Wind power generation facility inspection method and unmanned inspection device

Abstract

To provide a technique for safely performing continuity inspection using a receptor provided in a blade of a wind power generation facility.SOLUTION: An unattended inspection device 100 for safely performing continuity inspection using a receptor provided in a blade of a wind power generation facility comprises a drone 101 comprising a laser light emitting device and a camera, a guard 102 for protecting the drone 101, the laser light emitting device 430 for emitting laser light to the front of the unattended inspection device 100, the camera 440 for photographing the front of the unattended inspection device 100, shock-absorbing mechanisms 410 and 411 for absorbing a shock, and a contact device 300 attached to the shock-absorbing mechanisms 410 and 411.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a technique for inspecting wind power generation equipment, and more particularly, to a technique for inspecting wind power generation equipment using an unmanned aerial vehicle. [Background technology]

[0002] Offshore wind power generation is the leading renewable energy supply facility that is expected to be introduced and expanded in the future. Depending on the candidate site for the wind power generation facility, there is a possibility that the facility may be struck by lightning, and in some places, the damage caused by lightning strikes is actually increasing. Most lightning strikes occur on the blades, and repairing or replacing damaged blades is very expensive, and the period during which power generation is halted is also long.

[0003] As a lightning protection measure for the blades, a lightning receiving part (receptor) that sends lightning current to the ground is attached to the tip of the blade. In order to check the soundness of the wind power generation equipment to which this receptor is attached, an inspector moves to the receptor by ropework and performs a continuity check with a tester that he brought with him. This method has the risk of falling due to working at height, and as is clear from the installation of the wind power generation equipment, there is a considerable amount of wind (with a certain wind speed), making the work unstable and taking time to check the soundness.

[0004] Regarding a method for inspecting a receptor, for example, Japanese Patent Application Laid-Open No. 2017-151018 (Patent Document 1) discloses a "method for inspecting a wind turbine receptor that can easily perform a continuity test of a receptor of a wind turbine blade." According to the technology disclosed in Patent Document 1, "the method includes a step of bringing an unmanned aerial vehicle (UAV) 20 close to a receptor 12 of a wind turbine blade 2 attached to a hub of a wind turbine and performing a continuity test of the receptor 12. In the inspection of a receptor attached to a wind turbine blade 2, by using a UAV, it is possible to easily approach the receptor of the wind turbine blade attached to the hub, and it is possible to easily perform a continuity test of the receptor. Therefore, it is possible to shorten the inspection time and reduce the inspection cost compared to the case where a continuity test is performed using an aerial work vehicle or the like" (see [Summary]).

[0005] In addition, JP 2021-47026 A (Patent Document 2) discloses a technology that "enables more reliable continuity inspection work at high altitudes using an unmanned aerial vehicle." According to the technology disclosed in Patent Document 2, "the problem is solved by a continuity inspection system using an unmanned aerial vehicle, the unmanned aerial vehicle having a horizontal rotor, a conductive contact member, a contact support unit that holds the contact member outside the aircraft, a contact drive unit that rotates or reciprocates the contact member, and an electric wire extending outside the aircraft, the contact member and the electric wire are electrically connected" (see [Abstract]). [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2017-151018 A [Patent Document 2] Patent Publication No. 2021-47026 Summary of the Invention [Problem to be solved by the invention]

[0007] According to the technology disclosed in Patent Document 1, it is possible to inspect the receptor provided at the "tip of the wind turbine blade," but it is not possible to inspect the receptor embedded in the wind turbine blade (hereinafter also referred to as the "blade"). Furthermore, according to the technology disclosed in Patent Document 2, power is required to rotate or vibrate the contact member, which may shorten the flight time of the unmanned aerial vehicle, and as a result, the time allocated for inspection may also be shortened. Therefore, there is a need for a technology that can inspect the continuity of the receptor embedded in the blade without shortening the flight time.

[0008] The present disclosure has been made in view of the above-mentioned background, and according to one aspect, a technique for checking continuity of a receptor embedded in a blade is disclosed. [Means for solving the problem]

[0009] According to one embodiment, there is provided a method for inspecting a wind power generation facility, the method including the steps of flying an unmanned inspection device including an unmanned aerial vehicle, a guard for protecting the unmanned aerial vehicle, a contact device attached to the outside of the guard, and a supply means for supplying a current via the contact device, near a portion of a blade constituting a wind turbine of the wind power generation facility, the portion having a lightning receiving part for passing a current due to a lightning strike to the ground, bringing the contact device into contact with the lightning receiving part, supplying a current from the supply means to the lightning receiving part via the contact device, and measuring a resistance value from the blade to the ground based on the current being supplied to the lightning receiving part.

[0010] In an inspection method according to one aspect, the unmanned inspection device includes a plurality of buffer mechanisms between the contact device and the guard, and the inspection method further includes a step of making a length of any of the plurality of buffer mechanisms shorter than the other buffer mechanisms so as to increase a contact area between the contact device and the lightning receiving part.

[0011] According to one aspect, the inspection method further includes a step of adjusting an inclination of the guard with respect to the unmanned aerial vehicle so that a surface of the blade on which the lightning receiving portion is provided and a surface of the contact device attached to the guard are parallel to each other. The step of flying the unmanned inspection device includes a step of flying the unmanned inspection device with the inclination of the guard adjusted.

[0012] In an inspection method according to one aspect, the contact tool includes a conductive grid member. The unmanned inspection device further includes a light emitting device that emits light in the direction of the contact tool, a camera that can capture an image of the range of the grid member, and a communication means for communicating with a terminal having a monitor. The inspection method further includes a step of emitting light in the direction of the contact tool, a step of capturing an image of the grid member of the contact tool, and a step of transmitting the captured image to the terminal.

[0013] According to one aspect, the inspection method further includes a step of cleaning the lightning receiving portion before contacting the contact tool with the lightning receiving portion.

[0014] According to another embodiment, there is provided an unmanned inspection device for a wind power generation facility. The unmanned inspection device includes an unmanned aerial vehicle, a guard for protecting the unmanned aerial vehicle, a conductive contact device arranged outside the guard, a control device for controlling the unmanned aerial vehicle, and a supply means arranged inside the guard for supplying a current to a lightning receiving part of a blade constituting a wind turbine of the wind power generation facility, the lightning receiving part being configured to pass a current caused by a lightning strike to the ground, via the conductive contact device.

[0015] According to one aspect, the unmanned inspection device includes a plurality of shock absorbing mechanisms between the contact device and the guard, any one of the shock absorbing mechanisms being shorter than the other shock absorbing mechanisms.

[0016] In an unmanned inspection device for wind power generation equipment according to one aspect, a guard is attached to an unmanned aerial vehicle so that a surface of a blade provided with a lightning receiving portion and a surface of a contact device attached to the guard are parallel to each other.

[0017] In an unmanned inspection device for a wind power generation facility according to one aspect, the contact device includes a conductive grid member. The unmanned inspection device further includes a light emitting device that emits light in the direction of the contact device, a camera that can capture an image of the range of the grid member, and a communication means for communicating with a terminal having a monitor. The control device controls the light emitting device to emit light in the direction of the contact device, controls the camera to capture an image of the grid member of the contact device, and transmits the captured image to the terminal.

[0018] According to one aspect, the unmanned inspection device further includes cleaning means for cleaning the lightning receiving portion.

[0019] The above and other objects, features, aspects and advantages of the present invention will become apparent from the following detailed description of the invention taken in conjunction with the accompanying drawings. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a diagram showing an offshore wind turbine 110 and an unmanned inspection device 100 according to an embodiment. [Diagram 2] FIG. 2 is a detailed view of region 170 shown in FIG. [Diagram 3] 1 is a diagram showing an example of a state in which the unmanned inspection device 100 is in contact with a receptor 240. FIG. [Figure 4] 1 is a diagram showing an outline of the configuration of an unmanned inspection device 100. FIG. [Diagram 5] FIG. 1 is a schematic diagram of a contact device 300 according to an embodiment. [Figure 6] 1 is a diagram showing the relationship between the cross line laser and the target when the contact surface 310 of the contact tool 300 of the unmanned inspection device 100 is located in front of the blade. [Figure 7] 1 is a diagram showing the relationship between the cross line laser and the target (receptor 240) when the contact surface 310 of the contact tool 300 of the unmanned inspection device 100 is shifted to the left from the front of the blade. [Figure 8]13 is a diagram showing the relationship between a cross line laser and a target when a blade 120 is inclined. FIG. [Figure 9] 10 is a flowchart showing a part of the procedure of a process performed by an inspector 200 to perform a continuity inspection of the blades of the wind turbine 110. [Figure 10] FIG. 13 is a diagram showing an example of a contact device according to another embodiment. [Figure 11] 13 is a diagram showing the state of the contact device 300 when the blade angle is 0 degrees (= the blade surface is parallel to the vertical direction). FIG. [Figure 12] 13 is a diagram showing the state of a contact device 300 when the blade angle is 30 degrees (= the blade surface is inclined at 30 degrees with respect to the vertical direction). FIG. [Figure 13] FIG. 1 is a block diagram illustrating a hardware configuration of the drone 101. [Figure 14] 2 is a block diagram showing the hardware configuration of a terminal 210. FIG. [Figure 15] FIG. 1 is a diagram showing an overview of a drone 1500 having cleaning capabilities according to one embodiment. [Figure 16] 15 is a flowchart showing a process flow in which a drone 1500 cleans a receptor and then performs a continuity check according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, the same components are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

[0022] An overview of an offshore wind power generation facility will be described with reference to FIG. 1. FIG. 1 is a diagram showing an offshore wind power generation wind turbine 110 and an unmanned inspection device 100 according to an embodiment. As a wind power generation facility, the wind turbine 110 is disposed on a foundation 180 installed on the seabed 190. The wind turbine 110 includes blades 120, 121, and 122 and a tower 130. Hereinafter, the blades 120, 121, and 122 will be collectively referred to simply as "blades." The tower 130 is disposed on the foundation 180. The blades 120, 121, and 122 each include a receptor on its surface. The receptor is grounded to the ground of the seabed 190 by wiring inside the blade on which the receptor is provided and wiring inside the tower 130. This grounding state may deteriorate due to aging or lightning strikes on any of the blades 120, 121, and 122. For this reason, a continuity check is performed to the receptor on each blade to check whether the grounding condition is appropriate.

[0023] 1, according to one embodiment, the unmanned inspection device 100 flies to the vicinity of each blade and performs attitude control so that a contact tool provided on the unmanned inspection device 100 contacts a receptor provided on the blade, as described below. The unmanned inspection device 100 includes a drone 101, which is an example of an unmanned aerial vehicle (UAV), and a guard 102. Details of an area 170 including the unmanned inspection device 100 and the blade 120 are shown in FIG. 2.

[0024] Therefore, details of one embodiment of inspecting a wind power generation facility using the unmanned inspection device 100 will be described with reference to Fig. 2. Fig. 2 is a diagram showing in detail the area 170 shown in Fig. 1.

[0025] As shown in FIG. 2, an inspector 200 operates the unmanned inspection device 100 using a terminal 210 at the bottom of the tower 130. The unmanned inspection device 100 has a conductive contact device 300 on the outside of the guard 102. A receptor 240 is provided on the blade 120. The receptor 240 is connected to a cable 260 provided inside the blade 120. The cable 260 is grounded through the inside of the blade and the tower 130, and allows current to flow to the ground when a lightning strike occurs. The terminal 210 and the unmanned inspection device 100 are connected by a conductive cable 250. The terminal 210 is further grounded by a cable 230. Therefore, the cable 230 and the cable 260 are at the same potential.

[0026] Inspector 200 operates terminal 210 to control the position and attitude of unmanned inspection device 100, thereby bringing contact tool 300 of unmanned inspection device 100 into contact with receptor 240. Then, inspector 200 supplies current from terminal 210 to unmanned inspection device 100 via cable 250 to perform a continuity inspection. If cable 260 is broken due to deterioration, current will no longer flow and the resistance value will indicate a predetermined value, so an abnormality in cable 260 will be detected.

[0027] [Contact between receptor and unmanned inspection device] With reference to Fig. 3, a side of a blade of a wind turbine for offshore wind power generation will be described. Fig. 3 is a diagram showing an example of a state in which the unmanned inspection device 100 is in contact with the receptor 240. In one aspect, a contact device 300 is provided on the outside of the guard 102 of the unmanned inspection device 100. The receptor 240 is disposed on the surface of the blade 120, and in the example shown in Fig. 3, the receptor 240 has a protrusion, and the protrusion is in contact with the contact device 300. In another aspect, the receptor 240 may not have a protrusion, and the surface of the receptor 240 and the surface of the blade 120 may be included in the same plane.

[0028] [Configuration of the unmanned inspection device 100] The configuration of the unmanned inspection device 100 will be described with reference to FIG. 4. FIG. 4 is a diagram showing an outline of the configuration of the unmanned inspection device 100. The unmanned inspection device 100 includes a drone 101, a guard 102, a laser emitting device 430, a camera 440, buffer mechanisms 410, 411, and a contact device 300 attached to the buffer mechanisms 410, 411. The drone 101 includes a main body 11, an arm 12, two pairs of legs 22, and four propellers 14. The arm 12 is fastened to a frame of the guard 102. The configuration of the drone 101 will be described in detail as appropriate. The buffer mechanisms 410, 411 are realized by shock absorbing members, such as dampers.

[0029] In one aspect, the laser emitting device 430 may be a cross-line laser emitting device. The laser emitting device 430 irradiates a laser beam ahead of the unmanned inspection device 100. When the unmanned inspection device 100 is in front of the blades 120, 121, and 122, the laser beam is irradiated onto the surfaces of the blades 120, 121, and 122.

[0030] The camera 440 may be a camera for FPV (First Person View). Image data obtained by shooting with the camera 440 is sent to the terminal 210 via a cable (not shown). The inspector 200 performs an operation to control the attitude of the drone 101 while visually checking the image displayed on the monitor of the terminal 210. A signal according to the operation is transmitted to the drone 101, and the inspector 200 can control the position and attitude of the unmanned inspection device 100. The control of the position and attitude of the unmanned inspection device 100 may be automatic control.

[0031] [Contact equipment] A tool attached to the unmanned inspection device will be described with reference to Fig. 5. Fig. 5 is a diagram showing an overview of a contact tool 300 according to an embodiment.

[0032] As shown in Fig. 5(A), the contact device 300 is attached to the guard 102 via buffer mechanisms 410 and 411. A laser emitting device 430 and a camera 440 are arranged inside the guard 102. The laser emitting device 430 irradiates laser light upwardly of the contact device 300 (from the inside to the outside of the guard 102). The camera 440 is arranged so as to capture an image in the direction of the contact device 300 through the guard 102.

[0033] FIG. 5(B) is a diagram showing a schematic view of the unmanned inspection device 100 as viewed from a blade (not shown) through the contact tool 300. In one aspect, the contact tool 300 includes a frame and a mesh. The laser emitting device 430 is disposed outside the frame of the contact tool 300 so that the laser light passes outside the frame of the contact tool 300. Inside the guard 102, the camera 440 is disposed within the frame of the contact tool 300. Since the inspector 200 can view the front of the unmanned inspection device 100 through the mesh using an image from the camera 440, position control and attitude control are facilitated.

[0034] The attitude control of the unmanned inspection device 100 with respect to the blades of the wind turbine will be described with reference to Figs.

[0035] FIG. 6 is a diagram showing the relationship between the cross line laser and the target when the contact surface 310 of the contact tool 300 of the unmanned inspection device 100 is located in front of the blade. FIG. 6(A) shows a state in which the cross line laser emitted from the laser emitting device 430 is irradiated to a partial area 610 of the blade when the unmanned inspection device 100 is facing the blade. Referring to FIG. 6(A), in a certain aspect, when the unmanned inspection device 100 is in a horizontal state and positioned in front of the blade, the receptor 240 as a target is visually recognized on a vertical line of the cross line laser. For example, when the surface of the blade on which the receptor 240 is arranged is parallel to the vertical direction, the contact tool 300 is attached to the unmanned inspection device 100 via the buffer mechanisms 410, 411 so that the contact surface 310 is also parallel to the vertical direction.

[0036] That is, as shown in Fig. 6(B), when the surface of the inspection target (blade) of the unmanned inspection device 100 is vertical, the buffer mechanisms 410, 411 arranged above and below support the contact device 300 with approximately the same length. In this case, the unmanned inspection device 100 may include a weight 630 to balance the weight of the contact device 300.

[0037] FIG. 7 is a diagram showing the relationship between the cross line laser and the target (receptor 240) when the contact surface 310 of the contact device 300 of the unmanned inspection device 100 is shifted to the left from the front of the blade. FIG. 7(A) shows a state in which the cross line laser emitted from the laser emitting device 430 is irradiated to a partial area 710 of the blade when the unmanned inspection device 100 is not directly facing the blade and is shifted. In this case, as shown in FIG. 7(B), the inspector 200 operates the terminal 210 to rotate the unmanned inspection device 100 in the direction of the arrow 720 clockwise as viewed from above. As a result, the location where the cross line laser is formed on the blade moves to the right on the blade, and the attitude of the unmanned inspection device 100 is controlled so that the receptor 240 is located on the vertical line of the cross line laser.

[0038] Fig. 8 is a diagram showing the relationship between the cross line laser and the target when the blade 120 is inclined. Here, the relationship will be described with reference to the blade 120 as a representative of all the blades, but the same applies to the other blades 121 and 122. When the portion of the blade 120 where the receptor 240 is located is inclined, it is desirable that the unmanned inspection device 100 is also inclined so that the contact tool 300 contacts the receptor 240. In this case, as shown in Fig. 8(A), the unmanned inspection device 100 is controlled so that the receptor 240 is located on a line in the vertical direction of the cross line laser.

[0039] 8(B) is a diagram showing a state in which an unmanned inspection device 800 having a configuration in which the attachment position of the contact tool 300 is different is in contact with the blade 120. As shown in FIG. 8(B), in the unmanned inspection device 800, the attitude of the drone 101 is maintained as it is (i.e., horizontal direction), and the contact tool 300 is attached to the guard 102 at a position inclined from the horizontal plane by an angle equivalent to the inclination angle of the receptor 240 or the surface of the blade or the surface on which the receptor 240 is arranged, so that the contact surface 310 of the contact tool 300 is parallel to the inclined surface of the blade 120.

[0040] According to this configuration, the unmanned inspection device 800 can move vertically and horizontally to appropriately bring the contact tool 300 into contact with the receptor 240 or blade 120 having a predetermined inclination angle, so that a contact surface sufficient for conducting a continuity inspection can be ensured. Also, if the inclination of the surface of each blade (or the surface of the receptor 240) with respect to the vertical direction is known, the guard 102 is attached to the drone 101 according to the inclination.

[0041] In another aspect, the unmanned inspection device 800 may include an actuator capable of adjusting the angle between the drone 101 and the guard 102. According to such a configuration, the inclination of the guard 102 to which the contact device 300 is attached can be changed each time by driving the actuator according to the inclination angle of the surface of the blade or receptor 240.

[0042] A method for inspecting the blades of a wind turbine using an unmanned inspection device will be described with reference to Fig. 9. Fig. 9 is a flow chart showing a part of the procedure of a process performed by an inspector 200 to carry out a continuity inspection of the blades of the wind turbine 110.

[0043] In step S910, inspector 200 selects a blade to be inspected. In step S920, inspector 200 ascertains the angle of the selected blade. For example, inspector 200 ascertains the angle of the blade by checking the control system of wind turbine 110, or by flying unmanned inspection device 100 in advance and irradiating a cross line laser as shown in Fig. 8(A) to check the relationship with the blade.

[0044] In step S930, inspector 200 attaches contact point tool 300 to guard 102 in accordance with the angle of the blade. At this time, inspector 200 can adjust the length of buffer mechanisms 410, 411 to change the inclination of contact point tool 300 according to the angle.

[0045] In step S940, inspector 200 attaches other tools necessary for inspecting the continuity of the receptor to drone 101. The other tools include, for example, laser emitting device 430, camera 440, and a cable connected to terminal 210. Note that in another aspect, a device for wireless communication may be attached to drone 101 instead of wired communication using a cable.

[0046] In step S950, inspector 200 operates terminal 210 to drive laser emitting device 430 to irradiate the blade with a cross line laser, and further controls the attitude of drone 101 so that drone 101 faces directly toward the horizontal angle of the blade.

[0047] In step S960, the inspector 200 maintains the drone 101 facing the horizontal angle and, while checking the irradiation status of the cross line laser with the camera 440, brings the contact tool 300 attached to the drone 101 into contact with the broad's receptor 240 to maintain the contact state and perform a continuity inspection. For example, the inspector 200 maintains the attitude of the drone 101 in a horizontal state while referring to information obtained from a gyroscope built into the drone 101. The inspector 200 controls the attitude of the unmanned inspection device 100 so that the receptor 240 is located on the vertical line of the cross line laser while visually checking the status of the cross line laser irradiated from the laser emitting device 430 to the blade while looking at the image displayed on the monitor of the terminal 210. Then, the inspector 200 operates the terminal 210 to perform a continuity inspection. More specifically, the inspector 200 passes an electric current from the terminal 210 to the drone 101 via the cable 250 and performs a continuity check on the wiring that runs from the receptor 240 that is connected to the contact device 300 to the inside of the blade.

[0048] In step S970, inspector 200 determines whether inspection of all blades has been completed. If inspector 200 determines that inspection of all blades has been completed (YES in step S970), the process ends. If not (NO in step S970), inspector 200 selects the next blade to be inspected (step S980) and repeats the steps from step S920 onwards.

[0049] Another example of a contact device will be described with reference to Fig. 10. Fig. 10 is a diagram showing an example of a contact device according to another embodiment.

[0050] The contact device 1010 shown in Fig. 10(A) has a lattice formed diagonally inside its frame. The contact device 1020 shown in Fig. 10(B) has a lattice formed horizontally and vertically inside its frame. The contact device 1030 shown in Fig. 10(C) has a lattice formed diagonally inside its frame.

[0051] Changes in the state of the contact device according to the blade angle will be described with reference to Figs.

[0052] Fig. 11 is a diagram showing the state of the contact point device 300 when the blade angle is 0 degrees (= the surface of the blade is parallel to the vertical direction). Fig. 11(A) is a diagram showing the state (cross section) of the unmanned inspection device 100 viewed from the horizontal direction. The buffer mechanisms 410, 411, the laser emitting device 430, and the camera 440 are attached to the guard member 1100.

[0053] When the surface of the blade is vertical, more specifically, when the surface of the receptor 240 is vertical, it is desirable that the contact device 300 is also parallel to the surface of the blade or the surface of the receptor 240. Therefore, as shown in Fig. 11(A), the length of the buffer mechanism 410 and the length of the buffer mechanism 411 are adjusted by the inspector 200 so that they are the same length and the surface of the contact device 300 is parallel to the vertical direction.

[0054] 11(B) is a diagram showing a schematic view of the main components when viewed from above the unmanned inspection device 100. The contact device 300 is attached to the guard members 1100, 1101 by the buffer mechanisms 410 and 411 (not shown), as well as the buffer mechanisms 1110, 1120 for positioning in the left-right direction.

[0055] FIG. 12 is a diagram showing the state of the contact device 300 when the blade angle is 30 degrees (= the surface of the blade is inclined at 30 degrees with respect to the vertical direction).

[0056] 12A is a diagram showing a horizontal (sectional) view of the unmanned inspection device 100. The buffer mechanisms 1210 and 1220, the laser emitting device 430, and the camera 440 are attached to the guard member 1100.

[0057] When the surface of the blade is inclined (i.e., not vertical), more specifically, when the surface of the receptor 240 is inclined with respect to the vertical, it is desirable that the contact device 300 is also inclined so that the contact surface 310 of the contact device 300 is parallel to the surface of the blade or the surface of the receptor 240. Therefore, as shown in FIG. 12(A), the buffer mechanism 1210 is made shorter than the buffer mechanism 1220 to incline the contact device 300, so that the contact surface 310 of the contact device 300 is parallel to the surface of the blade or the surface of the receptor 240. When the buffer mechanisms 1210 and 1220 have a length adjustment function, such a configuration is realized by adjusting the buffer mechanisms 1210 and 1220 so that the length corresponds to the inclination. In another aspect, the configuration shown in FIG. 12(A) can be realized by adopting the buffer mechanisms 1210 and 1220 having a length previously derived to achieve the inclination angle.

[0058] 12(B) is a diagram showing a schematic view of the main components when viewed from above the unmanned inspection device 100. The contact device 300 is attached to the guard members 1100 and 1101 by a buffer mechanism 1210 (not shown) and a buffer mechanism 1220, as well as buffer mechanisms 1230 and 1240 for positioning in the left-right direction.

[0059] [Drone configuration] A detailed configuration of the drone will be described with reference to FIG. 13. FIG. 13 is a block diagram illustrating a hardware configuration of the drone 101. In addition to the configuration shown in FIG. 4, the drone 101 includes four sets of propeller motors 13 and propellers 14 connected to the upper part of the main body 11 via the arms 12, and legs 22 attached to the lower part of the main body 11. A motor drive circuit 15 for driving the propeller motors 13 is provided inside the arms 12. Furthermore, the drone 101 includes an engine 16 and a generator 17 attached to the lower part of the main body 11, a laser emission device 430, a camera 440, and a LiDAR (Laser Imaging Detection and Ranging) sensor 24 attached to the upper part of the main body 11.

[0060] 13, four sets of propeller motors 13 and propellers 14 are provided, but the configuration of the propeller motors 13 and propellers 14 is not limited to this. By controlling the rotation speed of each propeller motor 13, the drone 101 can ascend and descend vertically, ascend and descend in any diagonal direction, stop in the air, move forward, move backward, move right, move left, rotate right, rotate left, etc. In other words, the propeller motors 13 and the propellers 14 form a propulsion mechanism that propels the drone 101 and stops it in the air.

[0061] The generator 17 is driven by the engine 16 to generate the power required for the operation of the drone 101. This enables the drone 101 to fly for long periods of time and in low temperatures. Instead of the engine 16 and the generator 17, a battery may be attached to the drone 101.

[0062] The camera 440 captures an image in front of the drone 101, i.e., in the direction of the contact tool 300. The camera 440 may include a high-resolution camera for capturing images for inspection and a low-resolution camera for capturing moving images for FPV. The moving images captured by the low-resolution camera are transmitted to the terminal 210 by the transceiver 33. This allows the inspector 200 to view the images captured by the camera 440 in real time. The shooting direction of the camera 440 can be adjusted by an actuator (not shown). The actuator can also be adjusted by a signal from the terminal 210.

[0063] In another aspect, the drone 101 may have a direct-down camera for capturing an image directly below it. The direct-down camera may include a high-resolution camera for capturing an inspection image and a low-resolution camera for capturing an FPV image.

[0064] The LiDAR sensor 24 detects the distance and angle to an object based on the reflected light from the object by scanning a pulsed laser light. The LiDAR sensor 24 may be replaced with another distance sensor.

[0065] Referring again to FIG. 13, the main body 11 incorporates a controller 30, a storage device 31, an inertial measurement unit 32, a transceiver 33, a GPS (Global Positioning System) receiver 34, a power supply circuit 35, a storage battery 36, and the like.

[0066] The controller 30 controls the operations of the motor drive circuit 15, the camera 18, the LiDAR sensor 24, and the like. The controller 30 may be configured by a microcomputer including a central processing unit (CPU), a random access memory (RAM), and a non-volatile memory, or may be configured by a field programmable gate array (FPGA), or may be configured by a dedicated circuit such as an application specific integrated circuit (ASIC). The controller 30 may also be configured by a combination of at least two of these.

[0067] The storage device 31 includes, for example, a removable non-volatile recording medium 38 such as an SD memory card, and a reader / writer 37 for writing data to the recording medium 38 and reading data from the recording medium 38. The reader / writer 37 stores, in the recording medium 38, still images for inspection taken by the camera 440, the control contents of the controller 30, flight information, and the like, in accordance with commands from the controller 30.

[0068] The inertial measurement unit 32 is a sensor unit that integrates an acceleration sensor, an angular velocity sensor (gyro sensor), a geomagnetic sensor, an air pressure sensor, a temperature sensor, etc. into one package. The controller 30 performs autonomous flight and attitude control of the drone 101 based on the detection values ​​of the various sensors of the inertial measurement unit 32.

[0069] The transceiver 33 transmits and receives information such as signals and data to and from the transceiver provided in the wind turbine to be inspected and the terminal 210. For example, the transceiver 33 receives information on the operating state of the wind turbine, or commands from the terminal 210. The transceiver 33 also transmits monitoring video captured by a low-resolution camera to the base facility in accordance with commands from the controller 30.

[0070] The GPS receiver 34 receives signals from GPS satellites. The controller 30 detects the current position of the drone 101 based on the signals received by the GPS receiver 34.

[0071] The power supply circuit 35 generates a power supply voltage for driving each part of the drone 101 based on the power generated by the generator 17.

[0072] The storage battery 36 is used as an auxiliary power source for the drone 101. For example, the storage battery 36 supplies power for driving the controller 30, the storage device 31, the transceiver 33, and the like while the engine 16 and the generator 17 are stopped.

[0073] [Hardware configuration] The configuration of terminal 210 according to this embodiment will be described with reference to Fig. 14. Fig. 14 is a block diagram showing the hardware configuration of terminal 210.

[0074] The terminal 210 includes a CPU 1420, an antenna 1423, a communication device 1424, an operation button 1425, a flash memory 1427, a RAM (Random Access Memory) 1428, a ROM (Read Only Memory) 1429, a memory card drive 1430, a microphone 1432, a speaker 1433, an audio signal processing circuit 1434, a monitor 1435, an LED (Light Emitting Diode) 1436, and a data communication interface 1437. A memory card 1431 can be attached to the memory card drive 1430.

[0075] The antenna 1423 receives signals transmitted by the base station, or transmits signals for communication with other communication devices via the base station. The signals received by the antenna 1423 undergo front-end processing by the communication device 1424, and the processed signals are then sent to the CPU 1420.

[0076] The operation button 1425 accepts an operation for the terminal 210. The operation button 1425 is realized as, for example, a hard key or a soft key. When the operation button 1425 accepts an operation, it sends to the CPU 1420 a signal according to the operation mode of the terminal 210 at that time.

[0077] CPU 1420 executes processing for controlling the operation of terminal 210 based on commands given to terminal 210. When terminal 210 receives a signal, CPU 1420 executes predefined processing based on the signal sent from communication device 1424, and sends the processed signal to audio signal processing circuit 1434. Audio signal processing circuit 1434 executes predefined signal processing on the signal, and sends the processed signal to speaker 1433. Speaker 1433 outputs sound based on the signal.

[0078] The microphone 1432 receives speech to the terminal 210 and sends a signal corresponding to the spoken voice to the audio signal processing circuit 1434. The audio signal processing circuit 1434 executes processing defined in advance for a call based on the signal, and sends the processed signal to the CPU 1420. The CPU 1420 converts the signal into data for transmission, and sends the converted data to the communication device 1424. The communication device 1424 uses the data to generate a signal for transmission, and sends the signal toward the antenna 1423.

[0079] The flash memory 1427 stores data sent from the CPU 1420. Furthermore, the CPU 1420 reads out data stored in the flash memory 1427 and executes predefined processing using the data.

[0080] The RAM 1428 temporarily holds data generated by the CPU 1420 based on operations performed on the operation buttons 1425. The ROM 1429 stores programs or data for causing the terminal 210 to execute predetermined operations. The CPU 1420 reads out the programs or data from the ROM 1429 and controls the operation of the terminal 210.

[0081] The memory card drive device 1430 reads out data stored in the memory card 1431, and sends it to the CPU 1420. The memory card drive device 1430 writes the data output by the CPU 1420 into a free area of ​​the memory card 1431.

[0082] The audio signal processing circuit 1434 executes signal processing for the above-mentioned call. Note that, in the example shown in Fig. 14, the CPU 1420 and the audio signal processing circuit 1434 are shown as separate components, but in other aspects, the CPU 1420 and the audio signal processing circuit 1434 may be integrated together.

[0083] The monitor 1435 is a touch panel display, but the mechanism of the touch panel is not particularly limited. The monitor 1435 displays an image defined by data acquired from the CPU 1420 based on the data. For example, the monitor 1435 displays an image transmitted from the drone 101.

[0084] The LED 1436 realizes a predetermined light emitting operation based on a signal from the CPU 1420. The data communication interface 1437 accepts attachment of a cable for data communication.

[0085] The data communication interface 1437 transmits a signal output from the CPU 1420 to the cable, or transmits data received via the cable to the CPU 1420.

[0086] The configuration of terminal 210 is not limited to that described above, and may be any information processing terminal having at least a display function, a communication function, a data storage function, and a calculation function.

[0087] [Unmanned inspection device with cleaning function] In an embodiment, it is assumed that the surface of the receptor 240 is dirty. Therefore, it may be desirable to clean the surface of the receptor 240 before conducting a continuity check. Then, referring to FIG. 15, an unmanned inspection device having a function of cleaning the receptor 240 will be described. FIG. 15 is a diagram showing an overview of a drone 1500 having a cleaning function according to an embodiment. The drone 1500 can be incorporated into the guard 102 and fly as one with the guard 102, similar to the drone 101.

[0088] The drone 1500 includes a spray device 1510 in addition to the configuration of the drone 101 shown in FIG. 4. The spray device 1510 has a nozzle 1520. The spray direction of the nozzle 1520 faces the same direction as the shooting direction of the camera 440. Therefore, when the drone 1500 reaches the vicinity of the receptor 240, the inspector 200 can remove dirt on the surface of the receptor 240 by spraying a cleaning agent from the spray device 1510 while watching the image captured by the camera 440. Since the surface of the receptor 240 is cleaned before the continuity inspection, the contact between the receptor 240 and the contact tool 300 is ensured, and the continuity inspection can also be performed reliably.

[0089] As an example, the spray device 1510 may be realized in the form of a spray can for spraying an insecticide used to exterminate hornets.

[0090] In another aspect, the drone 1500 may operate to rub the contact device 300 in addition to the spray device 1510. For example, after spraying the cleaning agent from the spray device 1510, the drone 1500 brings the contact device 300 into contact with the receptor 240, and vibrates the drone 1500 itself or the contact device 300 in a state in which the contact device 300 is in contact with the receptor. Alternatively, in a case where the support portion of the contact device 300 has an actuator (not shown), the controller 30 may drive the actuator to slide the contact device 300 up and down or left and right.

[0091] A method of continuity inspection using a drone 1500 will be described with reference to Fig. 16. Fig. 16 is a flowchart showing a process flow in which a drone 1500 according to an embodiment cleans a receptor and then performs a continuity inspection. Note that the same processes as those described above are given the same step numbers. Therefore, the same processes will not be described repeatedly.

[0092] In step S1610, the drone 1500 sprays a cleaning agent from the spray device 1510 onto the receptor 240 to clean the surface of the receptor 240. Examples of the cleaning agent include a degreasing agent, a rust remover, etc. After spraying onto the receptor 240, the drone 1500 waits for a predetermined time, and can bring the contact device 300 into contact with the surface of the cleaned receptor 240.

[0093] In another aspect, if the spray device 1510 mounted on the drone 1500 can accommodate the cleaning agent required to clean the receptors of all the blades, the drone 1500 may clean all the receptors and then perform a continuity check. More specifically, the drone 1500 may spray the cleaning agent to each of the receptors 240 of all the blades 120, 121, and 122, and after spraying to all the receptors 240 is completed, return to the first receptor 240 and start a continuity check of that receptor 240. In this way, since the cleaning agent can be sprayed to the receptors 240 of other blades while waiting after spraying the cleaning agent to the receptor 240 of one blade, the overall inspection time can be shortened.

[0094] Some of the technical features disclosed above can be summarized as follows: [Configuration 1] According to one embodiment, a method for inspecting blades 120, 121, and 122 constituting a wind turbine 110 of a wind power generation facility is provided. This method includes the steps of flying an unmanned inspection device 100, which includes an unmanned aerial vehicle (e.g., a drone 101), a guard 102 protecting the unmanned aerial vehicle, a contact device 300 attached to the outside of the guard 102, and a supply means (e.g., a storage battery or a switch connected by cable to the power source of a terminal 210 used by an inspector 200) for supplying current through the contact device, near a portion of the blades constituting the wind turbine 110 of the wind power generation facility where a lightning receiving portion (e.g., a receptor 240) for flowing current due to a lightning strike to the ground is provided, bringing the contact device 300 into contact with the lightning receiving portion, supplying current from the supply means to the lightning receiving portion through the contact device 300, and measuring a resistance value from the blades 120, 121, and 122 to the ground based on the current being supplied to the lightning receiving portion.

[0095] According to this configuration, by measuring the resistance value, it is possible to determine whether or not the lightning receiving part and the cable installed inside the wind turbine 110 are damaged, eliminating the need for inspectors to climb onto the wind turbine or blades, thereby enabling inspections to be carried out safely.

[0096] [Configuration 2] In an inspection method according to a certain aspect, the unmanned inspection device includes a plurality of buffer mechanisms 410, 411, 1210, 1220 between the contact device and the guard. The inspection method further includes a step of making one of the plurality of buffer mechanisms (e.g., buffer mechanism 1210) shorter than the other buffer mechanisms (e.g., buffer mechanism 1220) so that the contact area between the contact device and the lightning receiving part is increased.

[0097] According to this configuration, since the contact surface 310 of the contact device 300 is inclined, a sufficient contact surface can be secured when the surface of the blade is inclined. As a result, the continuity check can be performed reliably.

[0098] [Configuration 3] According to one aspect, the inspection method further includes a step of adjusting the inclination of the guard 102 relative to the unmanned aerial vehicle (e.g., drone 101) so that a surface of the blade 120 on which the lightning receiving portion is provided and a contact surface of a contact device attached to the guard are parallel to each other. The step of flying the unmanned inspection device includes a step of flying the unmanned inspection device 800 in which the inclination of the guard 102 has been adjusted.

[0099] According to this configuration, even if the unmanned inspection device 800 can only move vertically and horizontally, the contact surface of the contact device 300 can be reliably brought into contact with the surface of the inclined blade, so that continuity inspection can be performed reliably.

[0100] [Configuration 4] In an inspection method according to a certain aspect, the contact device 1010, 1020 includes a conductive grid-like member. The unmanned inspection device further includes a light-emitting device (e.g., laser light-emitting device 430) that emits light in the direction of the contact device, a camera (camera 440) that can capture an image of the range of the grid-like member, and a communication means (e.g., a communication circuit, a communication cable) for communicating with a terminal 210 having a monitor. The inspection method further includes a step of the light-emitting device emitting light in the direction of the contact device, a step of capturing an image of the grid-like member of the contact device, and a step of transmitting the image obtained by capturing the image to the terminal 210.

[0101] According to this configuration, inspector 200 using terminal 210 can control the unmanned aerial vehicle while viewing the image displayed on monitor 1435, thereby ensuring contact with receptor 240.

[0102] [Configuration 5] The inspection method according to one aspect further includes a step of cleaning the surface of the receptor 240 by using an injection device 1510 mounted on the drone 101 to inject a cleaning agent from its nozzle 1520 before contacting the contact tool with the lightning receiving part.

[0103] According to this configuration, dirt on the surface of the receptor 240 is removed, so that the contact between the receptor 240 and the contact device 300 is ensured.

[0104] [Configuration 6] According to another embodiment, an unmanned inspection device 100, 800 for a wind power generation facility is provided. This unmanned inspection device includes an unmanned aerial vehicle (e.g., drone 101), a guard 102 for protecting the unmanned aerial vehicle, a conductive contact device 300 arranged outside the guard 102, a control device for controlling the unmanned aerial vehicle, and a supply means arranged inside the guard for supplying current to a lightning receiving part (e.g., receptor 240) for passing a current caused by a lightning strike to the ground among blades 120, 121, and 122 constituting a wind turbine 110 of the wind power generation facility via the contact device 300.

[0105] [Configuration 7] According to one aspect, the unmanned inspection device includes a plurality of buffer mechanisms between the contact device 300 and the guard 102. Any of the buffer mechanisms (e.g., buffer mechanism 1210) is shorter than the other buffer mechanisms (e.g., buffer mechanism 1220).

[0106] [Configuration 8] In an unmanned inspection device for wind power generation equipment according to a certain aspect, the guard 102 is attached to the unmanned inspection device 800 so that the surface of the blade 120 on which the lightning receiving part (e.g., receptor 240) is provided and the contact surface of the contact device 300 attached to the guard 102 are parallel to each other.

[0107] [Configuration 9] In an unmanned inspection device for a wind power generation facility according to a certain aspect, the contact device includes a conductive lattice member. The unmanned inspection device further includes a light emitting device (laser emitting device 430) that emits light in the direction of the contact device, a camera 440 that can capture an image of the range of the lattice member, and a communication means for communicating with a terminal having a monitor. The control device controls the light emitting device to emit light in the direction of the contact device, controls the camera to capture an image of the lattice member of the contact device, and transmits the image obtained by capturing the image to the terminal.

[0108] [Configuration 10] The unmanned inspection device for a wind power generation facility according to a certain aspect further includes a cleaning device for cleaning the receptor 240. The cleaning device is, for example, an injection device 1510.

[0109] [Summary of the embodiment] According to the embodiment disclosed above, the unmanned inspection device 100, 800 includes the contact device 300 on the outside of the guard 102, and the contact surface 310 of the contact device 300 contacts the receptor 240. The contact surface 310 of the contact device 300 is arranged on the guard 102 so as to be inclined according to the inclination of the surface of the receptor 240. With this configuration, the unmanned inspection device 100, 800 can reliably bring the contact surface 310 into contact with the surface of the receptor 240, so that a continuity inspection can be reliably performed. In addition, since the time for which the operation of the wind turbine 110 is stopped can be shortened to the minimum necessary, the period during which power generation is stopped is also minimized, and the reduction in the amount of generated power can also be kept to a minimum.

[0110] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0111] 8,1435 Monitor, 11 Main body, 13 Propeller motor, 14 Propeller, 15 Motor drive circuit, 16 Engine, 17 Generator, 18, 18A, 18B, 20A, 20B, 440 Camera, 19, 21 Gimbal, 20 Direct-down camera, 24 LiDAR sensor, 30 Controller, 31 Storage device, 32 Inertial measurement unit, 33 Transmitter / receiver, 34 GPS receiver, 35 Power circuit, 36 Storage battery, 37 Reader / writer, 38 Recording medium, 100, 800 Unmanned inspection device, 101 Drone, 102 Guard, 110 Wind turbine, 120, 121, 122 Blade, 130 Tower, 170 Area, 180 Foundation, 190 Seabed, 200 Inspector, 210 Terminal, 220, 230, 250 Cable, 240 receptor, 300, 1010, 1020, 1030 contact device, 310 contact surface, 410, 411, 1110, 1120, 1210, 1220, 1230, 1240 buffer mechanism, 430 laser emitting device, 630 weight, 710 arrow, 1100, 1101 guard member, 1423 antenna, 1424 communication device, 1425 operation button, 1427 flash memory, 1428 RAM, 1429 ROM, 1430 memory card drive device, 1431 memory card, 1432 microphone, 1433 speaker, 1434 audio signal processing circuit, 1437 data communication interface.

Claims

1. A method for inspecting a wind power generation facility, comprising: a step of flying an unmanned inspection device including an unmanned aerial vehicle, a guard for protecting the unmanned aerial vehicle, a contact device attached to the outside of the guard, and a supply means for supplying a current via the contact device, near a portion of a blade constituting a wind turbine of a wind power generation facility, the portion having a lightning receiving portion for directing a current due to a lightning strike to the ground; contacting the contact device with the lightning receiving portion; supplying a current from the supply means to the lightning receiving portion through the contact device; and measuring a resistance value from the blade to the ground based on the current being supplied to the lightning receiving unit; The unmanned inspection device includes a plurality of buffer mechanisms between the contact device and the guard, The inspection method for wind power generation equipment further includes a step of making a length of one of the plurality of buffer mechanisms shorter than the other buffer mechanisms so that the contact area between the contact device and the lightning receiving part is increased.

2. a step of flying an unmanned inspection device including an unmanned aerial vehicle, a guard for protecting the unmanned aerial vehicle, a contact device attached to the outside of the guard, and a supply means for supplying a current via the contact device, near a portion of a blade constituting a wind turbine of a wind power generation facility, the portion having a lightning receiving portion for directing a current due to a lightning strike to the ground; contacting the contact device with the lightning receiving portion; supplying a current from the supply means to the lightning receiving portion through the contact device; measuring a resistance value from the blade to the ground based on the current being supplied to the lightning receiving unit; and adjusting an inclination of the guard relative to the unmanned aerial vehicle so that a surface of the blade on which the lightning receiving portion is provided and a surface of the contact device attached to the guard are parallel to each other; A method for inspecting wind power generation equipment, wherein the step of flying the unmanned inspection device includes a step of flying the unmanned inspection device with the inclination of the guard adjusted.

3. The contact device includes a conductive grid member, The unmanned inspection device further includes a light emitting device that emits light in the direction of the contact device, a camera that can capture an image of the range of the lattice member, and a communication means for communicating with a terminal having a monitor, The inspection method includes: emitting light in the direction of the contact device; taking an image of the grid member of the contact device; The method for inspecting a wind power generation facility according to claim 1 or 2, further comprising a step of transmitting the image obtained by the photographing to the terminal.

4. The method for inspecting a wind power generation facility according to any one of claims 1 to 3, further comprising a step of cleaning the lightning receiving portion before the contact tool is brought into contact with the lightning receiving portion.

5. Unmanned aerial vehicles and a guard for protecting the unmanned aerial vehicle; a conductive contact device disposed on the exterior of the guard; A control device for controlling the unmanned aerial vehicle; A supply means is disposed inside the guard and supplies a current to a lightning receiving part of a blade constituting a wind turbine of a wind power generation facility, the lightning receiving part being used to pass a current caused by a lightning strike to the ground, via the contact device. A plurality of buffer mechanisms are provided between the contact device and the guard; An unmanned inspection device for a wind power generation facility, wherein any one of the plurality of buffer mechanisms is shorter than the other buffer mechanisms.

6. Unmanned aerial vehicles and a guard for protecting the unmanned aerial vehicle; a conductive contact device disposed on the exterior of the guard; A control device for controlling the unmanned aerial vehicle; a supply means for supplying a current to a lightning receiving part of a blade constituting a wind turbine of a wind power generation facility, the lightning receiving part being disposed inside the guard and configured to pass a current caused by a lightning strike to the ground via the contact device; An unmanned inspection device for wind power generation equipment, wherein the guard is attached to the unmanned aerial vehicle so that the surface of the blade on which the lightning receiving part is provided and the surface of the contact device attached to the guard are parallel to each other.

7. The contact device includes a conductive grid member, The unmanned inspection device includes: A light emitting device that emits light in the direction of the contact device; A camera capable of photographing the range of the lattice member; and a communication means for communicating with a terminal having a monitor, The control device includes: controlling the light emitting device to emit light in the direction of the contact device; Controlling the camera to photograph the grid member of the contact device; 7. The unmanned inspection device for wind power generation facilities according to claim 5, wherein the image obtained by the photographing is transmitted to the terminal.

8. 7. The unmanned inspection device according to claim 5, further comprising a cleaning means for cleaning the lightning receiving portion.

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