EP3286431A1 - Method and device for determining a position of defects or damage on rotor blades of a wind turbine in an installed state - Google Patents
Method and device for determining a position of defects or damage on rotor blades of a wind turbine in an installed stateInfo
- Publication number
- EP3286431A1 EP3286431A1 EP16717628.8A EP16717628A EP3286431A1 EP 3286431 A1 EP3286431 A1 EP 3286431A1 EP 16717628 A EP16717628 A EP 16717628A EP 3286431 A1 EP3286431 A1 EP 3286431A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- damage
- wind turbine
- rotor blade
- localization instrument
- defect
- 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.)
- Pending
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2240/00—Components
- F05B2240/20—Rotors
- F05B2240/21—Rotors for wind turbines
- F05B2240/221—Rotors for wind turbines with horizontal axis
- F05B2240/2211—Rotors for wind turbines with horizontal axis of the multibladed, low speed, e.g. "American farm" type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/83—Testing, e.g. methods, components or tools therefor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8854—Grading and classifying of flaws
- G01N2021/8861—Determining coordinates of flaws
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Definitions
- the invention relates to a method and a device for determining the position of defects or damage to rotor blades of a wind power plant in the installed state.
- Rotor blades of wind turbines are highly stressed components and must be regularly examined for structural defects or damage. If faults or damage are found, a repair may be necessary. Inspection measures and repair measures are preferably performed directly on the wind turbine, which means that the rotor blades are inspected and repaired when installed on the wind turbine. This saves the costly disassembly of the rotor blades for examination purposes. For the investigation as well as the repair, various access techniques are known, in particular hoists, workstation shapes and the rappelling of industrial climbers on the so-called nacelle and the hub along the rotor blades.
- Common inspection techniques include visual inspection and tapping with a hammer.
- the distance of the defect or the damage of the flange of the rotor blade has established.
- a determination of the position of the defect or the damage is difficult to perform, especially with the use of industrial climbers and with great inaccuracies and a variety of possibilities for errors are overdone.
- An accurate, simple and error-free method and a device for determining the position of the defects or damage are therefore desirable.
- DE 10 2011 051 205 A1 relates to a system and a method for testing wind power plants with a test system which is moved along the tower of the wind power plants by means of a so-called climbing device.
- a test apparatus mounted on the climbing apparatus is a test apparatus, the test apparatus being configured to inspect the rotor blades for signs or damage.
- the test apparatus has a position determining apparatus capable of detecting the position of the signs or damages.
- the information relating to the position of the climbing device on the tower is converted into information relating to the corresponding position of the mark or damage along the length of the rotor blade.
- a measuring device is provided which calculates the distance to the hub.
- the position-determining apparatus can determine the position of the test apparatus via a GPS system. Together with other data, such as the height of the tower and the length of the rotor blade, the position of the damage along the course of the rotor blade can be calculated.
- EP 1 930 722 A1 relates to a method for non-destructive testing of a workpiece, in particular a rotor blade of a wind power plant, for example via optical methods or ultrasound probes.
- the test method can be performed manually or with a tool, the test arrangement comprising a test probe equipped with a transponder for a positioning system.
- a GPS in particular in differential GPS can be used. The exact size and shape of the rotor blade is either detected locally or is known by the manufacturer. The position of the probe is carried out by a triangulation method or the GPS determination.
- DE 10 2011 017 564 A1 relates to a method and a system for checking a surface for material defects with an aircraft, which flies along a surface of a rotor blade and can detect defects on the surface via a camera.
- the aircraft is equipped with a position sensor and a Provided testing device, with GPS sensors can be used for position measurement.
- WO 2010/051278 A1 relates to a method for inspecting rotor blades on wind turbines with an aircraft, in which the aircraft can determine the position relative to the rotor blade via GPS signals.
- EP 2 527 649 B1 relates to a method for testing components of a wind turbine which is carried out by means of unmanned aerial vehicles using GPS data for remote control.
- WO 2005/068834 A1 relates to a method for monitoring the operation of wind power plants, in which GPS receivers are attached to rotor blades. The position of the rotor blades is determined by means of GPS via the receivers in order to be able to control the operation.
- the object of the present invention is to provide a method and a device with which it is possible to easily and precisely localize damage to rotor blades in the installed state, so that the errors or damage can be precisely retrieved.
- the method for determining the position of defects or damage to rotor blades of a wind turbine when installed envisages that a localization instrument is guided along the rotor blade and detects the fault or damage, wherein the localization instrument has a GPS module via which the GPS data of the localization instrument are detected at the defect or damage, also the position of the - - Wind turbine investigated detected by the GPS module and based on the position data of the wind turbine, the hub height of the wind turbine is queried from a database, then the distance of the misalignment or damage to the rotor blade of the hub from the difference of the GPS data of the localization instrument and the Hub height of the wind turbine as a function of the rotor blade position calculated in an evaluation.
- the localization instrument guided along the rotor blade can automatically detect the defect or damage, alternatively the localization instrument is manually guided along the rotor blade and activated by an examiner. Based on the GPS data of the localization instrument at the defect, it is possible to infer the position of the investigated wind turbine.
- the necessary information from wind turbines are stored in a database, for example in a real estate cadastre, in which the required information about the wind turbines can be queried together with their constructive data on the basis of the position data if necessary.
- the data of the wind turbines are stored in the localization instrument or a separate external database and can be queried on the type of wind turbine, the design features such as the hub height above ground or above sea level.
- the position of the defect or damage to the rotor blade is then calculated from the difference of the GPS data of the localization instrument and the hub height of the wind turbine as a function of the rotor blade position in an evaluation device.
- the rotor blade position is either detected automatically by the wind turbine control or can be entered as the parameter to be entered before or during the investigation.
- the localization instrument is equipped with a camera and / or voice recorder and the defects or damages are photographed and / or commented, the GPS data of the localization instrument being assigned to the respective photograph or voice recording, preferably assigned automatically become.
- the localization instrument a camera, in particular a digital camera and a module for voice recording contains, which is preferably wirelessly connected to a microphone, such as a throat microphone, which carries the examiner.
- the examiner can document found errors with photos taken with the camera as well as spoken comments. All photos and voice recordings are automatically or on command of the examiner marked with the position at the moment of recording and associated with the respective GPS data, so that a photo documentation together with a language rating of the defects or defects is present.
- the GPS data of the localization instrument are determined by a differential measurement system with permanently installed reference stations, whereby a position determination of the localization instrument can be achieved with a very high accuracy, without the need for a separate, own Lüsen- the to install and set up, which makes the practical implementation of the measurement much easier.
- the localization instrument determines the exact location of the wind turbine.
- Several additional position transmitters and at least one receiver are required for the GPS-based differential measurement system, which makes it possible, by offsetting the respective signals, to position the receiver, which is accommodated for example in the localization instrument, relative to the position transmitter or position transmitters can be determined to a few centimeters.
- the hub height of the wind power plant can be retrieved from a central database in which the plant geometry and in particular the hub height of the wind turbine are recorded. Retrieving the data regarding the hub height of the wind turbine investigated on the basis of the GPS data of the localization instrument increases the degree of automation and thus the security against incorrect operations or incorrect entries.
- thermographic camera At the localization instrument, a thermographic camera, an ultrasonic sensor, a terahertz spectroscope and / or a tomograph can be arranged be to make a suitable investigation of the rotor blade.
- the examination can be carried out purely optically on the basis of a thermography examination, an ultrasound examination, a terahertz spectroscopy or a tomography, for example a computed tomography.
- only such examination devices are used in the localization instrument, which make it possible to handle and guide the localization instrument along the rotor blade surface.
- the distance of the defect or the damage can be calculated in the localization instrument and stored therein or transmitted to an evaluation device in which the position of the defect or damage relative to the hub, ie the distance of the defect from the hub flange is calculated, for example by vector addition.
- a simplification of the calculation results when the rotor blade is examined in a vertical position, ie in a position in which the investigated rotor blade is aligned parallel to the direction of gravity or to the usually vertically oriented masts of the wind turbine. If there is a different angular position during the measurement, the necessary correction factor can be calculated via an angle function.
- the angular position of the rotor blade can be transmitted to a defined reference direction, in particular to the vertical, before the examination with the localization instrument of the evaluation device.
- the angular position can be done automatically via an image analysis, if a photograph of the position of the examined rotor blade has been made.
- a development of the invention provides that an automatic defect detection or damage detection takes place and the removal of the defect or damage from the hub is automatically determined and stored. This can be done, for example, by comparing the recorded rotor blade surface by means of a camera, thermographic camera, ultrasonic sensor or a whose examination device and a given appearance o- a default made. If optically visible cracks are detected, this can trigger an automatic storage of the associated GPS data to the detected defect, analogously, the position of a thermographic inconsistency or a deviation in the sound transmission behavior is automatically detected and detected as a defect and with the respective GPS -Information from which in turn the removal of the defect or damage to the hub is determined and stored.
- the localization instrument is guided along the rotor blade at a constant distance from the rotor surface in order to allow reproducible results and comparisons with measured value presets or comparison data or to avoid assignment errors due to radii of curvature or parallax errors.
- the device according to the invention for carrying out the method described above provides that a localization instrument which can be moved along an installed rotor blade of a wind turbine has a GPS module and is connected to an evaluation unit which has access to a database with design data of the wind turbine investigated in which the distance or the distance of a defect or damage from the hub is calculated from the difference of the GPS data of the localization instrument and the hub height of the wind turbine.
- the evaluation unit can be connected to the localization instrument via a wireless connection; alternatively, the evaluation unit can be integrated in the localization instrument, which can be designed as a freehand-guided instrument, whereby, after calculating the distance of the defect or damage from the hub, this value can be found in FIG Localization instrument stored or transmitted to a decentralized evaluation wirelessly.
- a camera, a thermographic camera, a recording device, an ultrasonic sensor, a terahertz spectroscope and / or a tomograph to be able to check the rotor blade by optical, thermographic, ultrasound-based, terahertz-based or tomographic examinations.
- Via the voice recording device it is possible for the examiner to give and add comments on the damaged area, so that improved retrievability is ensured. Through the voice comments it is possible to improve the quality of the repair without the examiner having to be present at the repair.
- a transmitter and / or memory for the GPS data can be arranged on the localization instrument, and the calculated distances of the respective defects from the hub can also be stored in the memory.
- a receiver and an evaluation device can be arranged in order to be able to receive and evaluate externally stored data on the basis of a database query which is carried out on the basis of the existing GPS data.
- the data of the wind turbine based on the existing GPS data from a real estate cadastre of the wind turbines are queried, along with the types or geometries of the hub height above normal zero or other reference altitude is determined, and on the basis of this data can then a centimeter accurate location of the malposition or damage occurs.
- the single FIGURE shows a schematic representation of a wind turbine 1 with a tower 2, at the upper end of which a so-called nacelle 3 is arranged.
- a nacelle 3 In the nacelle 3 there is usually a generator, via which kinetic energy is converted into electrical energy.
- a rotor with a plurality of rotor blades 4 is rotatably mounted, the rotor blades 4 are fixed to a hub 34.
- three rotor blades 4 are fixed to the hub 34, the hub 34 is located in the center of the rotor blades 4. Im Operation of the wind turbine 1 may cause damage to the rotor blades 4.
- a localization instrument 5 is guided in the installed state of the rotor blade 4 at this. This can be done by guiding the localization instrument 5, for example, on a carriage or a sliding device along the rotor blade 4 from the hub 34, when the rotor blade to be examined is in a vertical position, ie in a position in which the longitudinal extension of the rotor blade Rotor blade 4 is oriented in the direction of gravity.
- the localization instrument 5 can also be moved from the tip of the rotor blade 4 in the direction of the hub 34 as well.
- the localization instrument 5 will be guided along, for example, an industrial climber on the rotor blade surface, it is also possible that a device is attached to the respective rotor blade 4, with the localization instrument 5 remotely or automatically without direct handling by a mechanic in Longitudinal extension over the rotor blade 4 is moved.
- the localization instrument 5 can be guided along the rotor blade 4 from a working platform.
- a GPS module 6 is arranged, via which the respective position data or GPS data of the localization instrument 5 are permanently detected or triggered or requested.
- the position data of the localization instrument 5, which abut on a defect or damage to the rotor blade 4, are detected by the localization instrument 5 and assigned either automatically or by an operator of the respective defect and either evaluated by the localization instrument 5 itself or transmitted to an evaluation device 8.
- the defect or damage as such can also be detected automatically, for example via an automatic image analysis.
- the evaluation device 8 can be located in the immediate vicinity of the localization instrument 5, for example on a working platform, in the area of the nacelle 3, of the tower 2 or on the ground in the vicinity of the wind power plant 1.
- the GPS data is then transmitted either via data line or wirelessly, for example via a radio signal, to the evaluation device 8.
- the evaluation device 8 positioned in a central office, so that a central evaluation of the respective location data and possibly also damage can be done.
- the data transmission then takes place by radio or with another way of wireless data transmission.
- the localization instrument 5 can be equipped with damage detection devices, for example with a camera, a thermographic camera, a voice recorder, an ultrasound sensor, a terahertz spectroscope or a tomograph or another detection device.
- damage detection devices for example with a camera, a thermographic camera, a voice recorder, an ultrasound sensor, a terahertz spectroscope or a tomograph or another detection device.
- a rating of the examining person can be added via the voice recording device, so that both the damage image and the position of the defect or damage can be described in more detail.
- the wind power plant 1 is first identified on the basis of the GPS data of the localization instrument 5 by means of a database query in a wind power plant cadastre.
- a coordinate origin 7 which is the base or reference station for the method and the device for determining the position of the defects or damage to a rotor blade 4
- the position of the tower center t is first assigned from a database, for example the wind power plant cadastre of the wind turbine 1 investigated and the position vector ⁇ ? calculated.
- the hub height n is also known from technical data sheets and the database, as is the distance g from the tower center to the hub 34, so that a vector train from the vector between the origin or the reference station 7 and the tower center t, the hub height n and the distance from the tower center t at the level of the hub 34 to the hub 34 is known.
- the location of the defect or damage as the distance or distance d from the hub 34 to the damaged area allows easy locating or retrieval of the defect or damage to the rotor blade 4, if this must be removed for maintenance or repair.
- the dismantling and repair may be carried out as part of a regular maintenance, if the damage or defect is not so serious that it must be repaired immediately.
- the retrievability of the damage or defect is facilitated and it can be made in subsequent investigations comparisons to any existing damage progress and a damage log book created. If the position of the rotor blade 4 deviates from the vertical, a correction factor must be calculated using the circular function.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015106366.2A DE102015106366B4 (en) | 2015-04-24 | 2015-04-24 | Method and device for determining a position of defects or damage to rotor blades of a wind turbine in the installed state |
PCT/EP2016/058715 WO2016169959A1 (en) | 2015-04-24 | 2016-04-20 | Method and device for determining a position of defects or damage on rotor blades of a wind turbine in an installed state |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3286431A1 true EP3286431A1 (en) | 2018-02-28 |
Family
ID=55802367
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16717628.8A Pending EP3286431A1 (en) | 2015-04-24 | 2016-04-20 | Method and device for determining a position of defects or damage on rotor blades of a wind turbine in an installed state |
Country Status (4)
Country | Link |
---|---|
US (1) | US10605232B2 (en) |
EP (1) | EP3286431A1 (en) |
DE (1) | DE102015106366B4 (en) |
WO (1) | WO2016169959A1 (en) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108733079B (en) * | 2018-06-19 | 2021-08-10 | 上海扩博智能技术有限公司 | Method and system for determining flight path of fan through automatic inspection by unmanned aerial vehicle |
CN111120220B (en) * | 2018-10-31 | 2021-05-28 | 北京金风科创风电设备有限公司 | Method and system for video monitoring of wind generating set blade |
EP3918197A1 (en) | 2019-01-28 | 2021-12-08 | Helispeed Holdings Limited | Method of inspection of wind turbine blades |
CN109900712B (en) * | 2019-04-17 | 2022-03-29 | 中国人民解放军国防科技大学 | Wind power blade mechanical fault on-line detection system and method based on camera measurement |
US11199175B1 (en) | 2020-11-09 | 2021-12-14 | General Electric Company | Method and system for determining and tracking the top pivot point of a wind turbine tower |
US11703033B2 (en) | 2021-04-13 | 2023-07-18 | General Electric Company | Method and system for determining yaw heading of a wind turbine |
US11536250B1 (en) | 2021-08-16 | 2022-12-27 | General Electric Company | System and method for controlling a wind turbine |
CN115219515A (en) * | 2022-07-29 | 2022-10-21 | 哈电发电设备国家工程研究中心有限公司 | Intelligent flaw detection system for turbine blade based on high-speed camera technology and working method |
CN115564740B (en) * | 2022-10-17 | 2023-06-20 | 风脉能源(武汉)股份有限公司 | Fan blade defect positioning method and system |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DK177602B1 (en) | 2004-01-16 | 2013-11-18 | Lm Wind Power As | Monitoring the operation of a wind power plant |
JP4865408B2 (en) | 2006-06-09 | 2012-02-01 | キヤノン株式会社 | Image forming apparatus |
EP1930722B1 (en) | 2006-12-07 | 2015-11-18 | Siemens Aktiengesellschaft | Method of non-destructively testing a work piece and non-destructive testing arrangement |
WO2010051278A1 (en) | 2008-10-27 | 2010-05-06 | Williams Scot I | Wind turbine inspection |
DE102009009039A1 (en) * | 2009-02-16 | 2010-08-19 | Prüftechnik Dieter Busch AG | Wind turbine with monitoring sensors |
US8171809B2 (en) | 2010-06-25 | 2012-05-08 | General Electric Company | System and method for wind turbine inspection |
DE102011017564B4 (en) | 2011-04-26 | 2017-02-16 | Airbus Defence and Space GmbH | Method and system for inspecting a surface for material defects |
JP2012239696A (en) | 2011-05-20 | 2012-12-10 | Sony Corp | Brain wave activation apparatus |
EP2527649B1 (en) | 2011-05-25 | 2013-12-18 | Siemens Aktiengesellschaft | Method to inspect components of a wind turbine |
EP2956832A1 (en) * | 2013-02-15 | 2015-12-23 | Aktiebolaget SKF | Condition monitoring system and access control therefore |
US9453500B2 (en) * | 2013-03-15 | 2016-09-27 | Digital Wind Systems, Inc. | Method and apparatus for remote feature measurement in distorted images |
DE102013103343A1 (en) | 2013-04-04 | 2014-10-09 | Industrieanlagen-Betriebsgesellschaft Mbh | Method for creating optical recordings and system for making optical recordings |
CN106460790B (en) * | 2014-04-14 | 2019-02-01 | 远景能源(江苏)有限公司 | The wind turbine structure control system and its method adjusted with floating ground and position |
-
2015
- 2015-04-24 DE DE102015106366.2A patent/DE102015106366B4/en active Active
-
2016
- 2016-04-20 EP EP16717628.8A patent/EP3286431A1/en active Pending
- 2016-04-20 US US15/568,814 patent/US10605232B2/en not_active Expired - Fee Related
- 2016-04-20 WO PCT/EP2016/058715 patent/WO2016169959A1/en active Application Filing
Also Published As
Publication number | Publication date |
---|---|
DE102015106366A1 (en) | 2016-10-27 |
US20180100489A1 (en) | 2018-04-12 |
US10605232B2 (en) | 2020-03-31 |
DE102015106366B4 (en) | 2019-05-09 |
WO2016169959A1 (en) | 2016-10-27 |
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