Inspection Equipment

Abstract

To provide an inspection device capable of solving a problem of conventional technology without relying on a diver as well as grasping a position of a detected abnormal place and the like.SOLUTION: An inspection device for inspecting an ocean wind power generation facility includes an unmanned probe, image acquiring means, and underwater positioning means. The underwater positioning means has a transceiver installed on the ocean wind power generation facility and measures the position of the unmanned probe when the image acquiring means captures based on a signal received by the transceiver. Then, the state of exterior appearance of each facility composing the ocean wind power generation facility can be determined from an inspection image included in video acquired by the image acquiring means.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an inspection technique for offshore wind power generation facilities, and more specifically, to an inspection device that can inspect each element of an offshore wind power generation facility using an unmanned exploration vehicle that can move underwater by remote control. [Background technology]

[0002] Although electricity consumption in Japan temporarily began to decline due to the impact of the global financial crisis in 2008, it has been increasing continuously since the oil shock of 1973, expanding 2.6 times between fiscal 1973 and fiscal 2007. Behind this increase can be attributed the spread of so-called home appliances such as air conditioners and electric carpets as living standards improved, and the spread of office automation (OA) equipment and communication devices as the number of office buildings increased.

[0003] Until now, the main source of electricity generation has been oil, coal, and other fossil fuels. However, in recent years, attention has been focused on the depletion of fossil fuels and environmental issues associated with global warming, and power generation methods have gradually changed in response. As a result, while oil and coal accounted for approximately 90% of total power generation around 1973, as mentioned above, this proportion had fallen to 66% by 2010. Instead, nuclear power generation has increased, accounting for just over 10% of the total (as of 2010). Nuclear power generation has a significant effect on reducing greenhouse gas emissions compared to conventional power generation methods, and it can provide electricity at low cost, making it a major contributor to Japan's electricity demand.

[0004] Furthermore, power generation methods using renewable energy sources are also being adopted because they can reduce greenhouse gas emissions. Renewable energy is literally energy that can be reproduced, such as solar, wind, geothermal, small and medium-sized hydroelectric power, and woody biomass, and is expected to be a promising low-carbon energy source because it reduces greenhouse gas emissions and can be produced domestically.

[0005] Among renewable energy sources, wind power generation has the advantage of being highly efficient in converting electrical energy. Generally, the conversion efficiency of solar power generation is approximately 20%, woody biomass power generation is approximately 20%, and geothermal power generation is 10-20%, while wind power generation is said to be 20-40%, making it more efficient at converting energy into electricity than other power generation methods. Another advantage of wind power generation is that, unlike solar power generation, it can generate electricity day and night. Due to these characteristics, wind power generation is already widely used as a major power generation method in Europe, and in Japan, as part of its "energy mix" initiative, it aims to account for 1.7% of the power generation mix by 2030.

[0006] Wind power generation can be broadly divided into onshore and offshore wind power generation depending on the location of installation, with onshore wind power generation being easier to install than offshore wind power generation and therefore having the advantage of being able to keep costs down. On the other hand, offshore wind power generation does not have the noise problems that onshore wind power generation has, it avoids the risk of damage from falling over, and above all has the advantage of being able to obtain greater wind power stably than onshore. Japan, which has the sixth largest exclusive economic zone in the world, is an ideal location for offshore wind power generation and is thought to have the potential to become a promising producer of renewable energy in the future.

[0007] Furthermore, different types of offshore wind turbines are adopted depending on the installation location, with bottom-fixed offshore wind turbines being suitable for waters shallower than 50 meters, and floating offshore wind turbines being suitable for waters deeper than 50 meters. Of these, floating offshore wind turbines use floats that float on seawater, and a power generation mechanism is installed on the float connected by mooring lines, and electricity is generated by this power generation mechanism. Floating types include barge type, semi-submersible type, spar type, and tension leg platform (TLP) type.

[0008] Figure 8 is a side view showing a schematic diagram of a spar-type offshore wind power generation facility. As shown in this figure, a spar-type offshore wind power generation facility consists of a spar-type floating structure that floats in the sea, and a tower, rotor, nacelle, and other components installed on top of it. The tower is a structure that supports the rotor and nacelle, and the spar-type floating structure functions as the tower's base. The rotor, which consists of blades and a hub, converts wind into power, which is then converted into electricity by the nacelle, which includes a gearbox, generator, transformer, and other components, and transmits the power to land via power cables (dynamic cables and submarine cables). Spar-type floating structures are generally moored by the weight of catenary-shaped mooring lines.

[0009] Europe was one of the first countries to take on offshore wind power, and fixed-bottom offshore wind farms have already been constructed, particularly along the coast of the North Sea, where shallow waters are widespread. In contrast, Japan, unlike Europe, lacks the shallow waters suitable for fixed-bottom offshore wind power, making floating offshore wind power a promising option. In fact, in recent years, there has been active research into floating offshore wind power, and projects aimed at realizing this, such as demonstration experiments, are currently underway. New technologies related to floating offshore wind power have also been proposed. For example, Patent Document 1 proposes an effective technique for manufacturing spar-type floaters, and Patent Document 2 proposes an effective technique for erecting spar-type floaters at sea. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] Japanese Patent Publication No. 2022-001474 [Patent Document 2] Japanese Patent Publication No. 2022-014509 Summary of the Invention [Problem to be solved by the invention]

[0011] Offshore wind power generation is naturally required to provide electricity over a long period of time, meaning that the facilities will be in operation for a long time. Therefore, offshore wind power generation facilities must be maintained in good condition, and to that end, periodic and extraordinary inspections are essential. For example, the "Guidelines for Floating Offshore Wind Power Generation Facilities (ClassNK)" stipulates that periodic and extraordinary inspections be conducted after operation, and lists various inspection items, such as confirming the installation positions of the floating facility and seabed mooring points, inspecting the current length of the mooring lines, and measuring the wear and tear of the mooring lines. The guidelines also stipulate that skilled divers or approved underwater inspection robots must be used to operate underwater cameras and underwater televisions.

[0012] However, conventional inspection methods, including the guidelines mentioned above, have not provided specific technology for determining the location of the inspected area. As a result, even if divers or underwater inspection robots detect an abnormality and acquire images of it, it is difficult to determine its location, making it difficult to take countermeasures. One option would be to install a satellite receiver for a Global Navigation Satellite System (GNSS) on a workboat and use the workboat as the base for positioning, but this would require the workboat to be departed every time an inspection is carried out, which would slow down the start of inspections and would not lead to cost reductions.

[0013] There are also several problems with inspections by divers. The spar-type floats used in floating offshore wind turbines can have a draft of around 100 meters, making it extremely difficult for divers to comprehensively inspect them. Diving restrictions also reduce work efficiency and pose safety issues. Furthermore, diving to the seabed to confirm the installation location of the seabed mooring points (anchors) requires diving to the seabed, which is unrealistic from the perspective of diver safety. While it is possible to install permanent inspection equipment at each facility without relying on divers, this inspection method is unlikely to be viable, as it is likely to malfunction or be damaged whenever severe weather and ocean conditions occur, such as during typhoons.

[0014] The object of the present invention is to solve the problems associated with the prior art, that is, to provide an inspection device that can identify the location of detected abnormalities without relying on divers. [Means for solving the problem]

[0015] The present invention was made based on an unprecedented idea, focusing on the use of an unmanned exploration vehicle that moves underwater by remote control, and the ability to perform inspections while measuring the position of the unmanned exploration vehicle as it moves underwater.

[0016] The inspection device of the present invention is a device for inspecting offshore wind power generation facilities and includes an unmanned exploration vehicle, an image acquisition means, and an underwater positioning means. The unmanned exploration vehicle is a remotely controlled device capable of moving underwater. The image acquisition means is mounted on the unmanned exploration vehicle and acquires still and video images, while the underwater positioning means is a device for measuring the position of the unmanned exploration vehicle as it moves underwater. The underwater positioning means includes a transceiver (a device that transmits signals to the unmanned exploration vehicle and receives signals from the unmanned exploration vehicle) installed on the offshore wind power generation facility (particularly, the floating body), and measures the position of the unmanned exploration vehicle when the image acquisition means captured the image based on the signal received by the transceiver. The external condition of each facility (e.g., floating body) constituting the offshore wind power generation facility can be determined from the inspection images included in the video (or still images) acquired by the image acquisition means.

[0017] The inspection device of the present invention may further include an image analysis means that automatically detects abnormalities in each facility (e.g., floating structure) that constitutes the offshore wind power generation facility by inputting inspection images into a trained model constructed by machine learning.

[0018] The inspection device of the present invention can further include satellite receiving means installed on the floating body. In this case, the position of the unmanned exploration vehicle (for example, coordinates of the Japanese Geodetic System or the World Geodetic System) can be determined based on the position of the satellite receiving means calculated by the global positioning satellite system and the signal received by the transmitter / receiver.

[0019] The inspection device of the present invention can further include a laser irradiation means mounted on the unmanned exploration vehicle. This laser irradiation means is a means for irradiating two laser beams with a predetermined width. In this case, the image acquisition means acquires an image of the mooring ropes of the offshore wind power generation facility (floating structure) irradiated with the laser by the laser irradiation means. Then, by comparing the mooring ropes in the image acquired by the image acquisition means with the two laser beams, the degree of wear of the mooring ropes can be determined.

[0020] The inspection device of the present invention can further include an inclination measurement means mounted on the unmanned vehicle and having an inclination sensor. The operator can control the position and attitude of the inclination sensor by remotely operating it while checking the images acquired by the image acquisition means. The operator can then measure the inclination of the mooring line by bringing the inclination sensor close to the mooring line of the offshore wind power generation facility (floating body) and tilting the inclination sensor to match the inclination of the mooring line.

[0021] The inspection device of the present invention can further include a magnetic exploration means mounted on the unmanned exploration vehicle. This magnetic exploration means is capable of detecting anchors attached to mooring lines of an offshore wind power generation facility (floating body). In this case, the underwater positioning means can measure the position of the unmanned exploration vehicle when the magnetic exploration means detects the anchor. The installed position of the anchor can then be determined by the magnetic exploration means and the underwater positioning means.

[0022] The inspection device of the present invention can also be configured such that a hangar for accommodating an unmanned exploration vehicle is provided in the underwater portion of an offshore wind power generation facility (particularly a floating body). In this case, the unmanned exploration vehicle launches from the hangar when an inspection is performed, and is stored in the hangar when not being inspected. [Effects of the Invention]

[0023] The inspection device of the present invention has the following effects. (1) Since offshore wind power generation facilities can be inspected accurately, safely, and at low cost, the sound condition of the facilities can be maintained. (2) Since it is possible to inspect each facility while knowing the location of the unmanned probe, it is possible to identify the location of any detected abnormalities, and therefore it is possible to take measures without difficulty. (3) Since inspections can be carried out without relying on divers, it is possible to inspect a wide area, including the seabed mooring points, and work can be carried out efficiently without being subject to diving restrictions. (4) By providing a hangar to house the unmanned exploration vehicle, it is possible to reduce breakdowns and damage even in severe weather and sea conditions such as during typhoons, and inspections can be carried out quickly and in a timely manner without the need to depart for each inspection. [Brief explanation of the drawings]

[0024] [Figure 1] 1 is a side view schematically showing a situation in which a floating offshore wind power generation facility is inspected using the inspection device of the present invention. FIG. [Figure 2] 1 is a block diagram showing the main configuration of an inspection device according to the present invention; [Figure 3] FIG. 1(a) is a side view showing a schematic diagram of a situation where positioning is performed using a transponder, and FIG. 1(b) is a partial cross-sectional view showing a schematic diagram of a satellite receiving means. [Figure 4] (a) is a side view showing the laser irradiation means irradiating the mooring line with a laser, and (b) is a model diagram showing the inspection image taken with two lasers superimposed on the mooring line. [Figure 5]FIG. 10 is a side view schematically showing a situation in which the inclination measuring means is measuring the inclination angle of the mooring rope. [Figure 6] FIG. 10 is a side view schematically showing a situation in which the magnetic exploration means is measuring the installation position of the anchor. [Figure 7] (a) is a cross-sectional view showing a schematic of an unmanned probe launching from a hangar, and (b) is a cross-sectional view showing a schematic of an unmanned probe stored in a hangar. [Figure 8] FIG. 1 is a side view schematically showing a spar-type offshore wind power generation facility. DETAILED DESCRIPTION OF THE INVENTION

[0025] An example of an embodiment of an inspection device of the present invention will be described with reference to the drawings.

[0026] Figure 1 is a side view that schematically illustrates the situation in which an offshore wind power generation facility (particularly a floating offshore wind power generation facility) is inspected using the inspection device of the present invention. As shown in this figure, the inspection device of the present invention is capable of performing various inspections by acquiring images with image acquisition means 102 mounted on unmanned exploration vehicle 101 while the unmanned exploration vehicle 101 moves underwater. For convenience, the images acquired by image acquisition means 102 during inspection will be referred to as "inspection images."

[0027] The inspection device of the present invention can inspect various parts of an offshore wind power generation facility, for example, to check the appearance of the floater FB that makes up the floating offshore wind power generation facility, and the appearance of the dynamic cable DC (underwater power transmission cable) including the intermediate buoy BM, and can also determine the wear of the mooring rope ML of the floater FB, measure the inclination of the mooring rope ML, and measure the installation position of the anchor AC.

[0028] 2 is a block diagram showing the main components of the inspection device 100 of the present invention. As shown in this figure, the inspection device 100 of the present invention is configured to include an unmanned exploration vehicle 101, image acquisition means 102, and underwater positioning means 103, and can also be configured to include satellite reception means 104, laser irradiation means 105, tilt measurement means 106, magnetic exploration means 107, image analysis means 108, model generation means 109, inspection image storage means 110, and trained model storage means 111.

[0029] Among the main components of the inspection device 100, the image analysis means 108 and the model generation means 109 can be manufactured as dedicated components or can be general-purpose computers. This computer includes a processor such as a CPU, memory such as ROM and RAM, input means such as a mouse and keyboard, and a display. It can be configured as a personal computer (PC), a server, a tablet PC such as an iPad (registered trademark), or a mobile device such as a smartphone. The inspection image storage means 110 and the trained model storage means 111 can be configured as general-purpose computer storage devices or as a database server. When configured as a database server, they can be placed on a local network (LAN) or as a cloud server that stores data via the Internet. The image acquisition means 102 can acquire still images and videos, and can be configured as a digital video camera, digital camera, smartphone, tablet PC, or the like.

[0030] Below, each of the main elements constituting the inspection device 100 of the present invention will be described in detail.

[0031] (Unmanned Probe) The unmanned exploration vehicle 101 is an ROV (Remotely Operated Vehicle), also known as an underwater drone, and is a mobile body that can move underwater by remote control. Various conventional ROVs can be used as the unmanned exploration vehicle 101, and it is particularly suitable to use an ultra-small ROV (for example, a mass of 30 kg or less). The unmanned exploration vehicle 101 is also equipped with a transmitter 103B, laser irradiation means 105, tilt measurement means 106, and magnetic exploration means 107, as will be described later, and can move underwater with these means installed.

[0032] (Underwater positioning means) The underwater positioning means 103 measures the position of the unmanned exploration vehicle 101 moving underwater, and can employ various conventional positioning methods, such as laser positioning, photogrammetry, radio wave positioning, or transponder positioning. As shown in Figure 3(a), a transponder is a technology that uses a transmitter / receiver 103A installed on the floating body FB (particularly the underwater portion) and a transmitter 103B mounted on the unmanned exploration vehicle 101 to measure the position of the transmitter 103B (i.e., the unmanned exploration vehicle 101). The following describes the positioning procedure using a transponder.

[0033] When transceiver 103A transmits a specific acoustic signal, a query signal SQ, transmitter 103B receives the query signal SQ and transmits a response signal SR, which is then received by transceiver 103A. The distance between transceiver 103A and transmitter 103B is calculated based on the time transceiver 103A transmitted the query signal SQ and the time transceiver 103A received the response signal SR. If the position coordinates (three-dimensional coordinates) of transceiver 103A are known and transceivers 103A are placed at three or more locations, three types of spheres can be defined, and the intersections of these spheres can be calculated as the position coordinates (three-dimensional coordinates) of transmitter 103B. Alternatively, if transceiver 103A can grasp the direction (direction in three-dimensional space) of the query signal SQ and the response signal SR, the position coordinates of transmitter 103B can be calculated using a single transceiver 103A.

[0034] Even if the position coordinates of the transceiver 103A are known, the position of the floating body FB changes due to rocking and other factors, which in turn changes the position of the transceiver 103A. Therefore, satellite receiving means 104 can be installed on the floating body FB (particularly in the air) to measure its position using a global positioning system (GNSS). Figure 3(b) is a partial cross-sectional view schematically illustrating the satellite receiving means 104, showing an example in which the global positioning system (GPS) is used among the GNSS. As shown in this figure, the satellite receiving means 104 can be configured to include an RTK (Real Time Kinematic)-GPS antenna 104A, a GPS compass antenna 104B, and a motion sensor 104C. The RTK-GPS antenna 104A and the GPS compass antenna 104B receive radio waves from satellites, allowing the position coordinates (three-dimensional coordinates) of the satellite receiving means 104 to be determined, and the motion sensor 104C can identify the rocking of the satellite receiving means 104. By knowing in advance the relative positions of the satellite receiving means 104 and the transceiver 103A on the floating body FB, it is possible to determine the position coordinates of the transceiver 103A based on the position coordinates of the satellite receiving means 104, and as a result, it is possible to determine the position coordinates of the transmitter 103B (i.e., the unmanned exploration vehicle 101). Note that the spatial calculation process for calculating such position coordinates can be carried out by transmitting various data (such as transmission and reception times) from the transceiver 103A and the satellite receiving means 104 to a computing device (e.g., a PC) on land via wireless (or wired) communication means, and then having the computing device execute the process.

[0035] (Image acquisition means) The image acquisition means 102 mounted on the unmanned exploration vehicle 101 is capable of acquiring still images and videos underwater, and can be a digital camera, a digital video camera, or a smartphone. The image acquisition means 102 can be configured to capture images continuously (periodically) while the unmanned exploration vehicle 101 is moving underwater, or to capture still images and videos in response to remote control by an operator on land or on a ship. When capturing images in response to remote control, it is preferable that the images captured by the image acquisition means 102 be displayed in real time on a display or the like, allowing the operator to perform remote control while checking the situation. Furthermore, the unmanned exploration vehicle 101 may be equipped with lighting means capable of illuminating the capture range. The inspection images captured by the image acquisition means 102 are then stored in the inspection image storage means 110. When storing the inspection images, the images can be stored directly in the inspection image storage means 110 configured in the image acquisition means 102, or the inspection images can be transmitted from the image acquisition means 102 via wireless (or wired) communication means to the inspection image storage means 110 on land and stored therein.

[0036] Furthermore, it is advisable to store the inspection image in the inspection image storage means 110 in association with (linked to) the time of its acquisition (photography). The underwater positioning means 103 measures the position of the unmanned exploration vehicle 101 at relatively short intervals and records the time of measurement. Therefore, by comparing the acquisition time of the inspection image with the position measurement time of the unmanned exploration vehicle 101, it is possible to determine the position of the unmanned exploration vehicle 101 when the inspection image was acquired (hereinafter referred to as the "photography position"), i.e., the position of the inspection object. As a result, for example, when an inspection image is acquired to observe the appearance of the floating body FB, the photography position (planar position and height) can be determined, and therefore the position (planar position and height) of any abnormalities or the like on the floating body FB can be determined.

[0037] (Laser irradiation means) The laser irradiation means 105 mounted on the unmanned exploration vehicle 101 irradiates the inspection target (particularly the mooring line ML) with a laser LS as shown in Figure 4(a), irradiating two laser beams LS with a predetermined width. The laser irradiation means 105 can be configured to irradiate continuously (periodically) while the unmanned exploration vehicle 101 is moving underwater, or to irradiate the laser LS in response to remote control by an operator on land or on a ship. When irradiating in response to remote control, it is preferable to display the image captured by the image acquisition means 102 on a display or the like in real time, allowing the operator to check the situation while performing remote operation.

[0038] The width of the two laser beams LS emitted by the laser irradiation means 105 should be set to a dimension equivalent to the normal (healthy) wall thickness of the mooring line ML (the rings that make up the chain) when captured in an inspection image. By doing so, when capturing an image with the two laser beams LS overlapping the mooring line ML, the extent of wear on the mooring line ML can be determined from the inspection image. For example, in Figure 4(b), the overlapping portion of the mooring line ML's links is smaller than the width of the two laser beams LS, which indicates that wear has progressed to a certain extent. Since the underwater positioning means 103 determines the photographing position, the position of the mooring line ML captured in the inspection image can also be determined. In the example of Figure 4, the laser beam LS is irradiated onto the overlapping portion of the mooring line ML (generally, the portion most susceptible to wear), but of course, the laser beam LS can be irradiated onto any portion of the mooring line ML for photographing.

[0039] (Inclination measurement means) The inclination measurement means 106 mounted on the unmanned exploration vehicle 101 measures the inclination angle of the inspection object (particularly the mooring line ML) as shown in Figure 5. Using the measured inclination angle of the mooring line ML, the tension acting on the mooring line ML can be calculated, and the soundness of the mooring line ML can be evaluated. As shown in this figure, the inclination measurement means 106 can be configured with an inclination sensor 106A that measures the inclination angle, an extendable arm 106B, and a ruler bar 106C attached to the tip of the arm 106B. The ruler bar 106C is a rod-shaped member made, for example, of an angle iron, and the inclination sensor 106A is fixed to one part of it. The procedure for measuring the inclination angle of the mooring line ML using the inclination measurement means 106 shown in Figure 5 is described below.

[0040] The image captured by the image acquisition means 102 is displayed in real time on a display or the like, and an operator on land or on a ship remotely controls the unmanned exploration vehicle 101 to approach the target mooring line ML. When the unmanned exploration vehicle 101 approaches the mooring line ML to a certain extent, the operator remotely controls the unmanned exploration vehicle 101 while checking the image on a display or the like to extend the arm 106B, bringing the ruler bar 106C into contact with the mooring line ML. The operator also controls the attitude of the unmanned exploration vehicle 101 (or the arm 106B) to align the inclination of the mooring line ML with that of the ruler bar 106C. When the ruler bar 106C is aligned with the mooring line ML, the inclination sensor 106A records the measured value (i.e., the inclination angle of the mooring line ML). At this time, the position of the unmanned exploration vehicle 101 is determined by the underwater positioning means 103, so the measured position of the mooring line ML can also be determined. When recording the measured value of the tilt sensor 106A, the measured value may be transmitted from the tilt sensor 106A via wireless (or wired) communication means to a storage means on land for storage.

[0041] (Magnetic exploration methods) The magnetic exploration means 107 mounted on the unmanned exploration vehicle 101 measures the installation position of the inspection target (particularly, the anchor AC) as shown in FIG. 6. As shown in this figure, the anchor AC may be partially or completely buried in the seabed, making it difficult to find the anchor AC using the image acquisition means 102. Therefore, the installation position of the anchor AC is measured using the magnetic exploration means 107. The magnetic exploration means 107 starts exploration in response to remote control performed by an operator on land or on a ship. At this time, it is preferable that the image captured by the image acquisition means 102 is displayed on a display or the like in real time, allowing the operator to perform remote operation while checking the situation. Alternatively, the unmanned exploration vehicle 101 can be designed to constantly (periodically) measure while moving underwater and record the measurement results along with the measurement time.

[0042] The installation position of anchor AC is determined from the position of the unmanned exploration vehicle 101 when the magnetic exploration means 107 measures a magnetic field of a predetermined strength, i.e., when it discovers anchor AC. As explained so far, the position of the unmanned exploration vehicle 101 is determined by the underwater positioning means 103. The inspection device 100 can also be equipped with an alert means that notifies an operator on land or on a ship when the magnetic exploration means 107 measures a magnetic field of a predetermined strength. In this case, the alert means installed in the unmanned exploration vehicle 101 can be configured to transmit information about the discovery of anchor AC to an output means on land or on a ship via wireless (or wired) communication means.

[0043] (Image analysis method) The image analysis means 108 is a means for determining the appearance of the floating body FB and the dynamic cable DC, including the intermediate buoy BM, captured in the inspection image. It automatically detects abnormalities by inputting the inspection image into the "trained model" generated by the model generation means 109. This trained model is generated by machine learning a large number of "training data" consisting of appearance images of the floating body FB, etc., in a normal state and in an abnormal state. In particular, since the dynamic cable DC and the intermediate buoy BM may be subject to an unexpected amount of marine life adhering to them, causing the cable DC to settle on the bottom and resulting in partial damage to the exterior, it is advisable to use inspection images of the dynamic cable DC and the intermediate buoy BM with a large amount of marine life adhering to them as training data for machine learning. The machine learning used to generate the trained model can employ various conventional machine learning techniques, including deep learning such as convolutional neural networks (CNN). The trained model generated by the model generation means 109 is stored in the trained model storage means 111.

[0044] (Hangar) The hangar 112 is a space provided in the underwater portion of the floating body FB, and is capable of accommodating the unmanned exploration vehicle 101. It may also be equipped with an opening / closing door DR that opens and closes in response to remote control by an operator on land or on a ship. As shown in FIG. 7(a), when inspection begins, the opening / closing door DR is opened and the unmanned exploration vehicle 101 departs from the hangar 112, and when inspection is completed, the unmanned exploration vehicle 101 moves to the hangar 112. Then, as shown in FIG. 7(b), the opening / closing door DR is closed once the unmanned exploration vehicle 101 is accommodated in the hangar 112. Therefore, when not being inspected, the unmanned exploration vehicle 101 is always accommodated in the hangar 112.

[0045] The hangar 112 when housing the unmanned exploration vehicle 101 can be structured to be filled with seawater, or it can be a so-called dry structure that prevents seawater from entering. If the hangar 112 is structured to be filled with seawater, the opening and closing door DR may be a fence-like structure, or the hangar 112 may not have an opening and closing door DR at all. On the other hand, if the hangar 112 is structured to be dry, the hangar 112 is sealed by the opening and closing door DR, and further provided with a pump or the like that forcibly drains seawater that enters when the opening and closing door DR is opened. Furthermore, if the hangar 112 has a dry structure, it can also be provided with a facility for charging the unmanned exploration vehicle 101. Note that while FIG. 7(b) shows an outlet as the charging facility, various charging facilities can be installed, such as a charging panel that charges the unmanned exploration vehicle 101 when it is placed thereon.

[0046] (Example of use) An example of inspecting an offshore wind power generation facility using the inspection device 100 of the present invention will be described. First, the opening and closing door DR is opened and the unmanned exploration vehicle 101 is launched from the hangar 112. Images captured by the image acquisition means 102 are then displayed in real time on a display on land or on a ship, and the operator remotely controls the unmanned exploration vehicle 101 while checking the situation.

[0047] When the image acquisition means 102 acquires an inspection image of the appearance of the floating body FB, the inspection image is transmitted from the image acquisition means 102 to the image analysis means 108 on land (or on a ship), and the inspection image is input into the trained model to determine whether the appearance of the floating body FB is normal or abnormal. At this time, since the photographing position is determined by the underwater positioning means 103, the position of the floating body FB that has been determined to be normal / abnormal can be grasped.

[0048] When an operator on land or on a ship checks the mooring line ML displayed on the display, an inspection image is acquired with two lasers LS superimposed on the mooring line ML. The inspection image is then transmitted from the image acquisition means 102 to the display, and the operator determines the degree of wear of the mooring line ML from the inspection image. At this time, the underwater positioning means 103 has determined the photographing position, so the determined position of the mooring line ML can be ascertained.

[0049] When an operator on land or on board checks the mooring line ML displayed on the display, they remotely operate the arm 106B and the unmanned vehicle 101 to control the ruler bar 106C so that it is aligned with the mooring line ML. The value measured by the inclination sensor 106A at that time (i.e., the inclination angle of the mooring line ML) is then recorded, and the tension acting on the mooring line ML is calculated based on the measurement value to evaluate its soundness. At this time, the position of the unmanned vehicle 101 is determined by the underwater positioning means 103, so the measured position of the mooring line ML can be determined.

[0050] When the unmanned exploration vehicle 101 moves to the vicinity of the initial (or previous inspection) anchor AC, an operator on land or on board remotely controls it to start measurements using the magnetic exploration means 107, and when the magnetic exploration means 107 measures a magnetic field of a predetermined strength, it records this as the installation position of the current anchor AC. At this time, since the position of the unmanned exploration vehicle 101 has been determined by the underwater positioning means 103, the installation position of the anchor AC can also be determined.

[0051] When the series of inspections is completed, the unmanned exploration vehicle 101 is moved to the hangar 112, and the opening and closing door DR is closed with the unmanned exploration vehicle 101 housed in the hangar 112. [Industrial Applicability]

[0052] The inspection device of the present invention can be used for various floating offshore wind turbines, including spar-type, barge-type, semi-submersible, tension-moored, etc. The present invention enables accurate, low-cost, and safe inspection of offshore wind turbines, which in turn allows the maintenance of a healthy state of the facility. This is expected to provide a more positive incentive for offshore wind turbines, and ultimately, considering the need to provide a stable supply of energy while reducing greenhouse gas emissions, the present invention can be said to be an invention that can be expected to not only be used industrially but also to make a significant contribution to society. [Explanation of symbols]

[0053] 100 Inspection equipment 101 Unmanned Probe 102 Image acquisition means 103 Underwater positioning means 103A Transmitter / Receiver 103B Transmitter 104 Satellite Receiving Means 104A RTK-GPS antenna 104B GPS Compass Antenna 104C Motion Sensor 105 Laser irradiation means 106 Inclination measuring means 106A Inclination Sensor 106B Arm 106C Ruler Bar 107 Magnetic exploration methods 108 Image Analysis Methods 109 Model Generation Method 110 Inspection image storage means 111 Learned model storage means Hangar 112 AC Anchor BM Intermediate Buoy DC Dynamic Cable FB Float LS Laser ML mooring line SQ Interrogation signal SR Response Signal

Claims

1. An apparatus for inspecting an offshore wind power generation facility, An unmanned exploration vehicle that can move underwater by remote control, an image acquisition means mounted on the unmanned exploration vehicle for acquiring still images or videos; an underwater positioning means for measuring the position of the unmanned exploration vehicle moving underwater; a laser irradiation means mounted on the unmanned exploration vehicle, the underwater positioning means is installed at the offshore wind power generation facility and has a transceiver that transmits signals to the unmanned exploration vehicle and receives signals from the unmanned exploration vehicle; The underwater positioning means is capable of measuring the position of the unmanned exploration vehicle when the image acquisition means captured an image based on the signal received by the transceiver, The external appearance of the facilities constituting the offshore wind power generation facility can be determined from the inspection image included in the still image or video acquired by the image acquisition means, the laser irradiation means irradiates two laser beams with a predetermined width, the image acquisition means acquires an image of the mooring rope of the offshore wind power generation facility irradiated with the laser by the laser irradiation means, By comparing the mooring line in the image acquired by the image acquisition means with the two lasers, it is possible to determine the wear of the mooring line. An inspection device characterized by:

2. An apparatus for inspecting an offshore wind power generation facility, An unmanned exploration vehicle that can move underwater by remote control, an image acquisition means mounted on the unmanned exploration vehicle for acquiring still images or videos; an underwater positioning means for measuring the position of the unmanned exploration vehicle moving underwater; a tilt measuring means mounted on the unmanned exploration vehicle and having a tilt sensor; the underwater positioning means is installed at the offshore wind power generation facility and has a transceiver that transmits signals to the unmanned exploration vehicle and receives signals from the unmanned exploration vehicle; The underwater positioning means is capable of measuring the position of the unmanned exploration vehicle when the image acquisition means captured an image based on the signal received by the transceiver, The external appearance of the facilities constituting the offshore wind power generation facility can be determined from the inspection image included in the still image or video acquired by the image acquisition means, an operator can remotely control the position and attitude of the tilt sensor while checking the image acquired by the image acquisition means; An operator can measure the inclination of the mooring line by bringing the inclination sensor close to the mooring line of the offshore wind power generation facility and tilting the inclination sensor to match the inclination of the mooring line. An inspection device characterized by:

3. An apparatus for inspecting an offshore wind power generation facility, An unmanned exploration vehicle that can move underwater by remote control, an image acquisition means mounted on the unmanned exploration vehicle for acquiring still images or videos; an underwater positioning means for measuring the position of the unmanned exploration vehicle moving underwater; a magnetic exploration means mounted on the unmanned exploration vehicle; the underwater positioning means is installed at the offshore wind power generation facility and has a transceiver that transmits signals to the unmanned exploration vehicle and receives signals from the unmanned exploration vehicle; The underwater positioning means is capable of measuring the position of the unmanned exploration vehicle when the image acquisition means captured an image based on the signal received by the transceiver, The external appearance of the facilities constituting the offshore wind power generation facility can be determined from the inspection image included in the still image or video acquired by the image acquisition means, the magnetic exploration means is capable of detecting anchors attached to mooring lines of the offshore wind power generation facility; the underwater positioning means is capable of measuring the position of the unmanned exploration vehicle when the magnetic exploration means detects the anchor; The installation position of the anchor can be measured by the magnetic exploration means and the underwater positioning means. An inspection device characterized by:

4. Further provided is an image analysis means for automatically detecting abnormalities in facilities constituting the offshore wind power generation facility by inputting the inspection image into a trained model constructed by machine learning.

4. An inspection device according to claim 1, wherein the inspection device is a device for inspecting a vehicle.

5. The offshore wind power generation facility further includes a satellite receiving means installed therein, determining the position of the unmanned exploration vehicle based on the position of the satellite receiving means calculated by a global positioning satellite system and the signal received by the transceiver; 5. An inspection device according to claim 1.

6. a hangar for accommodating the unmanned exploration vehicle is provided in a portion of the offshore wind power generation facility that is located underwater; When performing inspection, the unmanned exploration vehicle launches from the hangar, and when not performing inspection, the unmanned exploration vehicle is stored in the hangar.

6. An inspection device according to claim 1.

Images