CN102606415B - Wind turbine maintenance system and maintaining method thereof - Google Patents
Wind turbine maintenance system and maintaining method thereof Download PDFInfo
- Publication number
- CN102606415B CN102606415B CN201110447104.3A CN201110447104A CN102606415B CN 102606415 B CN102606415 B CN 102606415B CN 201110447104 A CN201110447104 A CN 201110447104A CN 102606415 B CN102606415 B CN 102606415B
- Authority
- CN
- China
- Prior art keywords
- wind turbine
- robot
- maintenance
- subsystem
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000523 sample Substances 0.000 claims description 11
- 230000000875 corresponding Effects 0.000 claims description 7
- 230000004807 localization Effects 0.000 claims description 7
- 230000003287 optical Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 239000004065 semiconductor Substances 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 230000000712 assembly Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 239000003990 capacitor Substances 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004899 motility Effects 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 210000001513 Elbow Anatomy 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000001105 regulatory Effects 0.000 description 2
- 239000011469 building brick Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000001808 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003247 decreasing Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 230000002708 enhancing Effects 0.000 description 1
- 238000007306 functionalization reaction Methods 0.000 description 1
- 239000000411 inducer Substances 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 230000004301 light adaptation Effects 0.000 description 1
- 230000000051 modifying Effects 0.000 description 1
- 230000003449 preventive Effects 0.000 description 1
- 230000001737 promoting Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000001502 supplementation Effects 0.000 description 1
Abstract
The present invention relates to wind turbine maintenance system and maintaining method thereof.A kind of wind turbine maintenance system is provided, for performing maintenance task in the cabin of wind turbine, this wind turbine maintenance system includes: maintaining robot, this maintaining robot farther includes: detector unit, for identifying the fault in the subsystem in described cabin and producing fault message；Processor unit, is suitable to receive the fault message from described detector unit, and controls described maintaining robot to perform maintenance task；Manipulation arm, for performing described maintenance task to institute's recognition subsystem.On the other hand, it is provided that a kind of method performing maintenance task in wind turbine.
Description
Technical field
The present invention relates to wind turbine maintenance system and maintaining method thereof.
Background technology
Wind turbine the most generally approves it is to promoting the generation of more clean energy resource to make stable contribution.
To this, wind turbine is realizing bigger development, and technology for wind turbines, especially exists
For electrical domain, update.Such as, developing more complicated electric adjustment equipment,
Such as the complicated power semiconductor configuration of power converter.They are generally arranged at wind-force whirlpool
In the cabin (nacelle) of turbine, this cabin is arranged on vertically extending tower.
The development of the power converter being made up of complicated power semiconductor switch adds assembly and occurs
The probability of fault, electric power output can be caused to deteriorate for this or worse situation comes from wind-force
The stopping completely of the power generation of turbine.This is accomplished by developing and implementing suitable maintenance plan,
Stable to keep wind turbine to produce.If assembly breaks down during regular maintenance in addition,
Can cause before attendant arrives, turbine, with the horizontal operation reduced, cannot the most at all
Work.
It is contemplated that seek the enhancing feasible for the offer of current maintenance schedule scheme.
Summary of the invention
According to an aspect of the present invention, it is provided that a kind of wind turbine maintenance system, at wind-force
Performing maintenance task in the cabin of turbine, this wind turbine maintenance system includes: machine maintenance
People, this maintaining robot farther includes: detector unit, for identifying the subsystem in described cabin
Faulty components in system and produce fault message；Processor unit, is suitable to receive from described inspection
Survey the fault message of unit, and control described maintaining robot to repair or to replace this faulty components；
Manipulation arm, for repairing or replacing this faulty components in the subsystem identified.
According to a further aspect in the invention, it is provided that a kind of in wind turbine, perform maintenance task
Method, including: the detector unit in working service robot, identify in the subsystem in cabin
Faulty components；Based on the faulty components identified, produce fault message；By described maintaining robot
In processor unit receive from the fault message of described detector unit, and control described maintenance
Robot is to repair or to replace this faulty components；And use described maintaining robot, repair or replace
Change this faulty components in identified subsystem.
Accompanying drawing explanation
By referring to the way of example of accompanying drawing, embodiments of the invention are described, wherein:
Fig. 1 illustrates the general structure of wind turbine；
Fig. 2 a illustrates wind turbine electrical system；
Fig. 2 b illustrates the electrical layout of power converter；
Fig. 3 a illustrates the perspective view in the cabin of the wind turbine of embodiment；
Fig. 3 b illustrates the maintaining robot of Fig. 3 a；
Fig. 4 illustrates the partial view of the inside in the cabin of Fig. 3 a；
Fig. 5 illustrates the block diagram of the maintenance system according to embodiment；
Fig. 6 illustrates the flow chart describing the method performing maintenance task according to embodiment.
Detailed description of the invention
Discuss now the relative points of the present invention.
As implied above, it is provided that a kind of wind turbine maintenance system.
There is provided such maintaining robot that autonomous robot technology is introduced wind turbine in cabin
In, thus improve the suitability and the maintainability of wind turbine, so that wind turbine is in office
All in optimal situation and state between when.Robot uses the ability of detector unit identification fault
Achieve the motility of operation, and allow robot to perform some test functions of maintenance operator.
In a word, these abilities of maintaining robot achieve autonomous operation, and reduce wind-force whirlpool
Turbine is for regular regular maintenance and the dependence of indispensable attendant.Robot is well adapted to
Perform the task of pre-programmed, and also improve work efficiency and add productivity ratio.
For offshore wind turbine, if using robot to work in turbine nacelle, to hold
Some required condition monitorings of row and maintenance service, then can be substantially reduced running cost.With so
Mode, be advantageous in that and significantly reduce the occasional shutdowns time and to the business travel cost of wind energy turbine set.
And, such maintenance system saves for interim and regular maintenance and the transport of repairing, people
Power and the cost of logistics.
In an embodiment, detector unit includes the sensor for testing the assembly in cabin.Arrange
The maintaining robot having working sensor also allows for maintenance system and independently operates.It addition, utilize dimension
Protect motility and the mobility of robot, it is possible to use sensor performs the test specific to position.
In another embodiment, this sensor be following one of arbitrarily: optical camera, hot camera, heat are visited
Pin, acoustic sensor and digital and electronic tester.
In an embodiment, it is provided that condition monitoring system, it is set to receive from the subsystem in cabin
The signal of at least one sensor on system, wherein fault detect input is carried by this condition monitoring system
Supply detector unit.In order to realize optimal performance, condition monitoring system is general in wind turbine
Time.By condition monitoring system with safeguard systematic connection so that safeguard system and condition monitoring
System combines work, thus monitoring component more widely.
In another embodiment, this condition monitoring system provides the predeterminated level phase deteriorated with subsystem
Corresponding fault detect input.This allows this maintenance system situation based on subsystem (health)
Operation, and not only when breaking down.Such action taked in advance decreases due to subsystem
That system fault and causing is harmful to and unexpected downtime.
In another embodiment, processor unit is coupled to wind turbine control network.Do so
Other upper-layer functionality modules allowing maintenance system to control in network with wind turbine directly communicate.
This operator allowing also to external turbine machine monitoring system can access maintenance system.
In an embodiment, actuation means includes robot arm.And in another embodiment, manipulation
Device includes the robot arm of hydraulic actuation.The robot arm of such hydraulic actuation achieves
The bigger hoisting power needed due to the weight of assembly in some cases.
In an embodiment, maintaining robot also includes telecontrol equipment, can touch identified son
System.Such device can include the track being positioned on the rail on ceiling or wall.Replaceable
Ground, robot can include the wheel on engine room floor.Magnetic suck can also be feasible selection.
In another embodiment, maintaining robot is removably mounted to be arranged on the ceiling in cabin
On rail system.
In an embodiment, maintaining robot also includes that positioning unit is for for the subsystem identified
By described robot localization in correct maintenance position.This be supplied to robot by himself with known
The means of other subsystem coupling, in order to the maintenance task needed for execution.In another embodiment,
Positioning unit includes appointing in machine vision unit, coordinate triangulation system and inertial sensor
Anticipate one, in order to positioning robot, thus provide the accurate attended operation of higher precision level.
In an embodiment, positioning unit performs pre-be stored in maintaining robot processor unit
Determine benchmark (datum) and put corresponding location.
In an embodiment, maintaining robot is remotely operated.This allows operator's adapter machine maintenance
The manipulation of people is to operate the most accurately, or carries out field failure diagnosis.This function and machine
The machine vision of device people makes operator can observe the inside of wind turbine together, and is being permitted
Actual attendant is made to need not enter turbine in the case of Duo.
In an embodiment, the maintaining robot during wind turbine maintenance system includes multiple operation.
This makes system have different robots with the different sub-systems serving in wind turbine.
In one aspect of the invention, it is provided that a kind of method performing maintenance task in wind turbine,
Comprise the following steps: the detector unit in working service robot is in the subsystem identifying in cabin
Fault；Fault message is produced based on the fault identified；Handling failure information is with for this maintenance
Robot produces maintenance task；And working service robot performs maintenance to the subsystem identified
Task.
In an embodiment, it is thus achieved that from the input of the sensor in detector unit, with recognition subsystem
In fault.
In an embodiment, the fault detect input from condition monitoring system is supplied to detector unit
For identifying fault.
In an embodiment, utilize robot arm to perform this maintenance task.
In an embodiment, movable maintenance robot is to touch identified subsystem.In an embodiment,
Robot moves on the rail system on the ceiling in cabin.
In an embodiment, for the subsystem identified by robot localization in correct maintenance position.
In an embodiment, after wind turbine disconnects, Fault Identification is performed with electrical network.
In an embodiment, after maintenance task is performed, the detector unit subsystem to being identified
Perform the test after safeguarding.
It is now described with reference to the drawings embodiments of the invention.
Wind turbine 10 shown in Fig. 1.Wind turbine 10 includes being connected at least one blade
The wheel hub (hub) 12 of 14.Can use any number of blade, but the commonly provided three blades
14.Wheel hub 12 is rotatably mounted on cabin 16 and, additionally this wheel hub be referred to as turn
Son.Being supported cabin 16 by tower 18, this tower is erected on the surface of stability.Alternatively, wind turbine
Machine can be marine mode, and the tower 18 of such marine mode is arranged on seabed, or is arranged on
It is fixed on sea level or on platform above.
Wind turbine 10 includes for the gradient regulating blade 14 to be increased or decreased by blade 14
The wind energy of capture.The angle of blade 14 is got in pitch adjustment wind.Wheel hub 12 is generally around edge
The rotation of the substantially horizontal axle of the power transmission shaft 20 extending to cabin 16 from profile 12.Transmission
Axle is generally coupled to the rotor of electromotor by gear-box 24, and electromotor and gear-box are arranged on cabin
In 16.
Fig. 2 a illustrates the electrical system of the wind turbine 10 according to embodiment.Blade 14 captures wind
Can, this wind energy is converted to mechanical energy by the rotation of power transmission shaft 20, to be changed by electromotor 22
For electric energy.Afterwards, electromotor is coupled to power converter 26, and this allows the speed change of power transmission shaft
Operation, and the regulation of the electric power generated by electromotor is provided simultaneously.In this embodiment, electric power
Changer 26 is AC/DC/AC power converter.Electromotor 22 and power converter 26 are with low electricity
Voltage levels operates, and power transformer 40 improves the generation electric power regulated for from wind-force whirlpool
Turbine 10 carries.In other embodiments, there are the multiple power converters being coupled to electromotor,
To provide bigger electric power to export.
Electromotor 22, power converter 26 and power transformer 40 and holding wind turbine 10
Necessary multiple other assemblies mechanically and electrically of operation be entirely located in cabin 16.At wind-force
In the case of there is such complexity in turbine 10, for wind turbine 10 reliability and
Any propelling of attended operation must take into the optimal performance of various assemblies in wind turbine 10.
As previously mentioned, for making turbine provide more electric power and carry with more high-quality
The improvement of confession has caused more complicated electric power generation system, and particularly in power converter 26
More complicated power semiconductor switch configuration.Fig. 2 b illustrates the electrical layout of power converter 26.
Power converter 26 includes the operation machine side for active pulse width modulated (PW M) commutator
Changer 30.The AC electrical power rectification of machine side changer 30 self generator in the future is direct current (DC)
Electrical power, electrical power will be supplied to DC link 32 by successively.DC link 32 includes for putting down
The DC link. capacitor 34 of the power on sliding DC link 32.Alternatively, DC link 32 can
To have different configurations, such as, there is inducer or Capacitor banks.Afterwards, DC link 32 will
The operation of DC RF power fed-in is the grid side changer 36 of inverter.Machine side changer 30 and electrical network
Side converter 36 all includes that electrical switch is desired functional to realize, and electrical switch is typically half
Conductor switchs.Assembly in power converter 26 generally by control unit control and management, this control
Unit processed is known in the art, and is therefore not discussed in detail at this.Physically, by machine
Side converter 30 and grid side changer 36 are arranged in power module 42, and this power module comprises
Practical semiconductor switch in encapsulation.
In the present embodiment, it is provided that one is intended to power converter 26 is maintained optimal power generation
The maintenance system of level.In other embodiments, other assemblies of wind turbine can have maintenance
System solves, such as, and electromotor, gear-box, transformator, cooling system etc..Other are implemented
Example can also provide the maintenance system of the multiple assemblies safeguarding wind turbine 10.
Fig. 3 a illustrates the cabin 16 of the wind turbine 10 of embodiments of the invention.Shown in cabin 16
For the object of the wind turbine maintenance system of the display present invention, i.e. power converter 26.Electric power becomes
Parallel operation 26 include multiple be arranged on power module 42 in and be contained in the switch in converter cabinet 44
Arrange.Power module 42 be built as the configuration that can use plug and play to install this module or from
Converter cabinet 44 removes.If the electric switch in voltage module 42 breaks down, can be by
The power module broken down removes, and can the most intricately install another similar power supply mould
Block.
Maintenance system 50 includes robot 52, is removably mounted to be arranged on machine by robot 52
On the track 54 of the ceiling in cabin 16.Track 54 is longitudinally coupled on the ceiling in cabin, with
Make the robot 52 can laterally accessible converter cabinet 44.In other embodiments, can be by track
Expand to include the track of multiple vertical and horizontal and vertical track, in order to be more nearly machine
Multiple assemblies in cabin 16.Simple roller bearing is utilized to be installed to track by robot 52, but
Seating means can be to allow robot 52 to move with close to the various subsystems in wind turbine 10
Any mode of system.
Robot 52 include a pair for power converter 26 is performed maintenance task manipulation arm 56,
58.Fig. 3 b illustrates robot 52, especially manipulates the closer view of arm 56,58.Base 60 carries
For the vertical axis for accommodating manipulation arm 56, and arm 56 is installed to the end by But rotary joint 62
On seat 60.But rotary joint 62 can be around the vertical axis of the axle of base 60 and horizontal axis
Rotating, this realizes the three-dimensional motion of arm 56.
Elbow (elbow) joint 64 similar to But rotary joint 62 allows manipulation arm 56 even more
Big motility, thus realize more autgmentability and operability in order to safeguard.End at arm 56
Portion is adapted for accommodating the end effector of the instrument of the different groups corresponding to pending type of action
66.Such as, screwdriver can be fixed to end effector 66 to unscrew or to tighten screw, Ke Yigu
Determine pincer-like fixture to remove assembly, or test probe can be attached so that assembly is performed test.Permitted
Other means many are also feasible, and will discuss afterwards.
Double manipulation arms 56,58 are supplied to robot 52, but can also provide in other embodiments
Single manipulation arm.Manipulation arm 56,58 is similar in this embodiment, but in other embodiments may be used
To have different configurations.In other embodiments, it is also possible to manipulation arm section is extended to reach
Farther position.In a further embodiment, it is provided that directly probe, attaching/detaching lever or
Person's even oil filling pipe is as manipulation means.In another embodiment, robot arm is that motor drives
Robot arm.But in another embodiment, robot arm is the robot of hydraulic actuation
Arm.In other embodiments, the type of manipulation arm can be hinged or Descartes's type.
Fig. 4 illustrates the partial view of the inside in cabin 16.Switch board 70 is with converter cabinet 44 side by side
It is arranged on the wall in cabin 16.Switch board 70 generally accommodates such as security system control, gradient
The wind turbine controllers of controller, driftage (yaw) controller etc..Switch board 70 accommodates wind
Most of hardware of power turbine control system.In the present embodiment, switch board 70 also accommodates wind-force
The central processing element of turbine condition monitoring system.The condition monitoring system of the present invention at least monitors
Some characteristic of power converter 26, to determine the operation conditions of power converter.
In an embodiment, power converter cabinet 44 is provided with temperature sensor.This temperature sensor is supervised
The temperature of the power module 42 in control cabinet 44, and will send back to from the data of temperature sensor collection
To condition monitoring system.Afterwards, condition monitoring system compiles this data, and at least based on being adopted
Whether the data of collection exist fault in determining power converter.It is noted that power converter leads to
Often there is special power converter controller, this power converter controller monitoring electric power output with
And other signals of telecommunication various in power converter.Generally using power converter controller as input
End is coupled to wind turbine condition monitoring system.Wind turbine control system is also configured as
Input about some assembly is supplied to condition monitoring system.
In another embodiment, condition monitoring system provides based on the data gathered and dislikes with subsystem
The fault detect that the predeterminated level of change is corresponding inputs.The form of this condition monitoring is included into generally
Being referred to as preventive maintenance, wherein service is modified and is adapted to the situation of assembly rather than predefined service
Arrange.Generally, the data base of the data of collection and the previously acquired data as benchmark is carried out
Join.This situation making it possible to understand the assembly tested in depth.When the predeterminated level deteriorated,
Fault detect input is sent by condition monitoring system.
In other embodiments, temperature sensor can be to be mounted directly to the group of power converter 26
On part, such as in DC link. capacitor 34.In other assemblies, it is provided that voltage sensor
So that whether detection power converter 26 there is voltage leak.Other characteristics can also be monitored.
The wall in cabin 16 is additionally provided with two less cabinet maintaining robot switch boards 72
With safeguard cabinet 74.Maintaining robot switch board 72 accommodates the processor unit 82 of maintaining robot 52.
Switch board 72 also accommodates the workbox for maintaining robot, and it includes for performing maintenance task
Multiple adnexaes, such as screwdriver, spanner and securing member of enclosing.Workbox also accommodates for adaptation
Various test equipment on the end effector 66 of manipulation arm 56.
In an embodiment, maintaining robot 52 is provided with detector unit.This will be with reference to illustrating maintenance
Fig. 5 of the control block 80 of system 50 describes.Maintaining robot 52 is provided with detector unit
84, this detector unit 84 includes the sensor 86 adapting on motion arm 56, and adapts to dimension
Protect the data acquisition unit 88 in processor unit 82.
In an embodiment, the end effector 66 that probe is attached to the end of robot arm 56 is tested.
Test probe can be used for checking the connection fault in power converter 26.Afterwards, test probe is by institute
There is the test information back of collection to data acquisition unit 88.Other test sensors can serve as inspection
Survey unit 84 a part, such as optical camera, hot camera, thermal probe, acoustic sensor and
Such as digital multimeter, capacitance meter, LCR (inductance, electric capacity, resistance) meter, electromotive force (EM F)
Meter, the digital and electronic detector of electrometer.
Data acquisition unit 88 receives the input from sensor 86, and is processed by maintenance subsequently
Device unit 82 analyzes the data that gathered, this maintenance processor unit by the data that will be gathered with
The performance data of prestrain is associated determines in power converter 26 whether there is fault.As right
Supplementing of maintenance system, fault detect input is also supplied to number by wind turbine condition monitoring system
According to collecting unit 88, thus provide and can be monitored and the most maintained operate spy more widely
Property.
Safeguard that fault is not only analyzed and determined whether there is to processor unit 82, but also determine and carry
Control for robot arm 56 and 58.Processor unit 62 is coupled to by communication and power line
Robot arm 56 and 58, and provide signal to control motion and the operation of robot arm.From
The advantage being physically separated the process for actual physics maintaining robot and control is: if needed
Want, actually can replace robot with unlike signal, without being difficult to replace control system.
In another embodiment, maintenance system utilizes multiple maintaining robot being arranged on rail network.
Such robot can be exclusively used in particular task, such as, have the robot for checking, one is used for
The robot repaired, a robot etc. for cleaning.In another embodiment, maintenance processes
Unit is positioned on maintaining robot physically, thus realizes functionalization maintenance unit.
Referring again to Fig. 4, safeguard that cabinet 74 accommodates the spare part of various component system.Specifically,
Power converter 26 is made up of multiple semi-conductor power modules, and this semi-conductor power module includes various
The semiconductor switch of configuration, standby power module is arranged on to be safeguarded in cabinet 74.And, electricity is installed
Source module other electronic building bricks necessary can also be arranged on to be safeguarded in cabinet.In other embodiments,
Safeguard that cabinet 74 can accommodate the spare part for other assemblies, and if one of maintenance task be
In such as yaw system, fill it up with hydraulic fluid, then safeguard that cabinet 74 can also include hydraulic fluid bag.
Maintaining robot 52 on track 54 from maintaining robot switch board 72 or safeguard cabinet 74 to
Power converter cabinet 44 moves back and forth to allowing by manipulating the position that arm 56,58 touches.
The operation of the wind turbine maintenance system 50 according to embodiment is described as follows.At wind turbine
The component malfunctions of machine, thus cause disconnecting with electrical network and shutting down, then activate maintaining robot 52
And make maintaining robot pass through detector unit 84 and identify that faulty components, detector unit 84 include attached
The circuit tester test probe on the end effector 66 of manipulation arm 56.Generally, system is safeguarded
50 combine work with the condition monitoring system of wind turbine, and this condition monitoring system sends
Input as much as possible, to determine faulty components.
In this case it is assumed that this fault is the fault in the voltage module 42 of power converter 26
Semiconductor switch.Generally, converter controller is capable of identify that malfunctioning semiconductor switchs and corresponding
Trouble power module 42, if but cannot find out this by converter controller or condition monitoring system
Fault, then detector unit 84 can be used in the power module that test is connected, to identify fault.
To this end, maintaining robot 52 is provided with for for being power converter 26 in that case
The subsystem identified, by robot localization in correct maintenance or the positioning unit of test position
(not shown).Positioning unit make robot 52 have correct identify for test equipment and
The ability determining test position is provided.In the present embodiment, positioning unit includes machine vision unit
With coordinate triangulation system, for positioning robot.Machine vision unit is and coordinate triangle
Measure the optical camera with segmentation of system matches.Component recognition, robot localization and machine
People controls all to use to safeguard that system processor unit 82 processes.At least through will be from machine vision list
The view of unit's capture mates with the assembly location data being pre-loaded in processor unit 82, comes
Robot localization is provided.In another embodiment, positioning unit can be optical pickocff, or
Can even is that the predefined point on track and manipulate presetting of arm 56,58.
In another embodiment, the positioning unit of maintaining robot 52 is provided with inertial sensor, should
Inertial sensor is for defining the correct orientation of robot 52 and arm 56,58 for location.Used
Property sensor includes that multiple gyroscope is to determine orientation.
Once robot 52 is properly positioned, then manipulation arm 56 can carry out electricity in predefined test point
The simple test of source module 42, to determine the correct operation of module.Will be from being ten thousand in this case
Send back to data acquisition unit 88 by the test data of the sensor 86 of table test probe process
And be associated with the data of compiling.Therefore this faulty components is identified by maintenance system 50.
In the case of identifying faulty components, maintenance system 50 subsequently enters the repairing stage, at this
Stage, it attempted repairing or replacing this faulty components.By means of from detector unit 84 input and
From the input of wind turbine condition monitoring system, safeguard that system processing unit determines maintenance task,
Such as replace faulty components.Robot 52 moves towards cabinet 72,74 hence along track 54, its
In again perform location to touch cabinet 72,74.
Robot 52 initially touches maintaining robot switch board, to remove circuit tester from manipulation arm 56
Test probe, and install and remove the instrument needed for existing trouble power module from converter cabinet 44.
Such as, spanner is installed on arm 56, and fixture is installed on arm 58.Subsequently, robot
52 reorientate self with neighbouring converter cabinet 44, and enter relative to the trouble power module identified
Row localization process.Once positioning, manipulation arm 56 unclamps the spiral shell of fastening power module by using spanner
Mother, begins breaking the action of trouble power module.Disconnect with converter cabinet 44 in trouble power module
After, there is the manipulation arm 58 of fixture and hold with a firm grip power module, and it is removed from cabinet 44.
Robot 52 is subsequently towards safeguarding that cabinet 74 moves and trouble power module is placed on this cabinet
In, and by its suitably labelling.Pick up standby power module, and contrary with removing process, will
New power module is arranged in power converter 26 and converter cabinet 44.
After mounting, instrument is switched to circuit tester to test probe by robot 52 again, and examines
Survey after unit performs the maintenance checked for electrical connection in this case and test, to guarantee power module
It is properly connected and is in working condition.Maintenance system 50 also links with converter controller with fortune
Row initialization test, confirms that repaired power converter 26 is in working condition.After confirmation,
Send signal to wind turbine controllers to start wind turbine 10, and start again to connect
Receive electrical network.
Use such maintenance system, because independence maintenance system is attempted the most immediately
Repair systems rather than attendant can arrive cause due to fault shut down wind turbine
Just repair systems after before machine usual several days or the time in a few week, therefore, it can subtract significantly
The downtime of few wind turbine caused due to faulty components or subsystem.
In another embodiment, the maintenance system 50 of wind turbine 10 is linked to CSRC
Server.This allows operator and maintenance system 50 chain at the remote site being probably data center
Connect.Subsequently, operator is able to access that monitoring daily record and test result.And, if this task
Excessively complicated for being pre-programmed in maintenance system, then operator can also adapter maintaining robot 52
Long-range operation, to perform maintenance task.Remotely operation can also occur in needs fine processing
The situation of system component.
Fig. 6 illustrates flow process Figure 100 describing the method performing maintenance task according to an aspect of the present invention.
102, the detector unit of execution employing maintaining robot identifies the fault of the subsystem in cabin
Step.104, produce fault message based on identified fault.106, maintenance process single
Unit's handling failure information, and 108, produce maintenance task for maintaining robot.110,
The working service robot subsystem to being identified performs maintenance task.
It should be noted that, in addition to the exemplary embodiment of the present invention shown in accompanying drawing, can adopt
Implement the present invention by multi-form, and should not be construed the restriction in this illustrated embodiments.
On the contrary, it is provided that these embodiments are so that the disclosure is thorough and complete, and make this area
Technical staff fully understands the principle of the present invention.Therefore protection scope of the present invention is by appended right
Require to limit, and be intended to include falling into the institute in the implication of the equivalent of claim and scope
Change.
Claims (15)
1. a wind turbine maintenance system, for performing maintenance in the cabin of wind turbine
Task, this wind turbine maintenance system includes:
Maintaining robot, this maintaining robot farther includes:
Detector unit, for identifying the faulty components in the subsystem in described cabin and producing
Raw fault message；
Processor unit, is suitable to receive the fault message from described detector unit, and controls
Make described maintaining robot to repair or to replace this faulty components；
Manipulation arm, for repairing or replacing this faulty components in the subsystem identified.
Wind turbine maintenance system the most according to claim 1, wherein said detector unit
Including the sensor for testing the assembly in described cabin, and wherein said sensor is following
Any one: optical camera, hot camera, thermal probe, acoustic sensor and digital and electronic test
Instrument.
Wind turbine maintenance system the most according to claim 1, also includes condition monitoring system
System, this condition monitoring system is set to receive from least one on the subsystem in described cabin
The signal of sensor, fault detect input is supplied to described detection by wherein said condition monitoring system
Unit.
Wind turbine maintenance system the most according to claim 3, wherein said condition monitoring
System provides the fault detect input corresponding with the predeterminated level of subsystem deterioration.
Wind turbine maintenance system the most according to claim 1, wherein said processor list
Unit is coupled to wind turbine and controls network.
Wind turbine maintenance system the most according to claim 1, wherein said machine maintenance
People is movably mounted on rail system, can touch identified subsystem.
Wind turbine maintenance system the most according to claim 1, wherein said machine maintenance
People also includes positioning unit, and this positioning unit is for for the subsystem identified, by described machine
People is positioned correct maintenance position.
Wind turbine maintenance system the most according to claim 7, wherein said positioning unit
Including any one in machine vision unit, coordinate triangulation system and inertial sensor,
For positioning described robot.
Wind turbine maintenance system the most according to claim 7, wherein said positioning unit
Perform and corresponding the determining of predetermined fiducial being stored in described maintaining robot processor unit
Position.
Wind turbine maintenance system the most according to claim 1, wherein said maintenance machine
Device people be remotely operated.
11. 1 kinds of methods performing maintenance task in wind turbine, including:
Detector unit in working service robot, identifies the faulty components in the subsystem in cabin；
Based on the faulty components identified, produce fault message；
The fault received from described detector unit by the processor unit in described maintaining robot is believed
Breath, and control described maintaining robot to repair or to replace this faulty components；And
Use described maintaining robot, repair or replace this faulty components in identified subsystem.
12. methods according to claim 11, also include the event from condition monitoring system
Barrier detection input is supplied to described detector unit, for identifying faulty components.
13. methods according to claim 11, also include for the subsystem identified, will
Described robot localization is in correct maintenance position.
14. methods according to claim 11, wherein by described wind turbine and electrical network
After disconnection, perform to identify faulty components.
15. methods according to claim 11, wherein after described maintenance task is performed,
The described detector unit subsystem to being identified performs the test after safeguarding.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201061427485P | 2010-12-28 | 2010-12-28 | |
| US61/427,485 | 2010-12-28 | ||
| DKPA201170011 | 2011-01-11 | ||
| DKPA201170011 | 2011-01-11 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102606415A CN102606415A (en) | 2012-07-25 |
| CN102606415B true CN102606415B (en) | 2016-12-14 |
Family
ID=
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4980971A (en) * | 1989-12-14 | 1991-01-01 | At&T Bell Laboratories | Method and apparatus for chip placement |
| CN101522313A (en) * | 2006-07-14 | 2009-09-02 | 杜尔系统有限责任公司 | Paint shop and corresponding method of operation |
| CN101733570A (en) * | 2008-11-20 | 2010-06-16 | 通用电气公司 | Improved welding process |
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4980971A (en) * | 1989-12-14 | 1991-01-01 | At&T Bell Laboratories | Method and apparatus for chip placement |
| CN101522313A (en) * | 2006-07-14 | 2009-09-02 | 杜尔系统有限责任公司 | Paint shop and corresponding method of operation |
| CN101733570A (en) * | 2008-11-20 | 2010-06-16 | 通用电气公司 | Improved welding process |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2472103B1 (en) | A wind turbine maintenance system and a method of maintenance therein | |
| TWI470385B (en) | Intelligent condition-monitoring and fault diagnostic system for robotized manufacturing tools | |
| US11787058B2 (en) | Method and apparatus for health assessment of a transport apparatus | |
| CN101490411B (en) | Method for operating a wind energy installation | |
| CN101493073B (en) | Fail-safe system for controlling wind turbines | |
| JP2023089152A (en) | Circuit for power device and graphical user interface | |
| BRPI0415728B1 (en) | SYSTEM FOR THE MANAGEMENT OF A WIND FARM | |
| EP2599995A1 (en) | Wind turbine control system | |
| CN105980946A (en) | System and method of fault detection | |
| EP2434149A1 (en) | Auto-diagnostic systems and methods for wind-power generators | |
| CN102606415B (en) | Wind turbine maintenance system and maintaining method thereof | |
| JPH1020930A (en) | Preventive maintenance method | |
| JP3892572B2 (en) | Test method and test apparatus for control rod operation monitoring control system | |
| KR101073156B1 (en) | Effective solar electirc power generating system | |
| CN114006475A (en) | Power plant digital medium-voltage switch equipment intelligent management system | |
| EP1552998A2 (en) | System for the diagnosis and operation of apparatuses for generating and distributing power supplies, in particular for railway's safety and signalling plants | |
| ZDIRI et al. | Reconfiguration strategy of SSTPI to FSTPI after the appearance of a single-IGBT OCF and a single-phase OCF | |
| Dubrov et al. | To the choice of the principle functioning diagnostic system of digital substations | |
| EP4215745A1 (en) | Wind turbine cable connector monitoring method and device | |
| JP2024061545A (en) | Diagnostic equipment for solar power plants | |
| Anderson | Robust condition monitoring for modern power conversion | |
| CN117200438A (en) | Emergency system and method based on low-voltage power generation car and electricity-protecting site | |
| Ferguson et al. | Designing for reliability in wind turbine condition monitoring systems | |
| CN105572535B (en) | Monitoring method, monitoring device and monitoring system of step-up transformer | |
| Singh et al. | Reliability forecast for UPS (Uninterruptible Power Supply) by employing Boolean truth table method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| CB03 | Change of inventor or designer information |
Inventor after: Q *xia Inventor after: T *zhang Inventor after: A *liu Inventor before: A *liu Inventor before: Q *xia Inventor before: T *zhang |
|
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |