Inspection system and inspection methods

Abstract

The purpose of this disclosure is to provide an inspection system for properly inspecting wind power generation equipment. The inspection system 100 disclosed herein includes: a communication unit 17, which is installed in the wind power generation equipment W1 and communicates with a fixed-wing unmanned aerial vehicle 20; and a control unit 18, which controls the actuators of the wind power generation equipment W1; and when the blades 14a, 14b, and 14c of the wind power generation equipment W1 are rotating, the control unit 18 coordinates and controls the unmanned aerial vehicle 20 to photograph the blades 14a with the camera 22 of the unmanned aerial vehicle 20.

Description

Technical Field

[0001] This disclosure relates to an inspection system and inspection method. Prior Technology

[0002] Regarding the inspection of blades in wind power generation equipment, for example, the technology described in Patent Document 1 is known. That is, Patent Document 1 describes "an unmanned aerial vehicle that performs a hovering maneuver in the air near the rotor blade of a wind turbine device, and obtains information on the deformation of the blade by means of onboard sensors, and obtains information on the wind speed at its own position". [Previous Technical Documents] [Patent Literature]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-090145 Summary of the Invention

[0004] [The problem the invention aims to solve] Patent document 1 describes the use of unmanned aerial vehicles (UAVs) capable of hovering, but does not describe the technology for properly testing wind power generation equipment using fixed-wing UAVs.

[0005] Therefore, the subject of this disclosure is to provide an inspection system for properly inspecting wind power generation equipment. [Technical means to solve the problem]

[0006] To solve the above problems, the inspection system disclosed herein includes: a communication unit installed in the wind power generation equipment for communication with a fixed-wing unmanned aerial vehicle; and a control unit for controlling the actuators of the wind power generation equipment; and the control unit coordinates and controls the unmanned aerial vehicle when the blades of the wind power generation equipment are rotating and the camera of the unmanned aerial vehicle is used to photograph the blades. [Effects of the Invention]

[0007] According to this disclosure, an inspection system suitable for inspecting wind power generation equipment can be provided. Simple Explanation of the Diagram

[0008] Figure 1 is an illustration of the situation when an unmanned aerial vehicle flies sequentially over multiple wind power generation devices in the test system of the implementation mode. Figure 2 is an explanatory diagram of the inspection system in its implementation form. Figure 3 is a functional block diagram of the wind power generation equipment in the implementation form of the inspection system. Figure 4 is a functional block diagram of the unmanned aerial vehicle (UAV) of the implementation form of the inspection system. Figure 5 is an illustration of the situation when unmanned aerial vehicles fly sequentially above wind power generation equipment in the test system of the implementation mode. Figure 6 is an explanatory diagram showing the situation when an unmanned aerial vehicle sequentially photographs the blades of a wind power generation device in the implementation of the inspection system. Figure 7 shows the sequence of data exchange between the wind power generation equipment and the unmanned aerial vehicle in the implementation test system. Figure 8 is an illustration of the data sent from the wind power generation equipment to the unmanned aerial vehicle in the implementation of the test system. Figure 9 is an illustration of the data sent from the unmanned aerial vehicle to the wind power generation equipment in the implementation of the test system. Figure 10 is a sequence diagram showing another example of data exchange between wind power generation equipment and unmanned aerial vehicles in an implementation-type inspection system. Figure 11 is an explanatory diagram related to the life diagnosis of wind power generation equipment blades in the implementation inspection system. Figure 12A is an explanatory diagram showing the relationship between load and deflection of the blades of a wind power generation device when they are in normal condition in an inspection system of the implementation form. Figure 12B is an explanatory diagram showing the relationship between load and deflection when there is an abnormality in the blade of a wind power generation device in the inspection system of the implementation mode. Figure 13A shows a front view of the unmanned aerial vehicle passing over the rotor surface of a wind power generator in the inspection system of the implementation configuration. Figure 13B shows a top view of the unmanned aerial vehicle passing over the rotor surface of a wind power generator in the implementation of the inspection system. Figure 14 is a sequence diagram showing the data exchange between the wind power generation equipment and the unmanned aerial vehicle during emergency avoidance in the test system of the implementation mode. Figure 15 shows the sequence of data exchange between the wind power generation equipment, the unmanned aerial vehicle, and the computer in the test system of the variation example. Implementation

[0009] ≪Implementation Forms≫ Figure 1 is an illustration of the situation when the unmanned aerial vehicle 20 flies sequentially over a plurality of wind power generation devices W1, W2, and W3 in the test system of the implementation mode. The wind power generation device W1 shown in Figure 1 generates electricity by rotating blades 14a, 14b, and 14c in sync with the wind (the other wind power generation devices W2 and W3 are similar). Figure 1 shows an example of wind power generation devices W1, W2, and W3 installed at sea, but it is not limited to this; this embodiment can also be applied to the inspection of onshore wind power generation devices.

[0010] The wind power generating devices W1, W2, and W3 can be configured for either upwind or downwind operation. The upwind configuration involves positioning the blades relative to the tower on the windward side. The downwind configuration involves positioning the blades relative to the tower on the downwind side. Each wind power generating device W1, W2, and W3 measures wind direction, wind speed, and real-time solar radiation and cloud positions. Furthermore, the wind power generating devices W1, W2, and W3 establish appropriate two-way communication with the unmanned aerial vehicle 20 described below.

[0011] Unmanned aerial vehicle 20 refers to a fixed-wing aircraft that operates under automatic control (e.g., a fixed-wing drone). Compared to rotary-wing drones, this type of fixed-wing unmanned aerial vehicle 20 can fly over long distances and for extended periods, making it easier to inspect wind power generation equipment in remote areas such as mountainous regions or at sea. Furthermore, aircraft possessing both fixed wings and propellers, capable of vertical takeoff and landing, are also included in the category of "fixed-wing unmanned aerial vehicles."

[0012] The unmanned aerial vehicle (UAV) 20 determines its position by receiving radio waves from navigation satellites of the Global Navigation Satellite System (GNSS). In addition to seasonal or regional weather information, the flight path of UAV 20 is appropriately set based on wind conditions observed by wind power generation devices W1, W2, and W3, or historical temperature distribution of the surrounding sea surface and land surface. Furthermore, UAV 20 can be equipped with a propeller or jet engine (not shown), or it can be a glider without power. When UAV 20 is a glider, it is taken off using a tow truck (not shown) or a wire towing device (not shown).

[0013] As the unmanned aerial vehicle 20 passes sequentially over wind power generation equipment W1, W2, and W3, it takes pictures of each blade 14a, 14b, and 14c. The photographic images of blades 14a, 14b, and 14c are appropriately used for subsequent diagnostics.

[0014] <The Composition of an Inspection System> Figure 2 is an explanatory diagram of the inspection system 100. Additionally, in Figure 2, illustrations of wind power generating devices W2 and W3 (refer to Figure 1) are omitted, but the structure and processing of these wind power generating devices W2 and W3 are the same as those of wind power generating device W1 in Figure 2. The inspection system 100 shown in Figure 2 is a system used to inspect the blades 14a, 14b, and 14c of wind power generating devices W1, etc. In this embodiment, the camera 22 of the unmanned aerial vehicle 20 photographs each blade 14a, 14b, and 14c, and based on the photographic images and specified wind turbine operation data, diagnoses whether there are any abnormalities in the blades 14a, 14b, and 14c. This inspection system 100 is composed of a communication unit 17 and a control unit 18 of the wind power generating device W1, etc., an unmanned aerial vehicle 20, and a computer 30 at the base station.

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

[0016] Tower 11 is a vertically extending support. Nacelle 12, housing a speed increaser (not shown), generator (not shown), or power converter (not shown), is located on the upper side of tower 11. Hub 13 is the portion at the root of blades 14a, 14b, and 14c, rotating integrally with blades 14a, 14b, and 14c. Blades 14a, 14b, and 14c are rotating blades that convert wind energy into rotational energy (kinetic energy). The integrally rotating hub 13 and blades 14a, 14b, and 14c are collectively referred to as the "rotor."

[0017] Furthermore, as the aforementioned "rotor" rotates, a generator (not shown) generates electricity, which is then converted by a power converter (not shown) and transmitted via a power cable (not shown). Additionally, the wind power generation device W1 includes a rotor brake (not shown). The rotor brake is an actuator used to apply a specified braking force to the rotation of the aforementioned "rotor."

[0018] The yaw control motor 15 shown in Figure 2 is an actuator used to control the yaw angle of blades 14a, 14b, and 14c. The "yaw angle" indicates the rotational position of the nacelle 12 relative to the tower 11, and is adjustable within the range of 0° to 360°. During the operation of the wind power generation equipment W1, the yaw angle is appropriately adjusted so that the rotating surfaces (rotor surfaces) of blades 14a, 14b, and 14c are nearly perpendicular to the wind direction.

[0019] The pitch control motor 16a is an actuator used to control the pitch angle of the blade 14a. The "pitch angle" is the installation angle of the blade 14a relative to the central axis of the hub 13, adjustable within the range of 0° to 90°. The larger the pitch angle, the greater the degree of wind escape from the blade 14a. During the operation of the wind power generation equipment W1, the pitch angle is adjusted appropriately based on the wind direction and speed at all times. Similarly, the pitch angles of the other blades 14b and 14c are individually adjusted using the pitch control motors 16b and 16c.

[0020] The communication unit 17 is designated to communicate with the fixed-wing unmanned aerial vehicle 20. This communication can also be bidirectional using simple digital wireless communication, for example. Furthermore, designated communication can also be established between the communication unit 17 of the wind power generator W1 and the computer 30 at the base station. Although the communication unit 17 is shown on the outside of the wind power generator W1 in Figure 2, it is actually located inside the wind power generator W1 (the control unit 18 described below is similar). The wind power generator W1 also includes an anemometer, although not shown, which measures wind direction and speed at all times.

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

[0022] As shown in Figure 2, the unmanned aerial vehicle 20 includes a fuselage 21, a camera 22, a transceiver unit 23, a processing unit 24, a battery 25, and a recording medium 26. The fuselage 21 has a pair of main wings 21a (fixed wings) on the left and right sides. The camera 22 is used to photograph the blades 14a, 14b, and 14c of the wind power generation equipment W1, and is installed at a designated location on the fuselage 21. For example, a camera 22 with a high-magnification zoom lens or a tilting mechanism may be used.

[0023] The transceiver unit 23 conducts designated wireless communication with the communication unit 17 of the wind power generation equipment W1. Furthermore, the transceiver unit 23 also conducts designated wireless communication with the base computer 30. In addition to a processor such as a CPU (Central Processing Unit), the processing unit 24 is composed of electronic circuits including ROM (Read Only Memory), RAM (Random Access Memory), and various interfaces. Furthermore, the processor executes various processes by expanding the program read from the ROM onto the RAM.

[0024] Battery 25 is a secondary battery used to supply power to camera 22, transceiver unit 23, or processing unit 24. Recording medium 26 records data received from wind power generation equipment W1 or photographic images taken by camera 22. After the unmanned aerial vehicle 20 returns to the base station, the user removes recording medium 26 and connects it to computer 30 at the base station. The data stored in recording medium 26 is used for analysis by computer 30.

[0025] As shown in Figure 2, the base station computer 30 includes a memory unit 31, an input unit 32, a processing unit 33, and a display unit 34. The memory unit 31 stores pre-stored programs and appropriately stores data read from the recording medium 26. The input unit 32 accepts input operations specified by the user. The processing unit 33 executes specified processing based on the programs stored in the memory unit 31. The display unit 34 displays the processing results of the processing unit 33.

[0026] Alternatively, computer 30 can pre-set the flight path from the takeoff point of unmanned aerial vehicle (UAV) 20 to the wind power generation device W1. For example, computer 30 predicts the location of updraft generation based on information including map data, meteorological data, and measured values ​​of surface temperature or sea surface temperature. Here, computer 30 ensures that the flight path from the UAV 20's takeoff point to the wind power generation device W1 includes the location of updraft generation. UAV 20 takes off at the location of updraft generation (utilizing the updraft to gain altitude). This reduces the energy consumption required for UAV 20's flight.

[0027] Figure 3 is a functional block diagram of wind power generation equipment W1. As shown in Figure 3, the wind power generation device W1, in addition to the aforementioned communication unit 17 or control unit 18, also has a memory unit 19. In addition to pre-stored specified programs, the memory unit 19 appropriately stores the measured values ​​of the wind direction and speed meter (not shown) or data received from the unmanned aerial vehicle 20 (see Figure 2).

[0028] As described above, the communication unit 17 performs designated communication with the unmanned aerial vehicle 20 (see Figure 2) or the computer 30 (see Figure 2). The control unit 18 includes a power generation control unit 18a, a wind condition prediction unit 18b, a coordination control unit 18c, and a diagnostic unit 18d. The power generation control unit 18a controls each actuator or power converter (not shown) in a way that effectively generates wind power. The wind condition prediction unit 18b predicts the wind conditions near the wind power generation equipment W1 based on the real-time measurements of the wind direction and speed gauge (not shown), and derives control command values ​​for each actuator based on the prediction results.

[0029] During the rotation of the blades of the wind turbine W1, when the camera 22 (see Figure 2) of the unmanned aerial vehicle 20 (UAV 20) is photographing the blades, the coordination control unit 18c (i.e., the control unit 18) performs designated coordination control with the UAV 20. Further details regarding the coordination control are described below.

[0030] The diagnostic unit 18d diagnoses whether there are any abnormalities in the blades of the wind power generation equipment W1. The diagnostic results of the diagnostic unit 18d are stored in the memory unit 19 and then appropriately sent to the computer 30 at the base station via the network (see Figure 2).

[0031] Figure 4 is a functional block diagram of the unmanned aerial vehicle 20. As shown in Figure 4, in addition to the aforementioned camera 22, transceiver unit 23 or processing unit 24, and recording medium 26, the unmanned aerial vehicle 20 also has a memory unit 27. The memory unit 27 stores not only pre-stored specified programs but also control data for the unmanned aerial vehicle 20.

[0032] As shown in Figure 4, the processing unit 24 includes a flight control unit 24a, a path setting unit 24b, and a photography control unit 24c. The flight control unit 24a performs specified controls to enable the unmanned aerial vehicle (UAV) 20 to fly. The path setting unit 24b sets the flight route (path) of the UAV 20. Furthermore, the flight route from the UAV 20's takeoff point to the wind turbine site can also be preset by the computer 30 (see Figure 2), as described above. On the other hand, the flight route of the UAV 20 when sequentially photographing the blades of a plurality of wind turbines W1, W2, and W3 (see Figure 1) is set sequentially within the UAV 20 at relatively short intervals. The photography control unit 24c sets the photographing sequence when sequentially photographing the blades of the wind turbines W1, W2, and W3, and the camera 22 performs the photographing according to this sequence.

[0033] Figure 5 is an explanatory diagram showing the situation when the unmanned aerial vehicle 20 flies sequentially above the wind power generation equipment W1, W2, and W3. Additionally, the left side of Figure 5 shows the flight path of the unmanned aerial vehicle 20 as viewed from above. Furthermore, the right side of Figure 5 shows the azimuth angle of the unmanned aerial vehicle 20 as it sequentially passes over wind turbines W1, W2, and W3 (i.e., when photographing the blades). Here, "azimuth angle" indicates the angle of rotation of the rotor, including the hub 13 and blades 14a, 14b, and 14c, in one rotation. For example, the azimuth angle when the height of the blade tip, as a reference, reaches its highest point can also be set to 0°.

[0034] The azimuth angle for photographing a specific blade of wind power generation equipment W1 is appropriately set in wind power generation equipment W1 (the same applies to other wind power generation equipment W2 and W3). That is, when the unmanned aerial vehicle 20 passes over the blade of the photographing object, the azimuth angle for photographing is set in such a way that the camera 22 (see Figure 2) appropriately photographs the blade.

[0035] The unmanned aerial vehicle (UAV) 20 receives wind turbine operation data, including the azimuth angle of wind turbine W1, and sets its flight path or attitude when passing over wind turbine W1 (the same applies to other wind turbines W2 and W3). Furthermore, while passing over wind turbines W1 to W3, the UAV 20 sequentially photographs the blades of the subjects. As described above, since the UAV 20 is a fixed-wing aircraft and cannot hover (stop in mid-air), it photographs while moving with the wind.

[0036] Figure 6 is an explanatory diagram showing the situation when the unmanned aerial vehicle 20 sequentially photographs the blades of wind power generation equipment W1 and W2. Additionally, the upper part of Figure 6 is a front view including wind power generation devices W1 and W2, and the lower part of Figure 6 is a top view including wind power generation devices W1 and W2. Furthermore, the area indicated by the dots on the upper part of Figure 6 (the triangular area) represents the field of view of the camera 22 of the unmanned aerial vehicle 20 (see Figure 2).

[0037] In this embodiment, the blades 14a, 14b, and 14c of wind power generation devices W1 and W2 are rotated while the camera 22 of the unmanned aerial vehicle 20 (see Figure 2) photographs the designated blades. Therefore, it is not necessary to stop the rotation of the blades 14a, 14b, and 14c during the photographing process. Thus, in addition to suppressing the reduction of power generation of wind power generation devices W1 and W2, the time or effort required for inspection can be saved.

[0038] For example, when photographing the blade 14a of the wind turbine W1, the camera 22 (see Figure 2) is positioned so that the shadow of the unmanned aerial vehicle 20 does not fall on the blade 14a, allowing for a shot of the blade 14a with the light source behind it. Alternatively, the main subject of the camera 22 can be the unmanned aerial vehicle 20, or it can be the wind turbine W1 with the blade 14a as the subject of the photograph.

[0039] In the example of Figure 6, the unmanned aerial vehicle (UAV) 20 passes at a position higher than the rotor surface R1 (the rotating surface of blades 14a, 14b, and 14c) of the wind turbine W1. For example, when photographing blade 14a of the wind turbine W1, the blade 14a is positioned nearly horizontally. Furthermore, the UAV 20 photographs approximately the entire frontal and lateral surface of blade 14a in a single shot. Additionally, since sunlight illuminates blade 14a during photography, no additional photographic light source is required. This reduces the energy consumption of the UAV 20.

[0040] After photographing the blade 14a of wind turbine W1, the unmanned aerial vehicle (UAV) 20 moves to another wind turbine W2 and photographs the blade 14a of the target while passing over it. Furthermore, the control unit 18 of wind turbine W2 (see Figure 2) adjusts the azimuth angle during the photographing sequence to ensure the blade 14a is in a suitable direction for photography, thus coordinating control with the UAV 20. This azimuth angle is adjusted not only by controlling the generated power (controlling the load rate of the power converter (not shown)) but also by the rotor brake (not shown).

[0041] In the example shown on the upper side of the paper in Figure 6, by adjusting the azimuth angle during photography, the blades 14a, 14b, and 14c change from the position of the dashed line (the position before azimuth angle adjustment) to the position of the solid line. In this way, the camera 22 of the UAV 20 (refer to Figure 2) can clearly photograph the blade 14a of the photographed object.

[0042] On the other hand, the UAV 20 sets its flight path by using the camera point of blade 14a when the azimuth angle of the wind turbine W2 reaches a suitable value for photography. In the example shown on the lower side of Figure 6, the UAV 20 passes the wind turbine W1 in a diagonally backward manner, then makes a designated turn, and then passes another wind turbine W2 in a diagonally forward manner. Since the longer the turning radius, the closer the movement path of the UAV 20 is to a straight line, the UAV 20 arrives at the camera point of the wind turbine W2 earlier. For example, the UAV 20 adjusts the aforementioned turning radius by using the designated camera point when the azimuth angle of the wind turbine W2 reaches a suitable value for photography.

[0043] Thus, as the UAV 20 passes sequentially over a plurality of wind turbines W1, W2, and W3 (see Figure 1), it photographs the front and side surfaces of designated blades. Then, the UAV 20 flies in a reversing manner, passing sequentially over the plurality of wind turbines W3, W2, and W1, photographing the front and side surfaces of blades different from the first photographed blade, or photographing the back surface of designated blades. Furthermore, for each wind turbine, it photographs the front and back surfaces of each of the three blades 14a, 14b, and 14c (a total of six surfaces).

[0044] In addition to the site information, serial number, and blade number of the wind power generation equipment, the photographic images obtained by camera 22 are associated with data showing which side of the blade was photographed (front or back), and are also associated with the wind turbine operation data during the photographing process, as described later. The images are stored on recording medium 26 (see Figure 2).

[0045] Figure 7 shows the sequence of data exchange between the wind power generation equipment W1 and the unmanned aerial vehicle 20. Additionally, Figure 7 shows one wind power generation device W1, but the same process is performed on other wind power generation devices W2 and W3 (see Figure 1). Furthermore, during the processing of steps S101 to S105, the blades 14a, 14b, and 14c (see Figure 6) of the wind power generation devices W1, etc., continue to rotate.

[0046] In step S101, the wind power generation device W1 transmits its wind turbine operation data to the unmanned aerial vehicle 20 via the communication unit 17 (see Figure 2). This wind turbine operation data displays the real-time operating status of the wind power generation device W1. For example, the wind power generation device W1 transmits the wind turbine operation data every second. However, the transmission period of the wind turbine operation data is not limited to every second; it can also be every 0.1 seconds or every few seconds.

[0047] Thus, the control unit 18 of the wind power generation equipment W1 (see Figure 2) sends the wind turbine operation data of the wind power generation equipment W1 to the unmanned aerial vehicle 20 for coordinated control. When the wind power generation equipment W1 receives the wind turbine operation data, in step S102, the unmanned aerial vehicle 20 sets the flight path and shooting sequence when shooting the blades based on the wind turbine operation data.

[0048] Through this coordinated control, the UAV 20 can capture images of the rotating blades from an appropriate position. Therefore, obtaining clear photographic images of the blades improves the accuracy of blade anomaly diagnosis. Furthermore, since fewer re-images are needed, the time required for inspection is reduced, and the energy required for the UAV 20's flight is also decreased.

[0049] In step S103, the unmanned aerial vehicle 20 uses camera 22 (see Figure 2) to photograph the blades of the wind power generation device W1. That is, the unmanned aerial vehicle 20 photographs the blades of the photographed object in a sequence of passing through designated photography points. Furthermore, the type of photographed image may be, for example, an RGB image, but is not limited to this.

[0050] Furthermore, although omitted in Figure 7, the unmanned aerial vehicle 20 establishes a correspondence between the photographic images of the blades and the wind turbine operation data at the time of photographing the blades, and stores them on the recording medium 26 (see Figure 2). The data stored on the recording medium 26 is not only wirelessly transmitted to the wind power generation equipment W1, etc. (S104), but is also appropriately used for analysis by the computer 30 at the base (see Figure 2).

[0051] In step S104, the unmanned aerial vehicle 20 sends information to the wind power generation equipment W1 to establish a correspondence between the photographic images of the blades and the wind turbine operation data at the time the blades were photographed. In step S105, the wind power generation equipment W1 diagnoses whether there are any abnormalities in the blades based on photographic images and windmill operation data. Examples of such blade abnormalities include a decrease in rigidity, but this is not the only one. For example, blade abnormalities also include blade cracking, rusting, or paint cracking. Furthermore, as illustrated in the following variations of this embodiment, blade abnormality diagnosis can also be performed using the local computer 30 (see Figure 2).

[0052] Furthermore, the "communication step" for communication between the communication unit 17 (see Figure 2) of the wind power generator W1 and the fixed-wing unmanned aerial vehicle 20 includes steps S101 and S104 of Figure 7. Also, the "coordination control step" for coordinated control between the control unit 18 (see Figure 2) of the wind power generator W1 and the unmanned aerial vehicle 20 includes step S101 of Figure 7. That is, the processing of step S101 is both a "communication step" and a "coordination control step".

[0053] Figure 8 is an explanatory diagram of data D1 transmitted from wind power generator W1 to unmanned aerial vehicle 20. The data D1 shown in Figure 8 is the wind turbine operation data and other information sent in step S101 above (refer to Figure 7). In the example of Figure 8, data D1 includes wind condition data in addition to wind turbine operation data, but the wind condition data can be appropriately omitted. The reason is that the load acting on the blades of the photographed object can be calculated based on the wind turbine operation data.

[0054] As shown in Figure 8, the data D1 sent from the wind power generation equipment W1 to the unmanned aerial vehicle 20 includes wind turbine operation data and wind condition data of the wind power generation equipment W1. When generating this data D1, a SCADA (Supervisory Control and Data Acquisition) system can also be appropriately used.

[0055] Figure 8 shows the "Site" as the location of the wind power generator W1, i.e., the site identification information. "Unit Number" refers to the serial number of the wind power generator W1 and other units subject to inspection. "Blade Number" is the identification information assigned to the three blades 14a, 14b, and 14c (see Figure 2) of the wind power generator W1. "Time" refers to the time when the specified wind turbine operation data or wind condition data was obtained.

[0056] The wind turbine operation data shown in Figure 8 is the data showing the operating status of the wind power generation equipment W1, etc., when the blades were photographed. In addition, the time of obtaining the wind turbine operation data does not need to be strictly consistent with the time of photographing the blades; it can also be the wind turbine operation data just before or immediately after the photographing (in which case it is also the wind turbine operation data at the time of photographing).

[0057] As shown in Figure 8, the wind turbine operation data, in addition to "azimuth," "yaw angle," and "pitch angle," includes "yaw drive data" or "pitch drive data," "rotation speed," "power generation," "braking torque," and "wind condition-related setting information." Furthermore, the wind condition data includes the measured values ​​of "wind direction" and "wind speed."

[0058] In Figure 8, the "azimuth," "yaw," and "pitch" angles represent, in order, the azimuth, yaw, and pitch angles of the blades of the photographed object at a specified "time." "Yaw drive data" displays the drive status (rate of change of yaw angle) of the yaw control motor 15 (see Figure 2). "Pitch drive data" displays the drive status (rate of change of pitch angle) of the pitch control motors 16a, 16b, and 16c (see Figure 2). "Rotational speed" is the angular velocity in the direction of blade rotation.

[0059] In Figure 8, "Power Generation" refers to the power generation at a specified "time" in the wind power generation equipment W1. "Braking Torque" is the value of the braking torque when the rotor brake (not shown) applies braking force to the blades. "Wind Condition Setting Information" displays the setting information on how the pitch angle, yaw angle, and azimuth angle change according to the wind direction and wind speed at any given time. "Wind Direction" and "Wind Speed" sequentially display the measured values ​​of wind direction and wind speed at a specified "time". When receiving the data D1 shown in Figure 8, the unmanned aerial vehicle 20 (refer to Figure 2) sets a flight path including the designated blade photography points (step S102 in Figure 7) and sets its photography sequence.

[0060] Figure 9 is an explanatory diagram of data D2 sent from the unmanned aerial vehicle to the wind power generation equipment. The data D2 shown in Figure 9 includes the photographic images or windmill operation data sent in step S104 (refer to Figure 7). This data D2 is composed of data D1 in Figure 8, which omits the "setting information for wind conditions" and adds "photographic data".

[0061] As shown in Figure 9, the "photographic data" comprises "photographic position," "camera orientation," and "photographic image." "Photographic position" displays the 3D position of camera 22 (see Figure 2) when photographing a specified blade using camera 22 of the UAV 20 (see Figure 2). "Camera orientation" refers to the orientation of camera 22 when photographing a specified blade, expressed, for example, using well-known Euler angles. "Photographic image" is image data obtained by photographing the blade from a specified point.

[0062] Furthermore, the data exchange between the wind power generation device W1 and the unmanned aerial vehicle 20 is not limited to the example described above (see Figure 7). For example, the data exchange shown in Figure 10 can also be performed.

[0063] Figure 10 is a sequence diagram showing another example of data exchange between wind power generation equipment W1 and unmanned aerial vehicle 20. First, in step S201, the wind power generation device W1 sends data including wind turbine operation data and recommended photography points. This data is sent, for example, every 1 second, every 0.1 seconds, or every few seconds. The recommended photography points display information on the recommended photography position (latitude, longitude, altitude) and photography direction (optical axis direction of the lens of camera 22) for the UAV 20 to photograph a specified blade, and are set by the wind power generation device W1. Specifically, in addition to the latitude, longitude, and altitude of the hub 13 (see Figure 2), or the shape and size of the blades 14a, 14b, and 14c (see Figure 2), the wind power generation device W1 sets the recommended photography points based on the current time (i.e., the position of the sun), the azimuth angle, yaw angle, and pitch angle at the time of photography.

[0064] In step S202, the unmanned aerial vehicle (UAV) 20 sets its flight route, photography sequence, and photography points based on wind turbine operation data or recommended photography locations. Points along the flight route set in step S202 that the UAV 20 passes through at the specified photography sequence become photography points. Incidentally, depending on the UAV 20's position, speed, or wind conditions, there are cases where the UAV 20's photography points differ from the recommended photography points set in the wind power generation equipment W1.

[0065] In step S203, the unmanned aerial vehicle 20 transmits its flight operation data to the wind power generation equipment W1. In addition to the flight path of the unmanned aerial vehicle 20, the flight operation data includes information such as its current position, speed or control status, camera sequence, and camera locations.

[0066] In step S204, the wind power generation equipment W1 performs an accessibility determination related to the unmanned aerial vehicle 20. That is, the wind power generation equipment W1 determines whether the unmanned aerial vehicle 20 can pass through the designated photography point when the azimuth angle of the blades of the photographed object reaches a value suitable for photography. Alternatively, the unmanned aerial vehicle 20 can also perform the accessibility determination in step S204 and send its determination result to the wind power generation equipment W1.

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

[0068] For example, in the reachability determination in step S204, when it is determined that the blade of the photographed object reaches the specified azimuth angle, and the unmanned aerial vehicle 20 can pass through the photographing point, the wind power generation equipment W1 controls the actuator as usual.

[0069] Furthermore, when it is determined that the unmanned aerial vehicle (UAV) 20 cannot pass the photography point directly in time, the control unit 18 of the wind power generation equipment W1 performs the following control: The control unit 18 controls the actuator at a predetermined time later than the start of coordinated control (before S201 begins) to ensure that the azimuth angle of the wind power generation equipment W1 reaches a value suitable for photography, as a form of coordinated control with the UAV 20. In this way, the UAV 20 can pass the photography point at an appropriate timing.

[0070] Furthermore, if it is determined that the UAV 20 passes the photography point too early, the control unit 18 of the wind power generation equipment W1 performs the following control: The control unit 18 controls the actuator at a predetermined time earlier than the start of coordinated control (before S201 begins) to ensure that the azimuth angle of the wind power generation equipment W1 reaches a value suitable for photography, as a form of coordinated control with the UAV 20. In this way, the UAV 20 can pass the photography point at an appropriate timing.

[0071] In step S206, the wind power generation device W1 will send the changed photography time (later or earlier than the initial photography time) to the unmanned aerial vehicle 20. In step S207, the unmanned aerial vehicle (UAV) 20 photographs the blades. Furthermore, the timing of the blade photographs is a modified photographing sequence received from the wind power generation equipment W1. This allows the UAV 20 to photograph designated blades at a time when the azimuth angle of the wind power generation equipment W1 reaches a suitable value for photography.

[0072] In step S208, the unmanned aerial vehicle 20 sends information to the wind power generation equipment W1 to establish a correspondence between the photographic image of the blades and the wind turbine operation data at the time of the photograph (see Figure 9). In step S209, the wind power generation equipment W1 diagnoses whether there are any abnormalities in the blades based on the photographic images of the blades and the wind turbine operation data at the time of the photographs.

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

[0074] Figure 11 is an explanatory diagram related to the life diagnosis of wind power generation equipment blades. The following describes the diagnostic process of the diagnostic unit 18d (see Figure 3) of the wind power generator W1, which performs diagnostics based on photographic images. First, the diagnostic unit 18d calculates the blade deflection based on the photographic images. More specifically, the diagnostic unit 18d compares data D3 (e.g., a photographic image of the blade at rest) obtained beforehand with the photographic image M1 obtained during blade rotation, and calculates the blade deflection through deformation analysis. As a result, using the blade root as a reference (length is zero), the deflection at each position specific to the length of the blade's long side is calculated (Figure G1).

[0075] Furthermore, the diagnostic unit 18d estimates the loads acting on the blades during photography based on wind turbine operating data (see Figure 9). Specifically, in addition to the azimuth, yaw, and pitch angles during photography, the diagnostic unit 18d also calculates the loads acting on the blades during photography based on yaw or pitch drive data, blade rotation speed, generated electricity, and braking torque. Moreover, based on the blade deflection and the loads acting on the blades, the diagnostic unit 18d derives the distribution of blade stiffness (bending stiffness). As shown in Table G2, the stiffness values ​​at each position along the long side of the blade are calculated. These deflection or stiffness values ​​are stored in the memory unit 19.

[0076] Furthermore, as the wind power equipment W1 deteriorates over time due to its extended service life, the blade rigidity gradually decreases, as shown in Figure G3. Also, as shown in Figure G4, based on the blade rigidity value, a value called DEL (Damage Equivalent Load) is calculated. DEL is used as an indicator of the fatigue level of the blade's constituent materials.

[0077] The diagnostic unit, based on the time-dependent changes in DEL (Density Elasticity), identifies the period when a specific DEL value reaches a designated critical limit α (date t2 in Figure G5). This designated critical limit α represents the DEL value at which the leaf's lifespan ends and is preset. Furthermore, date t1 in Figure G5 represents the date the leaf was photographed. Date t2 represents the date the leaf's lifespan ends. This allows for the assessment of the leaf's actual lifespan, thus preventing the replacement of leaves based solely on their service life, even if deterioration is not significant.

[0078] Figure 12A is an explanatory diagram showing the relationship between load and deflection of a wind turbine blade under normal conditions. Furthermore, the horizontal axis of Figure 12A represents the load acting on the blade, while the vertical axis represents the blade deflection. As mentioned above, the blade deflection is calculated based on photographic images of the blade. Additionally, the load acting on the blade is calculated based on wind turbine operation data during the photographing process (see Figure 9).

[0079] Figure 12A shows the normal range for deflection relative to the load. In the example of Figure 12A, the deflection of the blade and the load-specific data P1 are included within the normal range. In this case, since the blade deterioration (reduction in rigidity) is not significant, the diagnostic unit 18d (refer to Figure 3) determines that the blade is normal. Thus, the diagnostic unit 18d diagnoses whether there are any abnormalities in the blade based on the photographic images of the blade and the wind turbine operation data of the wind power generation equipment W1 at the time the blade was photographed.

[0080] Figure 12B is an explanatory diagram showing the relationship between load and deflection when there is an abnormality in the blades of a wind power generation device. In the example of Figure 12B, the data P2 regarding the blade deflection and load-specific parameters deviates from the normal range. In this case, the blade deterioration (reduction in rigidity) is significantly aggravated, so the diagnostic unit 18d (see Figure 3) determines that the blade has an abnormality. Thus, the diagnostic unit 18d diagnoses whether the blade has an abnormality based on the relationship between the blade deflection relative to the shape when the blade is stationary and the load acting on the blade during its rotation. Next, the case of the unmanned aerial vehicle 20 passing through the rotating surface of the blade, i.e., the rotor surface, will be explained.

[0081] Figure 13A shows a front view of the unmanned aerial vehicle 20 passing over the rotor surface R1 of the wind power generator W1. As described above, when photographing a designated blade, the UAV 20 flies at a position above the rotor surface R1 (see Figure 6). However, if the lift of the UAV 20 is insufficient during photography, and no fuel or battery power is used, the UAV 20 will pass over the rotor surface R1 of the blade.

[0082] Alternatively, while fuel or battery power could be used to prevent the UAV 20 from entering the rotor surface R1, it is desirable to minimize energy consumption in preparation for returning to the base. In the example of Figure 13A, although the UAV 20 passes through the rotor surface R1 of the blades, there is no need for the UAV 20 to consume fuel or battery power specifically to compensate for lift. Furthermore, it is also envisioned that during the flight of the UAV 20, an emergency change in wind direction or gusts may occur, causing the UAV 20 to pass through the rotor surface R1.

[0083] Figure 13B shows a top view of the unmanned aerial vehicle 20 passing over the rotor surface R1 of the wind power generation device W1. Furthermore, before the unmanned aerial vehicle 20 passes the rotor surface R1 of the wind power generation device W1, data including the predetermined time and position of passing the rotor surface R1 are transmitted from the unmanned aerial vehicle 20 to the wind power generation device W1. Also, in the example of Figure 13B, the wind blows laterally forward from behind the wind power generation device W1.

[0084] When the unmanned aerial vehicle (UAV) 20 approaches from in front of the wind power generation equipment W1 and passes over the rotor surface R1 of the blade, the control unit 18 (see Figure 2) moves the rotor surface R1 to behind the UAV 20 in such a way that the rotor surface R1 is directly opposite the wind direction (changing the yaw angle). Through this emergency avoidance control, the rotation speed of the blade is slowed down, thus preventing the UAV 20 from contacting the blade.

[0085] Furthermore, the control unit 18 of the wind power generation equipment W1 (see Figure 2) can control the pitch angle by slowing down the rotational speed of the blades when the unmanned aerial vehicle 20 passes over the rotor surface R1, and apply braking force to the rotation of the blades using a rotor brake (not shown). Also, when the unmanned aerial vehicle 20 passes over the rotor surface R1, the control unit 18 can control the power converter (not shown) to increase the generated electricity of the wind power generation equipment W1. In this way, the rotational speed of the blades is slowed down, thus preventing the unmanned aerial vehicle 20 from contacting the blades.

[0086] Figure 14 is a diagram showing the sequence of data exchange between the wind power generation equipment W1 and the unmanned aerial vehicle 20 during emergency avoidance. Furthermore, steps S301 and S302 in Figure 14 are the same as steps S101 and S102 in Figure 7, so they are omitted from the explanation. Also, although omitted in Figure 14, after the processing of step S302, it is determined whether the unmanned aerial vehicle 20 passes through the rotor surface of the wind power generation equipment W1.

[0087] For example, in cases where the lift of the UAV 20 is insufficient, the likelihood of the UAV 20 passing over the rotor surface of the wind power generation device W1 increases when there is an emergency change in wind direction or gusts. In the case where the UAV 20 continues to fly directly and passes over the rotor surface of the wind power generation device W1, in step S303, it is determined that the UAV 20 has passed over the rotor surface.

[0088] Next, in step S304, the unmanned aerial vehicle 20 sends information including the time and position of passing the rotor surface to the wind power generation device W1. Furthermore, when passing the rotor surface, the unmanned aerial vehicle 20 does not need to specifically photograph the blades. This is because the altitude of the unmanned aerial vehicle 20 is lower than during normal photography, and the blades may not be within the field of view of the camera 22 (see Figure 2).

[0089] When the unmanned aerial vehicle (UAV) 20 receives information including the predetermined time and position of the UAV 20 passing the rotor surface, in step S305, the wind power generation equipment W1 performs emergency avoidance control. That is, based on the information including the predetermined time and position of the UAV 20 passing the rotor surface, the control unit 18 of the wind power generation equipment W1 adjusts at least one of the azimuth, yaw, and pitch angles of the blades to avoid contact between the blades and the UAV 20. This slows down (or speeds up) the rotational speed of the blades, thus preventing contact between the UAV 20 and the blades. Additionally, the ground speed or steering can be appropriately changed on the side of the UAV 20 to avoid contact with the blades.

[0090] <Effect> According to this embodiment, the blades of the wind turbine W1 are rotated while the camera 22 of the unmanned aerial vehicle (UAV) 20 photographs the blades. Therefore, compared to temporarily stopping the blades during photography, not only can the reduction in the power generation of the wind turbine W1 be suppressed, but the time or effort required for photography can also be reduced. Furthermore, by using a fixed-wing UAV 20, long-distance and long-duration flights are possible. Also, since operators do not need to go to the site to inspect the blades, the cost or labor required for blade inspection can be reduced.

[0091] Furthermore, according to this embodiment, through coordinated control between the wind power generation device W1 and the unmanned aerial vehicle 20, clear photographic images of each blade can be effectively obtained. This reduces the number of times the blades need to be re-photographed, thus reducing the energy required for the unmanned aerial vehicle 20 to fly.

[0092] Furthermore, in this embodiment, the diagnostic unit 18d calculates the blade deflection based on the photographic image and calculates the blade load based on the wind turbine operation data during the photographing. Thus, the diagnostic unit 18d can accurately diagnose whether there are any abnormalities in the blade based on the relationship between the blade deflection and the load.

[0093] Furthermore, when the unmanned aerial vehicle 20 passes over the rotor surface of the wind power generator W1, the wind power generator W1 controls each actuator to avoid contact between the blades and the unmanned aerial vehicle 20. This reduces the likelihood of the unmanned aerial vehicle 20 contacting the blades, thus improving reliability during testing.

[0094] Examples of Changes The above embodiments have described the inspection system 100 or inspection method disclosed herein, but this disclosure is not limited to these descriptions and various modifications are possible. For example, in the embodiment, the wind power generating equipment W1 is equipped with a diagnostic unit 18d (see Figure 3), which performs abnormal blade diagnosis, but this is not the only embodiment. For example, an external computer 30 (see Figure 2) can also perform abnormal blade diagnosis.

[0095] Figure 15 is a diagram showing the sequence of data exchange between the wind power generation equipment W1, the unmanned aerial vehicle 20, and the computer 30 in the test system of the variation example. Additionally, the external computer 30 is equipped with a diagnostic unit (not shown) for diagnosing any abnormalities in the blades. Furthermore, since the processing sequence of steps S401 to S403 in Figure 15 is the same as that of steps S101 to S103 in the embodiment (see Figure 7), their description is omitted. In step S403, after photographing the blades, in step S404, the UAV 20 sends information to the computer 30 to establish a correspondence between the photographed image and the wind turbine operation data. Alternatively, after the operator removes the recording medium 26 from the UAV 20 (see Figure 2), the recording medium 26 can also be connected to the computer 30. In step S405, the computer 30 uses its diagnostic unit (not shown) to diagnose whether there are any abnormalities in the blades. That is, the diagnostic unit of the computer 30 diagnoses whether there are any abnormalities in the blades based on the wind turbine operation data of the wind power generation equipment W1 and photographic images of the blades. Furthermore, since the processing content of step S405 is the same as that of step S105 in the embodiment (see Figure 7), its description is omitted. The diagnostic results of the computer 30 are correlated with the site information, turbine serial number, or blade number of the wind power generation equipment W1, W2, and W3, and appropriately saved.

[0096] Furthermore, the wind power generation device W1 (see Figure 1) can also transmit wind condition data, including its own wind direction and speed measurements, and wind direction and speed measurements received from other wind power generation devices W2 (see Figure 1) located around it, to the unmanned aerial vehicle (UAV) 20. In this case, the UAV 20 sets its flight path from the wind power generation device W1 to other wind power generation devices W2 based on the aforementioned wind condition data. This allows for highly accurate monitoring of the wind conditions near the wind power generation devices W1 and W2, enabling the UAV 20 to fly effectively using updrafts and other favorable conditions.

[0097] Furthermore, during the flight of the unmanned aerial vehicle 20, data such as surface and sea surface temperature distribution, air velocity, and ground velocity can be collected to record the error between the predicted and actual measured values ​​of airflow near the wind power generation equipment W1, W2, and W3. Moreover, the accuracy of airflow prediction can be improved by appropriately learning from the recorded results using a computer 30 (see Figure 2) equipped with airflow prediction capabilities. In this case, deep learning-based AI (Artificial Intelligence) can also be used for airflow prediction.

[0098] Furthermore, the implementation has described the scenario where the UAV 20 photographs the blades of the wind power generation equipment W1, but it is not limited to this. For example, the UAV 20 can also photograph the tower 11 of the wind power generation equipment W1, etc.

[0099] Alternatively, a specified strain-sensing coating (stress analysis coating) can be applied to the blades of the wind turbine W1. In this case, the unmanned aerial vehicle 20 sets its flight path and photography sequence by having the portion of the blade coated with the strain-sensing coating enter the field of view of the camera 22. Furthermore, the diagnostic unit 18d (see Figure 3) diagnoses whether there are any abnormalities in the blade based on the photographic results.

[0100] Furthermore, this disclosure is not limited to any particular embodiment and includes various variations. For example, the embodiments described in detail are for the purpose of facilitating understanding of this disclosure and are not necessarily limited to all the components described. Also, for any part of the components of an embodiment, other components may be added, deleted, or substituted.

[0101] Furthermore, the aforementioned components, functions, processing units, and processing mechanisms can be partially or entirely implemented in hardware, for example, through integrated circuit design. Additionally, the aforementioned components and functions can also be implemented in software by having a processor interpret and execute the programs that implement each function. Information such as programs, tables, and files that implement each function can be stored in memory, or on recording devices such as hard drives, SSDs (Solid State Drives), or recording media such as IC (Integrated Circuit) cards, SD (Secure Digital) cards, and DVDs (Digital Versatile Disks).

[0102] Furthermore, control lines or information lines are those deemed necessary for the description, but not all control lines or information lines may be shown in the product itself. It can also be assumed that almost all components are actually interconnected.

[0103] 11: Tower 12: Cabin 13: Wheel hub 14a: Leaf blade 14b: Leaf blade 14c: blade 15: Yaw control motor (actuator) 16a: Pitch control motor (actuator) 16b: Pitch control motor (actuator) 16c: Pitch control motor (actuator) 17: Ministry of Communications 18: Control Department 18a: Power Generation Control Department 18b: Wind Forecasting Department 18c: Coordination and Control Department 18d: Diagnostic Department 19: Memory Department 20: Unmanned Aerial Vehicles 21: Body 21a: Main wing (fixed wing) 22: Camera 23: Receiving and Dispatch Department 24: Processing Department 24a: Flight Control Department 24b: Path Setting Department 24c: Photography Control Department 25: Battery 26: Recording Media 27: Memory Department 30: Computer 31: Memory Department 32: Input Section 33: Processing Department 34: Display Section 100: Inspection System D1: Documents D2: Documents D3: Documents G1: Chart G2: Chart G3: Chart G4: Chart G5: Chart M1: Photographic Image P1: Data P2: Documents R1: Rotor surface S101: Procedures (Communication Procedures, Coordination and Control Procedures) S102: Procedures (Coordination and Control Procedures) S103: Steps S104: Steps (Communication Steps) S105: Steps S201: Procedures (Communication Procedures, Coordination and Control Procedures) S202: Steps S203: Steps (Communication Steps) S204: Procedures (Coordination and Control Procedures) S205: Procedures (Coordination and Control Procedures) S206: Procedures (Communication Procedures, Coordination and Control Procedures) S207: Steps S208: Steps (Communication Steps) S209: Steps S301: Procedures (Communication Procedures, Coordination and Control Procedures) S302: Steps S303: Steps S304: Steps (Communication Steps) S305: Procedures (Coordination and Control Procedures) S401: Procedures (Communication Procedures, Coordination and Control Procedures) S402: Steps S403: Steps S404: Steps S405: Steps t1: Date t2: Date W1: Wind power generation equipment W2: Wind power generation equipment W3: Wind power generation equipment

Claims

1. An inspection system comprising: a communication unit disposed on a wind power generation device and capable of communicating with a fixed-wing unmanned aerial vehicle; and a control unit disposed on the wind power generation device and controlling the actuators of the wind power generation device; wherein the control unit coordinates and controls the unmanned aerial vehicle when the blades of the wind power generation device are photographed by a camera of the unmanned aerial vehicle during the rotation of the blades.

2. As in the inspection system of Request 1, wherein the control unit sends the wind turbine operation data of the wind power generation equipment to the unmanned aerial vehicle as the aforementioned coordination control, and the unmanned aerial vehicle sets the flight path and photography sequence when photographing the blades based on the wind turbine operation data.

3. The inspection system of claim 1, wherein the control unit adjusts the azimuth angle of the photographing sequence in such a way that the blades of the photographed object are in a direction suitable for photographing, as the aforementioned coordination control.

4. As in the inspection system of Request 1, wherein the unmanned aerial vehicle sets its flight path by means of photographing the blades when the azimuth angle of the wind power generation equipment reaches a value suitable for photography.

5. The inspection system of claim 1, wherein the control unit controls the actuator in such a manner that the timing of the azimuth angle of the wind power generation equipment reaching a value suitable for photography is later than or earlier than the predetermined time of the timing before the start of the coordination control, so that the unmanned aerial vehicle can pass through the photography point of the blade at a specified timing as the coordination control.

6. The inspection system as described in Request 1, wherein the aforementioned wind power generation equipment or external computer has a diagnostic unit that diagnoses whether the blade is abnormal based on photographic images of the blade and wind turbine operation data of the aforementioned wind power generation equipment at the time the blade was photographed.

7. The inspection system of claim 6, wherein the diagnostic unit diagnoses whether the blade is abnormal based on the relationship between the amount of deflection of the blade relative to its shape when the blade is stopped and the load acting on the blade during the blade's rotation.

8. The inspection system of claim 1, wherein the unmanned aerial vehicle sends its flight operation data to the wind power generation equipment, and the control unit adjusts at least one of the azimuth angle, yaw angle and pitch angle of the blades based on the flight operation data as the aforementioned coordinated control.

9. The inspection system of claim 1, wherein when the unmanned aerial vehicle passes over the rotating surface of the blade, i.e. the rotor surface, it sends information including the passing time and the passing position of the rotor surface to the wind power generation equipment, and the control unit adjusts at least one of the azimuth angle, yaw angle and pitch angle of the blade in a manner to avoid contact between the blade and the unmanned aerial vehicle based on the information.

10. The inspection system of claim 1, wherein when the unmanned aerial vehicle approaches from in front of the wind power generation equipment and passes through the rotating surface of the blade, i.e. the rotor surface, the control unit moves the rotor surface to behind the unmanned aerial vehicle in such a way that the rotor surface is directly opposite the wind direction.

11. The inspection system of claim 1, wherein the control unit controls the pitch angle by slowing down the rotation speed of the blade when the unmanned aerial vehicle passes the rotating surface of the blade, i.e., the rotor surface, and applies braking force to the rotation of the blade by a rotor brake.

12. The inspection system as described in claim 1, wherein the unmanned aerial vehicle establishes a correspondence between the photographic images of the blades and the wind turbine operation data at the time the blades were photographed, and stores them on a recording medium.

13. The inspection system of claim 1, wherein the wind power generation equipment sends wind condition data, including its own wind direction and wind speed measurements, and wind direction and wind speed measurements received from other wind power generation equipment located around it, to the unmanned aerial vehicle, and the unmanned aerial vehicle sets a flight path when moving from the wind power generation equipment to the other wind power generation equipment based on the wind condition data.

14. The inspection system of claim 1, comprising: a computer that predicts the location of updraft generation based on information including map information, meteorological information, and measured values ​​of surface temperature or sea surface temperature; the computer causing the flight path from the takeoff point of the unmanned aerial vehicle to the flight path of the wind power generation equipment to include the location of updraft generation, and the unmanned aerial vehicle taking off at the location of updraft generation.

15. A testing method comprising: a communication step in which a communication unit of a wind power generation device communicates with a fixed-wing unmanned aerial vehicle; and a coordination control step in which a control unit disposed in the wind power generation device and controlling the actuator of the wind power generation device coordinates with the unmanned aerial vehicle when the unmanned aerial vehicle's camera photographs the blades during the rotation of the blades of the wind power generation device.

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