100, and the right of Fig. 5A indicates the + direction and the left of Fig. 5A indicates the - direction. The Y direction shown in Fig. 5A is the up-down direction perpendicular to the traveling direction of the device 100, and the top of Fig. 5A indicates the + direction and the bottom of Fig. 5A indicates the - direction. The θ1 direction shown in Fig. 5A is the roll direction of the device 100, and the clockwise direction indicates the + direction and the counterclockwise direction indicates the - direction. The θ2 direction shown in Fig. 5B is the pitch direction of the device 100, and the clockwise direction indicates the + direction and the counterclockwise direction indicates the - direction. The θ3 direction shown in Fig. 5C is the yaw direction of the device 100, and the clockwise direction indicates the + direction and the counterclockwise direction indicates the - direction.

[0104] For example, the control means of the device 100 controls the actuators 122A and B of the attitude control means to press the contact portions 123A and B (not shown) at the tips of the actuators 122A and B against the blade 11, and the reaction force adjusts the X-direction position of the device 100. For example, by controlling the right actuator 122A of the pair of actuators 122A in Fig. 5A to press the right contact portion 123A against the blade 11, the position of the device 100 is adjusted in the +X direction. For example, by controlling the left actuator 122A of the pair of actuators 122A in Fig. 5A to press the left contact portion 123A against the blade 11, the position of the device 100 is adjusted in the -X direction.

[0105] For example, the control means of the device 100 controls the actuators 122C and D of the attitude control means to press the contact parts 123C and D (not shown) at the tips of the actuators 122C and D against the blade 11, and the Y-direction position of the device 100 can be adjusted by the reaction force. For example, by controlling the actuator 122C to press the contact part 123C against the blade 11, the position of the device 100 is adjusted in the +Y direction. For example, if the actuator 122C is not controlled to press the contact part 123C against the blade 11, the position of the device 100 is adjusted in the -Y direction by the gravity of the device 100. At this time, the actuator 122D not shown in FIG. 5A is also controlled in the same way.

[0106] For example, the control means of the device 100 controls an actuator connected to the arm 102 of the attitude control means, pivots the arm, and presses the wheel 112 at the tip of the arm against the blade 11, and the reaction force adjusts the orientation of the device 100 in the θ1 direction. At this time, the winch 111 of the attitude control means may also be controlled to change the load of the device 100 and create a trigger for the operation, making it easier to adjust the orientation of the device 100 in the θ1 direction. For example, the actuator connected to the right arm 102 of the pair of arms 102 in FIG. 5A is controlled to press the wheel 112 of the right arm against the blade 11, and the orientation of the device 100 is adjusted in the +θ1 direction. At this time, the right winch 111 of the winches 111 in FIG. 5A is controlled to change the load of the device 100, and a trigger for the operation to control the attitude can be created. For example, the orientation of the device 100 is adjusted in the -θ1 direction by controlling the actuator connected to the left arm 102 of the pair of arms 102 in Fig. 5A to press the wheel 112 of the left arm against the blade 11. At this time, the left winch 111 of the winches 111 in Fig. 5A can be controlled to change the load of the device 100, thereby triggering an operation to control the attitude.

[0107] For example, the control means of the device 100 controls the actuators 122C, D of the attitude control means to press the contact portions 123C, D (not shown) at the tips of the actuators 122C, D against the blade 11, and the reaction force adjusts the orientation of the device 100 in the θ2 direction. For example, the actuator 122C is controlled to press the contact portion 123C against the blade 11, and the actuator 122D is not driven at this time, so that the orientation of the device 100 is adjusted in the +θ2 direction. For example, the actuator 122D is controlled to press the contact portion 123D against the blade 11, and the actuator 122C is not driven at this time, so that the orientation of the device 100 is adjusted in the -θ2 direction.

[0108] For example, the control means of the device 100 controls the actuators 122A and B of the attitude control means to press the contact portions 123A and B (not shown) at the tips of the actuators 122A and B against the blade 11, and the reaction force adjusts the orientation of the device 100 in the θ3 direction. For example, the actuator 122A (not shown) on the right side of the leading edge LE in Fig. 5C is controlled to press the right contact portion 123A against the blade 11, and the actuator 122B (not shown) on the left side of the leading edge LE in Fig. 5C is controlled to press the left contact portion 123B against the blade 11, whereby the orientation of the device 100 is adjusted in the +θ3 direction. For example, the orientation of the device 100 is adjusted in the -θ3 direction by controlling the actuator 122A (not shown) on the left side of the leading edge LE in Fig. 5C to press the left contact portion 123A against the blade 11, and by controlling the actuator 122B (not shown) on the right side of the leading edge LE in Fig. 5C to press the right contact portion 123B against the blade 11. Alternatively, or in addition to this, the control means of the device 100 controls the winch 111 of the attitude control means to generate a torque around the device 100, and the orientation of the device 100 in the θ3 direction can be adjusted by the torque. For example, the left winch in Fig. 5C pulls the rope downward in Fig. 5C, and the right winch in Fig. 5C pulls the rope upward in Fig. 5C, thereby adjusting the orientation of the device 100 in the +θ3 direction. For example, the device 100 is oriented in the -θ3 direction by pulling the rope upward in FIG. 5C with the winch on the left side of FIG. 5C and pulling the rope downward in FIG. 5C with the winch on the right side of FIG. 5C.

[0109] In this way, the control means can adjust at least one of the X- and Y-directional positions and the θ1, θ2, and θ3-directional orientations to control the attitude of device 100. For example, the control means can adjust at least one of the X- and Y-directional positions and the θ1, θ2, and θ3-directional orientations so that a line connecting a peak in the cross-sectional shape measured by measuring means 160A and a peak in the cross-sectional shape measured by measuring means 160B is parallel to the central axis of device 100 in the traveling direction.

[0110] Fig. 5D(a) shows an example of data representing the cross-sectional shape measured by measuring means 160A and B, Fig. 5D(b) shows a side view showing the attitude of device 100 at that time, and Fig. 5D(c) shows a rear view showing the attitude of device 100 at that time. In Fig. 5D(a), the horizontal axis indicates the X direction (left-right direction) shown in Fig. 5A, and the vertical axis indicates the Y direction (up-down direction) shown in Fig. 5A.

[0111] In FIG. 5D(a), for example, assume that the cross-sectional shape of blade 11 measured by measuring means 160A is data represented by a solid line, and the cross-sectional shape of blade 11 measured by measuring means 160B is data represented by a dashed line.

[0112] For example, the control means controls the attitude control means to adjust at least one of the X and Y direction positions and the θ1, θ2, and θ3 direction orientations so that the data of the cross-sectional shape of the blade 11 measured by the measurement means 160A and the data of the cross-sectional shape of the blade 11 measured by the measurement means 160B match. In the example shown in FIG. 5D, for example, at least one of the X and Y direction positions and the θ1, θ2, and θ3 direction orientations is adjusted so that the peak of the data of the cross-sectional shape of the blade 11 measured by the measurement means 160B is located at X=150, Y=159 (for example, the attitude control means is controlled to adjust the orientation of the device 100 in the -θ2 direction and +θ3 direction). As a result, the line connecting the peak in the cross-sectional shape measured by the measurement means 160A and the peak of the cross-sectional shape measured by the measurement means 160B becomes parallel to the central axis of the device 100 in the traveling direction.

[0113] 9A to 9C show a schematic diagram of controlling the attitude of the device 100 by an attitude control means when the device 100 lands on a blade. 9A to 9C show a plan view of the device 100, and a cross section of the blade 11 is shown.

[0114] The attitude control means of the device 100 can control the attitude of the device by adjusting the position and / or orientation of the device in the directions of the arrows shown in Figures 9A to 9C. The X direction shown in Figure 9A is the left-right direction perpendicular to the moving direction of the device 100, with the right in Figure 9A indicating the + direction and the left indicating the - direction. The Y direction shown in Figure 9A is the up-down direction perpendicular to the moving direction of the device 100, with the top in Figure 9A indicating the + direction and the bottom in Figure 9A indicating the - direction. The θ1 direction shown in Figure 9A is the roll direction of the device 100, with the clockwise direction indicating the + direction and the counterclockwise direction indicating the - direction.

[0115] For example, if the device 100 is tilted in the +θ1 direction relative to the blade 11, as shown in FIG. 9A, the control means of the device 100 can adjust the angular position of the device by controlling the attitude control means to generate a moment that rotates the device 100 in the -θ1 direction.

[0116] For example, if the device 100 is tilted in the -θ1 direction relative to the blade 11, as shown in FIG. 9B, the control means of the device 100 can adjust the angular position of the device by controlling the attitude control means to generate a moment that rotates the device 100 in the +θ1 direction.

[0117] For example, when the angular position is adjusted so that the device 100 faces the blade 11 directly, as shown in FIG. 9C, the device 100 can be moved in the -Y direction using a rope or the like connected to the device 100, thereby landing the device 100 on the blade 11.

[0118] In the above example, the device 100 has been described, but some of the components of the device 100 may be external to the device 100. In other words, a system including the device 100 may be configured. For example, as described above, a winch, which is part of the moving means, may be provided in a nacelle of a wind turbine. For example, the control means 130 may be provided outside the device 100.

[0119] 3. Method for controlling a device that moves on the blades of a wind turbine 6 is a flow chart showing an example of a method 600 for controlling the device 100 moving on a wind turbine blade. By controlling the device 100 according to the control method 600, the device 100 can behave in accordance with the cross-sectional shape of the blade, preferably the cross-sectional shape of the position on the blade where the device 100 is located.

[0120] In step S601, the cross-sectional shape of the wind turbine blade is measured. Step S601 may be performed by, for example, the measuring means of the apparatus 100, or may be performed by a measuring device separate from the apparatus 100.

[0121] When the cross-sectional shape of the blade is measured by the measuring means of the device 100, the measuring means of the device 100 can measure the cross-sectional shape while the device 100 moves on the blade. The measuring means can measure the cross-sectional shape of the blade at least at one point in a direction along the blade (i.e., a direction extending from the tip to the root of the blade). Preferably, the measuring means measures the cross-sectional shape of a cross section having a damaged portion. More preferably, the measuring means can measure the cross-sectional shape of a cross section not having a damaged portion in addition to the cross-sectional shape of a cross section having a damaged portion. In another example, preferably, the measuring means measures the cross-sectional shape of the blade at a position on the front side of the traveling direction of the device 100, or the cross-sectional shape of the blade at a position on the center of the device 100, or the cross-sectional shape of the blade at a position on the rear side of the traveling direction of the device 100. More preferably, the measuring means can measure the cross-sectional shape of the blade at a position on the front side of the traveling direction of the device 100 and the cross-sectional shape of the blade at a position on the rear side of the traveling direction of the device 100.

[0122] When the cross-sectional shape of the blade is measured by a measuring device other than the device 100, the device other than the device 100 can measure the cross-sectional shape of the blade before the device 100 moves over the blade 11. For example, the device other than the device 100 may measure the cross-sectional shape of the blade while moving over the blade, or may measure the cross-sectional shape of the blade while flying around the blade.

[0123] Data representative of the measured cross-sectional shape is passed to a control means 130 of the device 100 or passed to an estimation means external to the device 100 .

[0124] In step S602, the apparatus 100 is controlled so that the apparatus 100 behaves in accordance with the cross-sectional shape measured in step S601. Step S602 is performed by the control means 130 of the apparatus 100.

[0125] The control means 130 can, for example, control the apparatus 100 so that the apparatus 100 controls the attitude of the apparatus 100 according to the cross-sectional shape. This is achieved by the control means 130 controlling the attitude control means.

[0126] The data representing the cross-sectional shape may represent the relative position of the cross-section of the blade relative to the measurement means so that the control means 130 can determine the position or orientation of the device 100 relative to the blade.

[0127] For example, when the control means 130 determines, based on the data representing the cross-sectional shape measured in step S601, that the position of the device 100 is deviated from the position where it should be (e.g., the position where the center of the device 100 is directly above the leading edge of the blade), the control means 100 can control the attitude control means to adjust the position and / or orientation of the device 100. For example, when the control means 130 determines, based on the data representing the cross-sectional shape measured in step S601, that the orientation of the device 100 is deviated from the direction in which the leading edge of the blade extends (e.g., the traveling direction of the device 100 and the direction in which the leading edge of the blade extends are not parallel), the control means 100 can control the attitude control means to adjust the position and / or orientation of the device 100.

[0128] The control means 130 can control the device 100 so that the device 100 repairs the damaged portion of the blade according to the cross-sectional shape. This is achieved by the control means 130 controlling the maintenance means 121. The control means 130 can control the maintenance means 121 so that the maintenance means 121 achieves the surface shape after repair estimated based on the cross-sectional shape measured in step S601. In this way, the maintenance means repairs the damaged portion so as to achieve the estimated surface shape after repair. In the maintenance means, for example, a cleaning means in the maintenance means 121 is controlled to clean the damaged portion and remove foreign matter so as to achieve the surface shape after repair estimated based on the cross-sectional shape, and then an application means in the maintenance means 121 is controlled to apply a material to the damaged portion, and then a polishing means in the maintenance means 121 is controlled to polish the applied material. The application means can be controlled, for example, to apply a required amount of material to a required range so as to achieve the surface shape after repair estimated based on the cross-sectional shape. The polishing means can be controlled to polish the applied material in a necessary amount and in a necessary range to achieve the estimated post-repair surface shape based on the cross-sectional shape, for example. This makes it possible to achieve the estimated post-repair surface shape.

[0129] For example, before the application means is controlled to apply a material to the damaged portion, the grinding means of the maintenance means 121 may be controlled to grind the damaged portion so as to make it easier to apply the material to the damaged portion. For example, after the polishing means polishes the applied material, the cleaning means of the maintenance means 121 may be controlled to clean the polished surface. For example, after the polishing means polishes the applied material or after the cleaning means cleans the surface, the application means of the maintenance means 121 may be controlled to apply paint, or the attachment means of the maintenance means 121 may be controlled to attach a protective material.

[0130] The surface shape after repair may be estimated by the control means 130, or may be estimated by an estimation means external to the apparatus.

[0131] In an embodiment in which the surface shape after repair is estimated by the control means 130, the control means 130 receives data representing the cross-sectional shape measured in step S601. The control means 130 may receive the data representing the cross-sectional shape from a measuring means of the apparatus 100, or may receive the data representing the cross-sectional shape from outside the apparatus 100 via the communication means 140.

[0132] The control means 130 estimates the post-repair surface profile of the blade based on the received cross-sectional profile. The process of estimating the post-repair surface profile will be described later with reference to FIG.

[0133] In an embodiment in which the surface shape after repair is estimated outside the apparatus 100, the estimation means outside the apparatus 100 may receive data representing the cross-sectional shape from the measurement means of the apparatus 100 via the communication means 140, or may receive data representing the cross-sectional shape from the measurement means outside the apparatus 100.

[0134] The estimation means estimates the post-repair surface shape of the blade based on the received cross-sectional shape. The process of estimating the post-repair surface shape will be described later with reference to FIG.

[0135] The control means 130 can control the device 100 so that, for example, the device 100 controls the attitude of the device 100 according to the cross-sectional shape, and the device 100 repairs the damaged portion of the blade according to the cross-sectional shape. That is, the device 100 repairs the damaged portion of the blade according to the cross-sectional shape while controlling the attitude according to the cross-sectional shape. This is preferable in that highly accurate repair can be performed. For example, if the attitude of the device 100 changes during the repair of the blade, the device 100 will work at a position shifted from the surface on which it should be worked, and it may not be possible to perform highly accurate repair. However, by controlling the attitude according to the cross-sectional shape and repairing the damaged portion of the blade according to the cross-sectional shape, it is possible to perform repair while controlling the attitude with high accuracy according to the resolution of the cross-sectional shape, and it is possible to perform repair with high accuracy (for example, accuracy of 1 mm or less). This can lead to the completeness of the shape after repair and the smoothness of the connection between the damaged portion and the undamaged portion.

[0136] The control means 130 can, for example, control the apparatus 100 so that the apparatus 100 determines whether or not the blade should be repaired based on the cross-sectional shape. This allows the apparatus 100 to use its determination means to compare the measured cross-sectional shape with the cross-sectional shape in an undamaged state or an ideal state after repair, or with the cross-sectional shape after repair estimated based on the measured cross-sectional shape, and determine that the blade should be repaired if the difference or deviation between them is equal to or greater than a predetermined threshold value.

[0137] The control means can control the device 100 so that the device 100 identifies a damaged portion of the blade based on the cross-sectional shape, for example. This allows the device 100 to use its identification means to compare the measured cross-sectional shape with the cross-sectional shape in an undamaged state or an ideal state after repair, or with the cross-sectional shape after repair estimated based on the measured cross-sectional shape, and identify as a damaged portion a portion where the difference or deviation between them is equal to or greater than a predetermined threshold value.

[0138] 7 shows an example of the flow of a process (process 700) for estimating a surface shape after repair. Process 700 may be executed by control means 130 of apparatus 100, or may be executed by an estimation means outside apparatus 100. In the following, an example in which process 700 is executed by control means 130 will be described.

[0139] In step S701, the control means 130 receives data describing the cross-sectional shape of the blades of the wind turbine.

[0140] In step S702, the control means 130 estimates a curve that smoothly connects the cross-sectional shape of the undamaged portion in the cross-section having the damaged portion based on the data received in step S701. The control means 130 can estimate the curve using polynomial approximation. Estimating the curve using polynomial approximation includes, for example, performing at least one of (1) adjusting the degree of polynomial approximation, (2) dividing the cross-sectional shape having the damaged portion into a plurality of regions and estimating a curve for each of the plurality of regions, (3) estimating a first curve and ignoring the cross-sectional shape inside the first curve and estimating a second curve, and (4) estimating a curve based on the cross-sectional shape of a cross-section not having a damaged portion.

[0141] FIG. 8A is a diagram for explaining the concept of (1) adjusting the degree of polynomial approximation. The diagram on the left side of FIG. 8A shows the measured cross-sectional shape of a cross-section having a damaged portion. The measured cross-sectional shape has an undamaged portion and a damaged portion. A curve that smoothly connects to the undamaged portion is estimated by polynomial approximation. In FIG. 8A, the gray dashed line represents the curve estimated by polynomial approximation.

[0142] An example of using a high-order polynomial approximation is shown in the upper right of FIG. 8A, and an example of using a low-order polynomial approximation is shown in the lower right of FIG. 8A. The higher the order of the polynomial approximation, the higher the accuracy of the fitting to the cross-sectional shape. However, if the order is too large, the damaged part may be fitted (overfitted), and an inappropriate curve may be estimated. Therefore, the order of the polynomial approximation must be appropriately adjusted.

[0143] For example, an inappropriate curve will be determined not to satisfy a predetermined condition in the subsequent step S703, and therefore, when the process returns to step S702, the degree of the polynomial approximation will be increased or decreased and performed again. This is preferable in that overfitting to the damaged portion can be avoided when the damaged portion is relatively large.

[0144] FIG. 8B is a diagram illustrating the concept of (2) dividing a cross-sectional shape having a damaged portion into a plurality of regions and estimating a curve for each of the plurality of regions.

[0145] First, the measured cross-sectional shape is divided into a region having a damaged portion and other regions. In the example shown in FIG. 8B, it is divided into a first region on the left side of the region having the damaged portion, a second region having the damaged portion, and a third region on the right side of the region having the damaged portion. At this time, it is preferable that the second region is a region including both the damaged portion and the undamaged portion, rather than a region including only the damaged portion.

[0146] Next, polynomial approximation is performed on the first region to estimate a curve corresponding to the first region, polynomial approximation is performed on the second region to estimate a curve corresponding to the second region, and polynomial approximation is performed on the third region to estimate a curve corresponding to the third region.

[0147] Next, for each estimated curve, adjacent curves are connected. At this time, by connecting using a moving average, the boundaries of each region are overlapped. For example, when connecting adjacent curves, a process is performed to make the second-order difference of adjacent points of the point cloud data of each curve monotonically increasing, so that each curve can be smoothly connected.

[0148] FIG. 8C is a diagram illustrating the concept of (3) estimating a first curve and ignoring the cross-sectional shape inside the first curve, and estimating a second curve.

[0149] First, a first curve is estimated from the measured cross-sectional shape using polynomial approximation. At this time, a range of the cross-sectional shape that has a damaged portion is designated as a repair range.

[0150] The first curve is then compared to the measured cross-sectional shape, and the cross-sectional shape that is inside the first curve in the repair area is ignored. Here, inside the curve refers to the area that corresponds to the blade itself, while outside the curve refers to the area that is not the blade, i.e., the area that corresponds to space. For example, the data of the first curve is compared to the point cloud data of the measured cross-sectional shape, and the point cloud data that is inside the first curve in the repair area is eliminated.

[0151] A curve is then estimated using polynomial approximation for the cross-sectional shapes in the repair area other than those inside the first curve. The curve estimated in this way is preferable because it avoids overfitting to the damaged area and also prevents the estimated curve from being located inside the measured cross-sectional shapes (i.e., surface shapes that lead to blade chipping).

[0152] FIG. 8D is a diagram illustrating the concept of (4) estimating a curve based on the cross-sectional shape of a cross section that does not have a damaged portion.

[0153] First, data within the repair range is removed from the measured cross-sectional shape. The repair range is a range of the cross-sectional shape that has a damaged portion.

[0154] Next, the cross-sectional shape of the cross-section that does not have a damaged portion is added to the repair range. The cross-section that does not have a damaged portion may preferably be a cross-section located near the cross-section that has the damaged portion to be repaired.

[0155] Next, a curve is estimated using polynomial approximation for the cross-sectional shape of the cross-section without the damaged portion added to the repair area. Some mismatch of the boundary with the repair area is absorbed by the polynomial approximation. The curve estimated in this way is also preferable in that overfitting to the damaged portion is avoided.

[0156] In addition to or instead of (1)-(4), estimating the curve using polynomial approximation may include at least one of: (5) modifying the curve based on user input; and (6) estimating the curve based on design data of the wind turbine blades.

[0157] FIG. 8E is a diagram illustrating the concept of (5) modifying a curve based on user input.

[0158] In the above methods (1) to (4), there are cases where the detailed shape does not match the user's intention. In such cases, a user interface for correcting the estimated curve is presented to the user, and the user can obtain the intended curve by inputting information into the user interface.

[0159] FIG. 8F is a diagram explaining the concept of (6) estimating a curve based on design data of a wind turbine blade.

[0160] For example, design data of the blade shapes of each wind turbine blade manufacturer is stored in a database, and a curve can be estimated based on the design data of the blade to be repaired.

[0161] For example, as in (4), data within the repair range can be removed from the measured cross-sectional shape, design data can be added to the repair range, and then the curve can be estimated using polynomial approximation.

[0162] In order to improve the accuracy of the estimated curve, for example, multiple cross sections having damaged portions can be obtained for a single damaged area extending in the direction of the leading edge, and the surface shape after repair can be estimated based on the cross-sectional shape of the cross section having the least damaged portion.

[0163] For example, as shown in Fig. 8G, the cross-sectional shape of each of the cross sections at a plurality of points (a) to (c) along the leading edge LE is measured, and the surface shape after repair can be estimated based on the cross-sectional shape of the cross section with the least damage. In this example, the cross-sectional shape of the cross section at (b) is considered to be the least damaged, so the surface shape after repair is estimated based on the cross-sectional shape of the cross section at (b).

[0164] The surface shape after repair can be estimated by pattern matching instead of polynomial approximation. For example, the measured cross-sectional shape can be compared with the curve of the shape data of a blade previously repaired and / or the design data curve of the blade obtained from the manufacturer, and the curve most similar to the undamaged portion can be determined as the surface shape after repair.

[0165] 7 again, in step S703, the control means 130 judges whether or not the curve estimated in step S702 satisfies a predetermined condition. If it is judged that the predetermined condition is not satisfied, the estimated curve is deemed inappropriate, and the process returns to step S702, where the curve is estimated again. At this time, for example, the curve is estimated under different conditions, or the curve is estimated using a method different from the previous method. Steps S702 to S703 are repeated until it is judged in step S703 that the predetermined condition is satisfied.

[0166] The predetermined condition includes that the matching rate between the estimated curve and the curve representing the cross-sectional shape of the undamaged portion in the cross-sectional shape having the damaged portion exceeds a predetermined threshold, and that the rate at which the estimated curve is located inside the measured cross-sectional shape does not exceed a predetermined threshold. The predetermined threshold can be appropriately set according to the accuracy of the repair. The rate at which the estimated curve is located inside the measured cross-sectional shape is an index for avoiding a curve that cuts the blade inward for repair. This is because the blade is repaired to recover the worn portion, and therefore cutting the blade inward should be avoided.

[0167] For example, as shown in FIG. 8G, the cross-sectional shape of each of the multiple locations may be measured, and it may be determined whether or not the estimated curve satisfies a predetermined condition for each of the cross-sectional shapes of the multiple locations.

[0168] If it is determined that the predetermined condition is satisfied, the process proceeds to step S704, where the process 700 ends. The estimated curve is regarded as the surface shape after repair, and repair is performed to achieve the estimated curve.

[0169] In the above example, the surface shape after repair is estimated based on the cross-sectional shape of a certain cross section in the direction in which the leading edge LE extends, but for example, the surface shape after repair can be estimated by taking into account the shape in the direction in which the leading edge LE extends. For example, the surface shape after repair can be estimated so that the damaged portion and the undamaged portion are smoothly connected in the direction in which the leading edge LE extends.

[0170] The present invention is not limited to the above-mentioned embodiment. It is understood that the scope of the present invention should be interpreted only by the claims. It is understood that a person skilled in the art can implement an equivalent scope based on the description of the present invention and technical common sense from the description of the specific preferred embodiment of the present invention. [Industrial Applicability]

[0171] The present invention is useful for providing a method for controlling a device that moves on the blades of a wind turbine. [Explanation of symbols]

[0172] 10 windmill 11, 12, 13 Blades 14 Nacelle 15 Hub 20 Rope 100 devices

Claims

1. A method for controlling a device moving on a blade of a wind turbine, comprising the steps of: Measuring a cross-sectional shape of a blade of the wind turbine; Controlling the device so that the device behaves in accordance with the cross-sectional shape; and controlling the device comprises: controlling the device such that the device controls an attitude of the device in accordance with the cross-sectional shape; and controlling the attitude of the device according to the cross-sectional shape includes: measuring a cross-sectional shape at a first location in a direction along a blade of the wind turbine, wherein first data representative of the cross-sectional shape at the first location represents a relative position of the blade with respect to the apparatus at the first location; measuring a cross-sectional shape at a second location in a direction along the blade of the wind turbine, wherein second data representative of the cross-sectional shape at the second location represents a relative position of the blade with respect to the apparatus at the second location; controlling an attitude of the device based on at least the first data and the second data; A method comprising:

2. Controlling the apparatus includes: controlling the device so that the device repairs the damaged portion of the blade of the wind turbine according to the cross-sectional shape. The method of claim 1 further comprising:

3. Repairing a damaged portion of the blade of the wind turbine according to the cross-sectional shape includes: estimating a surface shape of the wind turbine blade after repair based on the cross-sectional shape; and Repairing the damaged portion to achieve the estimated surface shape. The method of claim 2 , comprising:

4. Controlling the apparatus includes: Determining whether the blade of the wind turbine needs to be repaired based on the cross-sectional shape. Further comprising: The method according to claim 2 , further comprising controlling the device to repair the damaged portion when it is determined that the blade of the wind turbine should be repaired.

5. Controlling the apparatus includes: Identifying the damaged portion based on the cross-sectional shape. The method of claim 2 , further comprising:

6. measuring a cross-sectional shape of the blade of the wind turbine while repairing the damaged portion; Storing the results of measuring the cross-sectional shape of the blades of the wind turbine; The method of claim 2 , further comprising:

7. The method of claim 6 , further comprising adjusting repair of the damaged portion based on the stored results.

8. Controlling the attitude of the device based on at least the first data and the second data, Identifying a first specific portion of a cross-sectional shape at the first position from the first data; Identifying a second specific portion of the cross-sectional shape at the second position from the second data; and controlling the attitude of the device so that the device is in a predetermined relative position with respect to the first specific portion and the second specific portion; The method of claim 1 , comprising:

9. The first specific portion is a first peak in a cross-sectional shape at the first position, the second specific portion is a second peak in the cross-sectional shape at the second position, Controlling the position of the device such that the device is in a predetermined relative position with respect to the first particular portion and the second particular portion includes: controlling the attitude of the device so that a line connecting the first peak and the second peak is parallel to a center line of the device; The method of claim 8 , comprising:

10. Controlling the apparatus further includes estimating a post-repair surface shape of the wind turbine blade based on the cross-sectional shape; identifying the first specific portion includes identifying a first specific portion in the estimated repaired surface shape; The method of claim 8 or 9, wherein identifying the second specific portion comprises identifying a second specific portion in the estimated repaired surface shape.

11. Measuring the cross-sectional shape at the first position is performed using a first measuring means arranged on a front side of the device, The method of claim 1 , wherein measuring the cross-sectional shape at the second location is performed using a second measuring means disposed on a rear side of the apparatus.

12. The method of claim 1 , wherein controlling an attitude of the device according to the cross-sectional shape comprises controlling an attitude of the device when the device lands on a blade of the wind turbine.

13. Estimating a surface shape of the wind turbine blade after repair based on the cross-sectional shape, Using a polynomial approximation, a curve that smoothly connects the cross-section having the damaged portion with the cross-section shape of the undamaged portion is estimated. The method of claim 3 , comprising:

14. The method of estimating a curve that smoothly connects the cross-sectional shape having the damaged portion with the cross-sectional shape of the undamaged portion using a polynomial approximation includes: Adjusting the degree of the polynomial approximation; Dividing the cross-sectional shape having the damaged portion into a plurality of regions and estimating a curve for each of the plurality of regions; estimating a first curve and estimating a second curve while ignoring a cross-sectional shape inside the first curve; Estimating the curve based on the cross-sectional shape of a cross section that does not have a damaged portion The method of claim 13 , comprising at least one of:

15. The method of estimating a curve that smoothly connects the cross-sectional shape having the damaged portion with the cross-sectional shape of the undamaged portion using a polynomial approximation includes: Modifying the curve based on user input; Estimating the curve based on the design data of the wind turbine blade The method of claim 14 , further comprising at least one of:

16. Estimating a surface shape of the wind turbine blade after repair based on the cross-sectional shape, determining whether the estimated curve satisfies a predetermined condition; The method of any one of claims 13 to 15, further comprising:

17. The predetermined condition is: a matching rate between the estimated curve and a curve representing a cross-sectional shape of an undamaged portion in the cross-sectional shape having the damaged portion exceeds a predetermined threshold; The rate at which the estimated curve is located inside the measured cross-sectional shape does not exceed a predetermined threshold value.

17. The method of claim 16, comprising:

18. The method of claim 1 , wherein the cross-sectional shapes include a cross-sectional shape perpendicular to a direction in which a leading edge of the wind turbine blade extends and a cross-sectional shape parallel to a direction in which a leading edge of the wind turbine blade extends.

19. 1. An apparatus comprising: a moving means for moving along the blades of the wind turbine; A measuring means for measuring a cross-sectional shape of the blade of the wind turbine; A control means for controlling the device so that the device behaves in accordance with the cross-sectional shape; the control means is configured to control the device such that the device controls the attitude of the device in accordance with the cross-sectional shape; Controlling the attitude of the device according to the cross-sectional shape includes: measuring a cross-sectional shape at a first location in a direction along a blade of the wind turbine, wherein first data representative of the cross-sectional shape at the first location represents a relative position of the blade with respect to the apparatus at the first location; measuring a cross-sectional shape at a second location in a direction along the blade of the wind turbine, wherein second data representative of the cross-sectional shape at the second location represents a relative position of the blade with respect to the apparatus at the second location; controlling an attitude of the device based on at least the first data and the second data; 13. An apparatus comprising:

20. A control program for a device that moves on a blade of a wind turbine, the program being executed in a processor included in the device, the program comprising: receiving data representative of a cross-sectional shape of a blade of the wind turbine; Controlling the device so that the device behaves in accordance with the cross-sectional shape; causing the processor to perform the steps of: controlling the device such that the device controls an attitude of the device in accordance with the cross-sectional shape; and controlling the attitude of the device according to the cross-sectional shape includes: measuring a cross-sectional shape at a first location in a direction along a blade of the wind turbine, wherein first data representative of the cross-sectional shape at the first location represents a relative position of the blade with respect to the apparatus at the first location; measuring a cross-sectional shape at a second location in a direction along the blade of the wind turbine, wherein second data representative of the cross-sectional shape at the second location represents a relative position of the blade with respect to the apparatus at the second location; controlling an attitude of the device based on at least the first data and the second data; Including, the program.

21. A method for controlling a device moving on a blade of a wind turbine, comprising the steps of: Measuring a cross-sectional shape of a blade of the wind turbine; controlling the device such that the device controls an attitude of the device according to the cross-sectional shape; controlling the device so that the device repairs the damaged portion of the blade of the wind turbine according to the cross-sectional shape; and controlling the attitude of the device according to the cross-sectional shape includes: measuring a cross-sectional shape at a first location in a direction along a blade of the wind turbine, wherein first data representative of the cross-sectional shape at the first location represents a relative position of the blade with respect to the apparatus at the first location; measuring a cross-sectional shape at a second location in a direction along the blade of the wind turbine, wherein second data representative of the cross-sectional shape at the second location represents a relative position of the blade with respect to the apparatus at the second location; controlling an attitude of the device based on at least the first data and the second data; The method includes:

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