Unmanned inspection system and unmanned inspection method

Abstract

To provide an unmanned inspection technique capable of reducing a cost required for inspection of an on-water wind power generation device.SOLUTION: An unmanned inspection system 1 includes: unmanned mobile robots 13 and 14 which can be autonomously moved in air or in water by autonomous control or remote control and can inspect an on-water wind power generation device 2; and an unmanned mother ship 12 which can be autonomously driven on water by autonomous control or remote control, can transport the unmanned mobile robots 13 and 14, and can start the unmanned mobile robots 13 and 14.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] SUMMARY OF THE DISCLOSURE The present invention relates to unmanned inspection technology. [Background technology]

[0002] Floating wind power generation equipment installed on the ocean includes offshore equipment such as wind turbines and poles, and undersea equipment such as floats, mooring lines, and cables, and requires regular inspection. There have been attempts to use unmanned mobile robots such as unmanned aerial vehicles (UAVs), remotely operated unmanned underwater vehicles (ROVs), and autonomous underwater vehicles (AUVs) to inspect such floating wind power generation equipment. However, at large-scale offshore wind power generation sites with many floating wind power generation equipment, the distance from shore may be several tens of kilometers or more. In such cases, the unmanned mobile robot and the personnel required to operate it must be sent on a ship for a long distance round trip every time an inspection is performed, which incurs a large cost. Therefore, there is a demand for reducing the cost of inspecting floating wind power generation equipment. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-51560 A [Patent Document 2] Special Publication No. 2016-526148 [Patent Document 3] International Publication No. 2019 / 208757 [Patent Document 4] Patent Publication No. 2021-61484 Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the present invention is to provide an unmanned inspection technique that can reduce the cost of inspecting a floating wind turbine generator. [Means for solving the problem]

[0005] An unmanned inspection system according to an embodiment of the present invention comprises an unmanned mobile robot capable of moving unmanned in the air or underwater by autonomous control or remote control and capable of inspecting a surface wind power generation device, and an unmanned mother ship capable of unmanned navigation on the water by autonomous control or remote control, capable of transporting the unmanned mobile robot, and from which the unmanned mobile robot can launch; A plurality of the unmanned mobile robots are provided, and the operation of one of the unmanned mobile robots is controlled based on information obtained by the other unmanned mobile robot. The one unmanned mobile robot detects the position of the other unmanned mobile robot and the position of the water-based wind power generation device using at least one of a laser, a sonar, a camera, and a three-dimensional laser scanner, and is configured to send information indicating the position of the other unmanned mobile robot and the position of the water-based wind power generation device to the other unmanned mobile robot. . Effect of the Invention

[0006] According to an embodiment of the present invention, an unmanned inspection technique is provided that can reduce the cost of inspecting an offshore wind turbine power generation device. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram showing the overall configuration of an unmanned inspection system. [Diagram 2] Block diagram showing an unmanned mother ship. [Diagram 3] FIG. 1 is a block diagram showing an airborne robot. [Figure 4] FIG. 1 is a block diagram showing an underwater mobile robot. [Diagram 5] FIG. 4 is an explanatory diagram showing an example of a power supply mode for an unmanned mother ship. [Figure 6] FIG. 13 is an explanatory diagram showing a modified example of power supply to an unmanned mother ship. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, embodiments of an unmanned inspection system and an unmanned inspection method will be described in detail with reference to the drawings.

[0009] 1, reference numeral 1 denotes an unmanned inspection system according to this embodiment. This unmanned inspection system 1 inspects a floating wind turbine generator 2 installed on the ocean 3 in an unmanned manner.

[0010] The floating wind turbine 2 is an above-water facility and is equipped with multiple blades 5 that rotate around a hub 4. When wind strikes these blades 5, they rotate around the hub 4, and a generator (not shown) provided inside a nacelle 6 generates electricity. In this embodiment, an upwind propeller-type wind turbine, which is a lift-type wind turbine and a horizontal axis wind turbine, is exemplified.

[0011] Inside the hub 4, a variable pitch mechanism (not shown) for changing the pitch angle of the blades 5 is provided. Inside the nacelle 6, a brake device (not shown) and the like are provided. Furthermore, an orientation change mechanism (not shown) for changing the orientation of the nacelle 6 and the like are also provided. In some cases, a gearbox (not shown) may also be provided. The nacelle 6 is provided on top of a tower 7 standing above the ocean 3.

[0012] In addition, the floating wind power generation device 2 is equipped with underwater facilities, including a float 8 for floating the tower 7 on the ocean 3, a mooring line 9 for mooring the float 8, and a transmission cable 10 for transmitting the generated electricity to land.

[0013] The mooring lines 9 are huge metal chains that tie the floating body 8 to the seabed 11. Multiple mooring lines 9 are provided for one floating body 8. The lower ends of these mooring lines 9 are fixed to the seabed 11, so that the floating wind power generation apparatus 2 is not carried away by ocean currents even when floating on the floating body 8, and is fixed in place. In this embodiment, a floating floating wind power generation apparatus 2 is illustrated, but this embodiment may also be applied to a bottom-fixed floating wind power generation apparatus 2 that is fixed to the seabed 11.

[0014] The unmanned inspection system 1 includes an unmanned mother ship 12, an airborne moving robot 13, and an underwater moving robot 14. Here, the airborne moving robot 13 and the underwater moving robot 14 constitute the unmanned moving robot of this embodiment.

[0015] The aerial mobile robot 13 is capable of moving unmanned in the air by autonomous control or remote control, and this aerial mobile robot 13 is used to inspect the floating facilities of the floating wind power generation device 2.

[0016] The underwater mobile robot 14 is capable of moving underwater unmanned by autonomous control or remote control, and is used to inspect the underwater equipment of the floating wind power generation device 2. Note that the inspection of the underwater equipment includes, for example, visual inspection of the power transmission cable 10 and the mooring rope 9, acquisition of three-dimensional shape data of the power transmission cable 10 and the mooring rope 9, measurement of the amount of wear on the surfaces of the power transmission cable 10 and the mooring rope 9, etc.

[0017] The underwater moving robot 14 also cleans the underwater equipment of the surface wind power generation device 2. The unmanned mother ship 12 and the underwater moving robot 14 are connected by a power supply cable 15. Note that the underwater moving robot 14 does not necessarily need to be connected to the power supply cable 15, and for example, the underwater moving robot 14 may be equipped with a battery (not shown) and be powered by this battery.

[0018] The unmanned mother ship 12 is a ship that can navigate unmanned on the ocean 3 by autonomous control or remote operation, can transport the airborne moving robot 13 and the underwater moving robot 14, and can launch the airborne moving robot 13 and the underwater moving robot 14. In this embodiment, a plurality of airborne moving robots 13 and a plurality of underwater moving robots 14 are transported by the unmanned mother ship 12.

[0019] An offshore wind power generation site is constructed by installing numerous floating wind power generation devices 2 in a row on the ocean 3. An unmanned mother ship 12 inspects these floating wind power generation devices 2. For example, the unmanned mother ship 12 patrols the multiple floating wind power generation devices 2 by autonomous control or remote control. Then, when the unmanned mother ship 12 approaches a floating wind power generation device 2, an airborne moving robot 13 and an underwater moving robot 14 are launched to perform the inspection.

[0020] In addition, one unmanned mother ship 12 may inspect multiple floating wind power generation devices 2, or multiple unmanned mother ships 12 may be dispatched to an offshore wind power generation site and multiple unmanned mother ships 12 may inspect multiple floating wind power generation devices 2.

[0021] In addition, data obtained by the airborne moving robot 13 and the underwater moving robot 14, such as image data obtained when the surface wind turbine 2 is photographed or three-dimensional shape data obtained when the surface wind turbine 2 is measured, is collected in the unmanned mother ship 12. Then, this data is sent from the unmanned mother ship 12 to a specified data center that manages information regarding the surface wind turbine 2.

[0022] The offshore wind power generation site is located offshore, far from the coast. The unmanned mother ship 12 can navigate from a base port to the offshore wind power generation site by autonomous control or remote control. The unmanned mother ship 12 periodically returns to the port for maintenance.

[0023] In this embodiment, the inspection of the floating wind power generation device 2 can be performed completely unmanned, which reduces costs and labor. Furthermore, by making the inspection unmanned, the inspection can be performed 24 hours a day, 365 days a year. Furthermore, when the weather is bad, such as a typhoon or storm, or when the weather suddenly changes, the personnel involved in the inspection are not exposed to danger.

[0024] As shown in Figure 2, the unmanned mother ship 12 is equipped with a communication unit 20, a ship moving device 21, a navigation device 22, a wind turbine position detection device 23, an aerial position detection device 24, an underwater position detection device 25, a launch and recovery device 26, an aerial robot charging device 27, an underwater robot power supply device 28, a ship power receiving device 29, a battery 30, and a control device 31.

[0025] The communication unit 20 is used for communication between the airborne robot 13 and the underwater mobile robot 14. These communications are performed wirelessly or by wire. The communication unit 20 communicates with a specific device (not shown) in a remote location (ground station). For example, the communication unit 20 is used for communication with a headquarters that manages the unmanned mother ship 12 on land. In this embodiment, various communication technologies can be used, such as a satellite communication network, a mobile communication network, and the Internet.

[0026] The unmanned mother ship 12 can relay communications between the airborne moving robot 13 and the underwater moving robot 14. For example, when the airborne moving robot 13 or the underwater moving robot 14 communicates with the headquarters, the unmanned mother ship 12 relays the communications. In this way, a manager (user) at the headquarters can remotely control the airborne moving robot 13 or the underwater moving robot 14.

[0027] The vessel moving device 21 is a device for navigating the unmanned mother ship 12. For example, the vessel moving device 21 includes a screw for obtaining propulsive force in water, a motor for driving the screw, a rudder for determining the direction of travel, and the like.

[0028] The navigation device 22 is a device for obtaining information necessary for the navigation of the unmanned mother ship 12. For example, the navigation device 22 includes a device for obtaining information using at least one of a satellite positioning system, radar, laser, sonar, camera, motion sensor, etc. The motion sensor is a nine-axis sensor that combines an inertial sensor (a three-axis acceleration sensor and a three-axis angular velocity sensor) and a three-axis geomagnetic sensor. The radar, laser, sonar, camera, and motion sensor are devices mounted on the unmanned mother ship 12.

[0029] The wind turbine position detection device 23 is a device for detecting the position of the surface wind power generation device 2 from the unmanned mother ship 12. For example, the wind turbine position detection device 23 includes a device for detecting the position of the surface wind power generation device 2 using at least one of radar, laser, sonar, camera, and the like.

[0030] In this embodiment, information (images) obtained by the camera include still images and videos. In addition, in this embodiment, a technology for performing predetermined image processing and recognizing objects appearing in the images can be used. Information obtained by using a laser also includes point cloud data indicating the three-dimensional shape of the surface of the object.

[0031] Point cloud data is acquired using an infrared sensor or a laser sensor such as LiDAR. For example, the distance to an object can be measured by projecting a laser onto the object and receiving the reflected light with a light receiving element. Laser sensors also measure the distance to surrounding objects using the ToF (Time of Flight) method, which converts the delay time between the projected pulse and the received pulse into distance.

[0032] The underwater moving robot 14 may use a stereo camera to simultaneously capture images of a given object from a number of different directions, thereby acquiring information about the depth of the object.

[0033] The unmanned mother ship 12 detects the position of the surface wind power generation device 2 and measures the relative position between the surface wind power generation device 2 and the airborne moving robot 13 or the underwater moving robot 14, using the unmanned mother ship 12 as a reference (absolute position). Then, the position of the airborne moving robot 13 or the underwater moving robot 14 is controlled based on this relative position. In this way, the unmanned mother ship 12 can grasp the accurate positional relationship between the surface wind power generation device 2 and the airborne moving robot 13 or the underwater moving robot 14. Also, an administrator (user) can operate the airborne moving robot 13 or the underwater moving robot 14 in real time.

[0034] The aerial position detection device 24 is a device for detecting the position of the aerial mobile robot 13 from the unmanned mother ship 12. For example, the aerial position detection device 24 includes a device for detecting the position of the aerial mobile robot 13 using at least one of a radar, a laser, a camera, and the like.

[0035] When the unmanned mother ship 12 detects the position of the aerial mobile robot 13 by the aerial position detection device 24, it transmits information indicating that position to the aerial mobile robot 13. The aerial mobile robot 13 can accurately grasp its own position based on the information indicating the position transmitted from the unmanned mother ship 12.

[0036] The underwater position detection device 25 is a device for detecting the position of the underwater mobile robot 14 from the unmanned mother ship 12. For example, the underwater position detection device 25 includes a device for detecting the position of the underwater mobile robot 14 using at least one of a laser, a sonar, a camera, and the like.

[0037] When the unmanned mother ship 12 detects the position of the underwater mobile robot 14 with the underwater position detection device 25, it transmits information indicating that position to the underwater mobile robot 14. The underwater mobile robot 14 can accurately determine its own position based on the position information transmitted from the unmanned mother ship 12.

[0038] The launching and retrieving device 26 is a device for launching the underwater mobile robot 14 into water and retrieving it from water. For example, the launching and retrieving device 26 includes a crane for hoisting the underwater mobile robot 14, a winding device for winding up the power supply cable 15 (FIG. 1), and the like.

[0039] The aerial robot charging device 27 is a device for charging the aerial mobile robot 13. The unmanned mother ship 12 is provided with a takeoff and landing port 16 (FIG. 1) from which the aerial mobile robot 13 can take off and land. The aerial mobile robot 13 that has landed on this takeoff and landing port 16 can be charged. In this way, since the aerial mobile robot 13 can be charged on the unmanned mother ship 12, the aerial mobile robot 13 can be inspected over a long period of time.

[0040] The underwater robot power supply device 28 is a device for supplying power to the underwater mobile robot 14. Power can be supplied via a power supply cable 15 (FIG. 1) that extends from the unmanned mother ship 12 to the underwater mobile robot 14. In this way, the underwater mobile robot 14 can receive power from the unmanned mother ship 12, allowing the underwater mobile robot 14 to perform inspections over a long period of time. Note that power supply to the underwater mobile robot 14 includes a mode in which a battery (not shown) mounted on the underwater mobile robot 14 is charged. The power supply cable 15 also includes a signal line for transmitting and receiving signals.

[0041] The ship power receiving device 29 is a device for receiving power from the surface wind power generation device 2. The surface wind power generation device 2 of this embodiment is equipped with a power feeding port 60 capable of feeding power to the unmanned mother ship 12 (FIGS. 5 and 6). The ship power receiving device 29 receives power via the power feeding port 60. In this way, the unmanned mother ship 12 can receive power from the surface wind power generation device 2, and can carry out activities for long periods of time in the vicinity of the surface wind power generation device 2.

[0042] The battery 30 is a device capable of storing power supplied from the power supply port 60 (FIGS. 5 and 6) of the surface wind power generation device 2. This battery 30 stores the power required for the operation of the unmanned mother ship 12, the power required for charging the aerial moving robot 13, and the power required for powering the underwater moving robot 14. The charging and discharging of this battery 30 is controlled by a control device 31.

[0043] The control device 31 comprehensively controls various devices mounted on the unmanned mother ship 12. Furthermore, the autonomous control program of the unmanned mother ship 12 executed by the control device 31 can be rewritten based on control information received from the outside. For example, an administrator (user) at headquarters can rewrite the autonomous control program by remote control. In this way, every time the inspection plan is changed, the autonomous control program of the unmanned mother ship 12 can be rewritten to accommodate the change.

[0044] As shown in FIG. 3, the aerial moving robot 13 includes a communication unit 40, an aerial moving device 41, a flight device 42, an aerial inspection device 43, an aerial robot power receiving device 44, a battery 45, and a control device 46.

[0045] The communication unit 40 is used for communication with the unmanned mother ship 12. This communication is performed wirelessly. The communication unit 40 is also used for communication with a headquarters in a remote location (ground station) via the unmanned mother ship 12. Furthermore, the communication unit 40 is also used for communication with other airborne mobile robots 13.

[0046] The aerial moving device 41 is a device for flying the aerial moving robot 13. For example, the aerial moving device 41 includes a propeller for obtaining hydraulic power in the air, a motor for driving the propeller, and the like.

[0047] The flight device 42 is a device for obtaining information necessary for the flight of the airborne robot 13. For example, the flight device 42 includes a device for obtaining information using at least one of a satellite positioning system, a laser, a camera, a motion sensor, etc. The laser, the camera, and the motion sensor are devices mounted on the airborne robot 13.

[0048] The aerial inspection device 43 is a device required for inspecting the above-water facilities of the above-water wind power generation device 2. For example, it includes a device that obtains information using at least one of a laser, a camera, etc. This aerial inspection device 43 includes an inspection camera, a 3D laser scanner, etc. The inspection camera photographs the exterior of the above-water wind power generation device 2. The 3D laser scanner measures the 3D shape of the surface of the above-water wind power generation device 2.

[0049] The aerial robot power receiving device 44 is a device for receiving power from the unmanned mother ship 12. In this embodiment, an aerial robot charging device 27 is provided at the takeoff and landing port 16 (FIG. 1) of the unmanned mother ship 12, and the aerial robot power receiving device 44 receives power from this aerial robot charging device 27.

[0050] Power is supplied to the aerial mobile robot 13 by a so-called non-contact power supply using an electromagnetic induction method. For example, a power transmission coil (not shown) is provided in the aerial robot charging device 27 of the unmanned mother ship 12, and a power receiving coil (not shown) is provided in the aerial robot power receiving device 44 of the aerial mobile robot 13. Then, power is transmitted from the power transmission coil to the power receiving coil in a non-contact manner. Power may be supplied to the aerial mobile robot 13 from the unmanned mother ship 12 by wire.

[0051] The battery 45 is a device capable of storing power supplied from the unmanned mother ship 12. This battery 45 stores the power necessary for the operation of the aerial mobile robot 13. The charging and discharging of this battery 45 is controlled by a control device 46.

[0052] The control device 46 comprehensively controls various devices mounted on the air-moving robot 13. In addition, the autonomous control program of the air-moving robot 13 executed by the control device 46 can be rewritten based on control information received from the outside.

[0053] In this embodiment, multiple aerial moving robots 13 (FIG. 1) are provided, and the operation of one aerial moving robot 13 is controlled based on information obtained by the other aerial moving robot 13. In this manner, the multiple aerial moving robots 13 can inspect the floating wind power generation device 2 in cooperation with each other.

[0054] For example, one aerial moving robot 13 detects the position of the other aerial moving robot 13 using the flight device 42 or the aerial inspection device 43 (3D laser scanner). It also detects the position of the surface wind power generation device 2. Since one aerial moving robot 13 is located closest to the other aerial moving robot 13 and the surface wind power generation device 2, it can detect their exact positions. Information indicating these positions is sent to the other aerial moving robot 13. Then, the other aerial moving robot 13 can fly by grasping the exact positional relationship with the surface wind power generation device 2.

[0055] As shown in FIG. 4, the underwater moving robot 14 includes a communication unit 50, an underwater moving device 51, a swimming device 52, an underwater inspection device 53, a cleaning device 54, and a control device 55.

[0056] The communication unit 50 is used for communication with the unmanned mother ship 12. This communication is performed by wire. The communication unit 50 is also used for communication with a headquarters in a remote location (ground station) via the unmanned mother ship 12. The communication unit 50 is also used for communication with other underwater mobile robots 14. Note that communication between the underwater mobile robot 14 and the unmanned mother ship 12 may be performed wirelessly. Also, wired communication may be performed when the underwater mobile robot 14 is underwater, and wireless communication may be performed when the underwater mobile robot 14 rises to the water surface.

[0057] The underwater moving device 51 is a device for submerging the underwater moving robot 14. For example, the underwater moving device 51 includes a screw for obtaining propulsive force underwater, a motor for driving the screw, a rudder for determining the direction of travel, ballast for controlling buoyancy, and the like.

[0058] The swimming device 52 is a device for obtaining information necessary for the diving of the underwater moving robot 14. For example, the swimming device 52 includes a device for obtaining information using at least one of a laser, a sonar, a camera, a motion sensor, etc. The laser, the sonar, the camera, and the motion sensor are devices mounted on the underwater moving robot 14.

[0059] The underwater inspection device 53 is a device required for inspecting the underwater facilities of the floating wind power generation device 2. For example, it includes a device that obtains information using at least one of a laser, a sonar, a camera, etc. This underwater inspection device 53 includes an inspection camera, a 3D laser scanner, etc. The inspection camera photographs the exterior of the floating wind power generation device 2. The 3D laser scanner measures the 3D shape of the surface of the floating wind power generation device 2.

[0060] The cleaning device 54 is a device required for cleaning the underwater facilities of the floating wind power generation device 2. For example, it includes a device that performs cleaning using at least one of a rotating brush, a water jet, and the like. Aquatic organisms such as barnacles attach to the float 8, the mooring line 9, the power transmission cable 10, and the like. The underwater mobile robot 14 uses the cleaning device 54 to periodically clean the surfaces of these underwater facilities.

[0061] The control device 55 comprehensively controls various devices mounted on the underwater moving robot 14. In addition, the autonomous control program of the underwater moving robot 14 executed by the control device 55 can be rewritten based on control information received from the outside.

[0062] In this embodiment, multiple underwater moving robots 14 (FIG. 1) are provided, and the operation of one underwater moving robot 14 is controlled based on information obtained by the other underwater moving robot 14. In this manner, the multiple underwater moving robots 14 can inspect the surface wind power generation device 2 in cooperation with each other.

[0063] For example, one underwater moving robot 14 detects the position of the other underwater moving robot 14 using the swimming device 52 or the underwater inspection device 53 (3D laser scanner). It also detects the position of the surface wind power generation device 2. One underwater moving robot 14 is closest to the other underwater moving robot 14 and the surface wind power generation device 2, so it can detect their exact positions. Information indicating these positions is sent to the other underwater moving robot 14. The other underwater moving robot 14 can then grasp the exact positional relationship with the surface wind power generation device 2 and perform submersion.

[0064] 5 shows an example of a ship-based power receiving device 29 using a power supply structure. A power supply port 60 is provided on the outer circumferential surface of the tower 7 of the floating wind power generation device 2. The ship-based power receiving device 29 includes an overbridge 62 supported on the unmanned mother ship 12 via a suspension 61, and a power receiving port 63 provided at the tip of the overbridge 62. The unmanned mother ship 12 comes alongside the floating wind power generation device 2 to receive a supply of power.

[0065] Power is supplied to the unmanned mother ship 12 in a so-called non-contact manner using an electromagnetic induction method. For example, a power transmission coil (not shown) is provided at the power supply port 60 of the surface wind power generation device 2, and a power receiving coil (not shown) is provided at the power receiving port 63 of the unmanned mother ship 12. Then, power is transmitted from the power transmission coil to the power receiving coil in a non-contact manner.

[0066] FIG. 6 shows a modified example of the ship-type power receiving device 29. In this modified example, an example is illustrated in which the airborne mobile robot 13 carries a power receiving port 63. For example, a power supply port 60 from which the airborne mobile robot 13 can take off and land is provided on the outer circumferential surface of the tower 7 of the water-based wind power generating device 2. Furthermore, the power receiving port 63 of the unmanned mother ship 12 is connected to a power receiving cable 64. Here, the airborne mobile robot 13 carries the power receiving port 63 and lands on the power supply port 60. Then, power is sent from the power supply port 60 to the unmanned mother ship 12.

[0067] In this modified example, the airborne robot 13 transports the power receiving port 63 to the power supply port 60, but other configurations are also possible. For example, the power supply port 60 may be provided on the outer peripheral surface of the float 8 of the surface wind power generating device 2, and the underwater mobile robot 14 may transport the power receiving port 63 to the power supply port 60.

[0068] In this embodiment, the unmanned mother ship 12 receives power from the water-based wind power generation device 2, but other configurations are also possible. For example, the unmanned mother ship 12 may be equipped with a solar cell panel, and the unmanned mother ship 12 may receive power from the solar cell panel (not shown).

[0069] In this embodiment, the unmanned mother ship 12 is operated by the battery 30, but other configurations are also possible. For example, the unmanned mother ship 12 may be equipped with a diesel generator and may operate using power supplied from this diesel generator.

[0070] In this embodiment, both the aerial moving robot 13 and the underwater moving robot 14 as unmanned moving robots are mounted on the unmanned mother ship 12, but other configurations are also possible. For example, a configuration in which either the aerial moving robot 13 or the underwater moving robot 14 is mounted on the unmanned mother ship 12 may be used.

[0071] In this embodiment, an example is shown in which the unmanned mobile robot can be launched from the unmanned mother ship 12 and can be recovered (landed) on the unmanned mother ship 12, but other configurations are also possible. For example, the unmanned mobile robot may only be launched from the unmanned mother ship 12 and not be recovered by the unmanned mother ship 12. In other words, the unmanned mobile robot may be of a disposable type.

[0072] In this embodiment, the floating wind power generation device 2 is installed on the ocean 3, but other configurations are also possible. For example, the floating wind power generation device 2 may be installed on a lake. In other words, the term "floodwater" includes the meanings of both on the sea and on the lake.

[0073] In this embodiment, the floating wind power generation device 2 is an upwind propeller type wind turbine that is a lifting type wind turbine and a horizontal axis wind turbine, but other configurations are also possible. For example, the floating wind power generation device 2 may be a downwind propeller type wind turbine. The floating wind power generation device 2 may be a Darrieus type wind turbine, a Gyromill type wind turbine, or a vertical wing type wind turbine that is a lifting type wind turbine and a vertical axis wind turbine. The floating wind power generation device 2 may be a Savonius type wind turbine, a paddle type wind turbine, a crossflow type wind turbine, or an S-rotor type wind turbine that is a drag type wind turbine and a vertical axis wind turbine. The floating wind power generation device 2 may be a Magnus type wind turbine that is a lifting type wind turbine and a horizontal axis wind turbine or a vertical axis wind turbine.

[0074] Each of the control devices 31, 46, and 55 of the present embodiment is configured as a computer having hardware resources such as a processor (control unit) and a memory (storage unit), and in which information processing by software is realized using the hardware resources by the CPU executing various programs. Furthermore, the unmanned inspection method of the present embodiment is realized by having the computer execute various programs.

[0075] In this embodiment, the control devices 31, 46, and 55 automatically control various devices, but other configurations are also possible. For example, the control devices 31, 46, and 55 may control various devices by receiving input operations from an administrator (user) of the unmanned inspection system 1. In other words, the control devices 31, 46, and 55 may be remote control devices for controlling various devices through manual operations by the administrator.

[0076] The system of this embodiment includes a control device with a highly integrated processor such as a dedicated chip, a Field Programmable Gate Array (FPGA), a Graphics Processing Unit (GPU), or a Central Processing Unit (CPU), a storage device such as a Read Only Memory (ROM) or a Random Access Memory (RAM), an external storage device such as a Hard Disk Drive (HDD) or a Solid State Drive (SSD), a display device such as a display, an input device such as a mouse or a keyboard, and a communication interface. This system can be realized with a hardware configuration using a normal computer.

[0077] The program executed by the system of this embodiment is provided in advance in a ROM, etc. Alternatively, this program may be provided by being stored in a computer-readable non-transitory storage medium such as a CD-ROM, CD-R, memory card, DVD, or flexible disk (FD) in the form of an installable or executable file.

[0078] The programs executed by this system may be stored on a computer connected to a network such as the Internet and provided by downloading them via the network. This system may also be configured by combining separate modules that independently perform the functions of the components and connect them to each other via a network or dedicated lines.

[0079] According to the embodiment described above, by providing an unmanned mother ship that can navigate unmanned on the water through autonomous control or remote operation, can transport an unmanned mobile robot, and from which the unmanned mobile robot can launch, the costs associated with inspecting an floating wind power generation device can be reduced.

[0080] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, modifications, and combinations can be made without departing from the spirit of the invention. These embodiments or modifications thereof are within the scope of the invention and its equivalents as described in the claims, as well as within the scope and spirit of the invention. [Explanation of symbols]

[0081] 1...unmanned inspection system, 2...floating wind power generation device, 3...ocean, 4...hub, 5...blade, 6...nacelle, 7...tower, 8...floating body, 9...mooring line, 10...power transmission cable, 11...seabed, 12...unmanned mother ship, 13...airborne mobile robot, 14...underwater mobile robot, 15...power supply cable, 16...takeoff and landing port, 20...communication unit, 21...ship movement device, 22...navigation device, 23...wind turbine position detection device, 24...airborne position detection device, 25...underwater position detection device, 26...launch and recovery device, 27...airborne robot charging equipment, 28...underwater robot power supply device, 29...ship power receiving device, 30...battery, 31...control device, 40...communication unit, 41...aerial movement device, 42...flight device, 43...aerial inspection device, 44...aerial robot power receiving device, 45...battery, 46...control device, 50...communication unit, 51...underwater movement device, 52...swimming device, 53...underwater inspection device, 54...cleaning device, 55...control device, 60...power supply port, 61...suspension, 62...overbridge, 63...power receiving port, 64...power receiving cable.

Claims

1. An unmanned mobile robot capable of moving unmanned in the air or underwater by autonomous control or remote control and capable of inspecting a floating wind power generation device; an unmanned mother ship capable of autonomously navigating on water by autonomous control or remote control, capable of transporting the unmanned mobile robot, and from which the unmanned mobile robot can launch; Equipped with A plurality of the unmanned mobile robots are provided, and the operation of one of the unmanned mobile robots is controlled based on information obtained by the other unmanned mobile robot; One of the unmanned mobile robots is configured to detect the position of the other unmanned mobile robot and the position of the water-based wind power generation device using at least one of a laser, a sonar, a camera, and a three-dimensional laser scanner, and to transmit information indicating the position of the other unmanned mobile robot and the position of the water-based wind power generation device to the other unmanned mobile robot. Unmanned inspection system.

2. The water-based wind turbine generator includes a power supply port capable of supplying power to the unmanned mother ship, The unmanned mother ship is equipped with a battery capable of storing power supplied from the power supply port. The unmanned inspection system according to claim 1 .

3. the unmanned mother ship is provided with a position detection device for detecting the position of at least the unmanned mobile robot; The unmanned mobile robot grasps its own position based on information indicating the position of the unmanned mobile robot transmitted from the unmanned mother ship.

3. An unmanned inspection system according to claim 1 or 2.

4. The position detection device detects the position of the water-based wind power generation device, and the relative position of the water-based wind power generation device and the unmanned mobile robot is measured based on the unmanned mother ship, and the position of the unmanned mobile robot is controlled based on the relative position. The unmanned inspection system according to claim 3.

5. The unmanned mother ship relays communications between the unmanned mobile robot and a device in a remote location. The unmanned inspection system according to any one of claims 1 to 4.

6. The autonomous control program of the unmanned mother ship is rewritable based on control information received from an external source. The unmanned inspection system according to any one of claims 1 to 5.

7. At least one of the unmanned mobile robots is an aerial mobile robot capable of flying in the air, The unmanned mother ship is: a takeoff and landing port on which the aerial mobile robot can take off and land; A charging device for charging the aerial mobile robot; Equipped with The unmanned inspection system according to any one of claims 1 to 6.

8. At least one of the unmanned mobile robots is an underwater mobile robot capable of navigating underwater, The unmanned mother ship is: a throwing and recovering device for throwing the underwater mobile robot into water or recovering it from water; a power supply device that supplies power to the underwater mobile robot; Equipped with The unmanned inspection system according to any one of claims 1 to 7.

9. An unmanned mother ship capable of autonomously navigating on water by autonomous control or remote control transports an unmanned mobile robot capable of autonomously moving in the air or underwater by autonomous control or remote control, The unmanned mobile robot departs from the unmanned mother ship and inspects the floating wind power generation device.

1. A method comprising: A plurality of the unmanned mobile robots are provided, and the operation of one of the unmanned mobile robots is controlled based on information obtained by the other unmanned mobile robot; one of the unmanned mobile robots detects the position of the other of the unmanned mobile robots and detects the position of the surface wind power generation device using at least one of a laser, a sonar, a camera, and a three-dimensional laser scanner, and transmits information indicating the position of the other of the unmanned mobile robots and the position of the surface wind power generation device to the other of the unmanned mobile robots; Unmanned inspection method.

Images