JP2023062949A - System, device and method for performing maintenance of at least one part of object - Google Patents

Abstract

To provide a system, device and method for performing maintenance of at least one part of an object safely and easily.SOLUTION: A system for performing maintenance of at least one part of an object comprises: at least one attachment device (300) configured to be attached to a prescribed position on the object; at least one rope holding device (200) configured to receive at least one rope extending from the at least one attachment device and to hold the at least one rope at any position on the at least one part of the object; and a maintenance device (100) configured to perform the maintenance of the at least one part of the object.SELECTED DRAWING: Figure 1K

Description

The present invention relates to systems, devices and methods for performing maintenance on at least a portion of an object.

A large wind generator has a nacelle with a height of about 100m. The tip peripheral speed of the blades of a large wind power generator is about 100 to 120 m/s, and the leading edge, which is the edge of the blade that cuts the wind, wears about 20 μm every year. Also, the blades of large wind turbines are susceptible to lightning damage. For this reason, the blade is equipped with a lightning receiver (receptor) to pass the lightning current to the ground as a lightning protection measure. It will be wrecked without being able to flow to the ground. Therefore, the blades of large wind power generators require regular maintenance.

There are three typical methods for performing maintenance on the blades of existing large-scale wind power generators. The first method is to use a large crane to remove the blade and lower it to the ground before performing maintenance. The second method is to suspend a gondola from the tip of a large crane and have a worker on the gondola perform maintenance. A third method is a method in which an operator performs maintenance by moving over the blade along a rope stretched over the blade.

The first method and the second method require a lot of cost and labor because they use large cranes. In particular, the first method requires a great deal of cost and a long construction period due to the steps of removing and attaching the blades. The second and third methods require workers to work at heights and are dangerous.

Patent Literature 1 discloses a method of performing maintenance on blades of a large wind power generator without using a large crane. The maintenance method of Patent Literature 1 still requires workers to work in high places.

JP 2012-7525 A

SUMMARY OF THE INVENTION It is an object of the present invention to provide a system, apparatus and method for safely and simply performing maintenance on at least a portion of an object. In particular, the present invention seeks to provide a system or the like for performing maintenance on at least a part of an object safely and easily, even in locations where access to the object is relatively difficult (eg offshore). aim.

The present invention provides, for example, the following items.
(Item 1)
A system for performing maintenance on at least a portion of an object, comprising:
at least one attachment device configured to be attached to a predetermined position on said object, said at least one attachment device having a portion of at least one rope fixed thereto; at least one attachment device, wherein a book rope extends from the at least one attachment device;
at least one rope configured to receive the at least one rope extending from the at least one attachment device and to hold the at least one rope in any position on the at least the portion of the object; at least one rope retaining device, said at least one rope retaining device being movable over said at least a portion of said object;
A maintenance device configured to perform maintenance of the at least part of the object, the maintenance device moving the at least one rope of the object over the at least one rope held by the at least one rope holding device. a maintenance device configured to move to and over at least a portion of the object.
(Item 2)
2. The system of claim 1, further comprising moving means for moving together the at least one attachment device and the at least one rope retaining device to the predetermined position.
(Item 3)
3. The system of item 2, wherein the locomotion means is a flyable device.
(Item 4)
further comprising control means for controlling the position of said at least one rope retaining device on said at least part of said object;
The control means coordinates the spatial position of the maintenance device with the position of the at least one rope holding device when the maintenance device moves over the at least one rope to the at least part of the object. A system according to any one of items 1 to 3, which controls the position of the at least one rope retaining device so as to.
(Item 5)
a conductor extending through the at least part of the object;
the at least one rope retention device is operable to position a reference wire from the at least one attachment device substantially parallel to the wire;
The maintenance device comprises inspection means for inspecting disconnection of the conductor,
The inspection means is
passing a pulse signal through the conductor and the reference conductor;
5. The system according to any one of items 1 to 4, wherein the system inspects for disconnection of the conducting wire by detecting a reflected waveform of the pulse signal.
(Item 6)
6. A system according to item 5, wherein the inspection means detects a disconnection point of the conductor based on the reflected waveform.
(Item 7)
a conductor extending through the at least part of the object;
The maintenance device comprises means for sending radio waves through the conducting wire for inspecting disconnection of the conducting wire,
System according to any one of the preceding items, wherein said at least one rope holding device comprises detection means for detecting a signal responsive to radio waves propagating in said conductor.
(Item 8)
The system according to any one of the preceding items, wherein said object is an offshore wind turbine and said at least part of said object is a blade of said wind turbine.
(Item 9)
The system according to any one of the preceding items, wherein said predetermined position is a position on a waisted portion of a blade of a wind turbine.
(Item 10)
A system for performing maintenance on at least a portion of an object, comprising:
at least one attachment device configured to be attached to a predetermined position on said object, said at least one attachment device having a portion of at least one rope fixed thereto; at least one attachment device, wherein a book rope extends from the at least one attachment device;
A maintenance device configured to perform maintenance of the at least part of the object, the maintenance device moving the at least part of the object over the at least one rope extending from the at least one attachment device. a maintenance device configured to move to and over said at least a portion of said object.
(Item 11)
A system for assisting maintenance of at least a portion of an object, comprising:
at least one attachment device configured to be attached to a predetermined position on said object, said at least one attachment device having a portion of at least one rope fixed thereto; at least one attachment device, wherein a book rope extends from the at least one attachment device;
at least one rope configured to receive the at least one rope extending from the at least one attachment device and to hold the at least one rope in any position on the at least the portion of the object; and at least one rope retaining device, said at least one rope retaining device being movable over said at least a portion of said object.
(Item 12)
A method for performing maintenance on at least a portion of an object, comprising:
moving at least one mounting device into position on the object;
attaching the at least one attachment device to the predetermined location, a portion of at least one rope being fixed to the at least one attachment device, the at least one rope being attached to the at least extending from one attachment device to at least one rope retention device;
moving the at least one rope retainer to any position on the at least part of the object;
retaining the at least one rope at the arbitrary position on the at least the portion of the object by the at least one rope retaining device;
connecting the at least one rope held by the at least one rope holding device to a maintenance device;
moving the maintenance device over the at least one rope held by the at least one rope holding device to the at least a portion of the object;
moving the maintenance device over the at least a portion of the object;
performing maintenance on the at least part of the object while the maintenance device is moving over the at least part of the object.
(Item 13)
moving the at least one attachment device includes moving the at least one attachment device together with the at least one rope retention device to the predetermined position;
10. The method of item 9, wherein moving the at least one rope retaining device comprises moving the at least one rope retaining device from the predetermined position to the arbitrary position.
(Item 14)
moving the maintenance device to the at least part of the object,
The at least 14. A method according to item 12 or item 13, comprising: controlling said position of one rope holding device.
(Item 15)
further comprising retrieving the maintenance device from the at least a portion of the object by moving the maintenance device from the at least a portion of the object over the at least one rope;
Collecting the maintenance device includes:
The at least 15. A method according to any one of items 12 to 14, comprising controlling said position of one rope holding device.
(Item 16)
a conductor extending through the at least part of the object;
performing maintenance on the at least part of the object,
displacing a reference conductor substantially parallel to the conductor between the at least one attachment device and the at least one rope retention device by moving the at least one rope retention device; and passing a pulse signal through the reference conductor;
16. The method according to any one of items 12 to 15, comprising inspecting for disconnection of the conductor wire by the maintenance device detecting a reflected waveform of the pulse signal.
(Item 17)
17. The method according to item 16, wherein inspecting the conductor wire for disconnection includes detecting a disconnection location of the conductor wire based on the reflected waveform.
(Item 18)
a conductor extending through the at least part of the object;
performing maintenance on the at least part of the object,
the maintenance device sending radio waves through the conducting wire for inspecting disconnection of the conducting wire;
while the at least one rope holding device is moving over the at least part of the object, the at least one rope holding device detects a signal responsive to radio waves propagating in the conductor; 16. The method of any one of items 12-15, comprising
(Item 19)
Method according to any one of items 12 to 18, wherein said object is an offshore wind turbine and said at least part of said object is a blade of said wind turbine.
(Item 20)
20. A method according to any one of items 12 to 19, wherein said predetermined position is a position on a waisted portion of a blade of a wind turbine.

ADVANTAGE OF THE INVENTION According to this invention, the system, apparatus, and method for performing maintenance of at least one part of an object safely and simply can be provided. In particular, according to the invention, maintenance of at least part of an object can be safely and easily carried out even in locations where access to the object is relatively difficult (eg offshore).

Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention Diagram for explaining the procedure for maintenance of wind turbine blades using the system of the present invention FIG. 3 shows an example of attaching a rope to a predetermined position on the tower 17 of the wind turbine 10 using the attachment device 300' in an alternative embodiment; The figure which shows roughly the structure of the mounting apparatus 300 in an example. A diagram showing the details of the portion surrounded by a dashed-dotted circle in FIG. 1E FIG. 5 is a diagram showing an example of a procedure (procedure 500) of a method for performing maintenance on wind turbine blades using the system of the present invention; A diagram showing an example of a specific flow performed in the step of performing blade maintenance in step S508. A diagram showing another example of a specific flow performed in the step of performing blade maintenance in step S508.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1. Maintenance of Wind Turbine Blades A procedure for maintenance of wind turbine blades using the system of the present invention will now be described with reference to FIGS. 1A to 1R. 1A shows the front of the wind turbine 10, and FIGS. 1B to 1R show the right side of the wind turbine 10. FIG. 1B to 1R show only the blade 11 to be maintained, and the other two blades 12 and 13 are omitted. The windmill shown in FIG. 1A is a windmill that rotates clockwise on the drawing, and the straight edge of each blade is the leading edge.

As used herein, the term "windmill" refers to a device that receives wind to obtain power. An example of a windmill is a wind power generator.

The wind turbine 10 comprises blades 11 , 12 , 13 , a nacelle 14 and a hub 15 . The nacelle 14 is a housing that houses a generator, a gearbox, and the like. The hub 15 is a member that rotatably couples the blades 11, 12, 13 and the nacelle 14 together. The wind turbine 10 shown in FIGS. 1A-1R is a wind turbine built offshore. The wind turbine 10 further comprises a deck 16, on which workers, working equipment, etc. can use the deck 16 as a foothold at sea.

As used herein, "maintenance" refers to inspection or maintenance of an object. Examples of maintenance include imaging the surface of an object, inspecting the continuity of the lightning-terminating part of the object, inspecting disconnection of conductors extending inside the object, cleaning the surface of the object, and Examples include grinding and/or polishing the surface, applying paint to the surface of the object, and applying materials such as putty, adhesive, and sealant to the surface of the object.

The system of the present invention comprises a maintenance device 100, a rope holding device 200 and an attachment device 300. The system of the present invention may also include mobile device 400 . The maintenance device 100 is a device that performs blade maintenance. The rope retention device 200 is a device that retains the rope extending from the attachment device 300 on the blade. The attachment device 300 is a device that attaches to the blade. The rope is fixed to the attachment device 300, and the attachment device 300 attaches to the blade so that the rope is fixed onto the blade via the attachment device 300. FIG. The moving device 400 is a device that moves the attachment device 300 and the rope holding device 200 from the deck to the blade. The mobile device 400 may be, but is not limited to, a flyable mobile device such as a drone. Any means can be used so long as the attachment device 300 and the rope retention device 200 can be moved to the blade.

FIGS. 1A and 1B show the initial stages prior to installation of the system of the present invention on the blades 11 of a wind turbine 10. FIG. FIG. 1B shows a right side view of FIG. 1A.

Maintenance of the blade 11 is performed with the blade 11 positioned so as to extend vertically downward. Since this is the same as the state of the blade in the conventional method in which maintenance is performed by moving over the blade along a rope stretched over the blade, it is easily accepted at existing work sites. When blade 11 is positioned to extend vertically downward, the leading edge is slanted with respect to the vertical, as shown in FIG. 1B. The tilt angle can be about 5 degrees (sometimes about 1 degree to about 10 degrees). 1B-1R are exaggerated.

In a preliminary stage before installing the system of the invention on the blades 11 of the wind turbine 10, the elements of the system are prepared on the deck 16. FIG. In the example shown in FIG. 1B, a rope holding device 200 and an attachment device 300 are prepared on the deck 16, and a moving device 400 is shown coupled to the attachment device 300 to which the rope holding device 200 is coupled. there is Although maintenance device 100 is omitted in FIG. 1B, maintenance device 100 may also be provided on deck 16 .

Here, the rope holding device 200 can be coupled to the attachment device 300 by any means as long as the rope holding device 200 is separable from the attachment device 300 . The rope holding device 200 may be coupled to the attachment device 300 by mechanical force, may be coupled to the attachment device 300 by magnetic force, or may be coupled to the attachment device 300 by electrical force, for example. , pressure or suction to the attachment device 300 .

Also, the moving device 400 can be coupled to the mounting device 300 by any means as long as the moving device 400 can be separated from the mounting device 300 . For example, the moving device 400 may be coupled to the mounting device 300 by mechanical force, may be coupled to the mounting device 300 by magnetic force, may be coupled to the mounting device 300 by electrical force, It may be coupled to the mounting device 300 by pressure or suction.

In the attachment device 300 and the rope holding device 200, at least one extremity may pass through which may be used in the step of fixing a portion of at least one rope described below. The extremity can be removably secured to the attachment device 300 by, for example, extending through and around eyebolts on the attachment device 300 . Both ends of the line that have passed through the attachment device 300 and the rope holding device 200 are held on the deck 16 by, for example, a worker. That is, at least one extremity will extend from one end on deck 16 through attachment device 300 and rope retainer 200 to the other end on deck 16 .

1C and 1D show the attachment stage of attaching the attachment device 300 to the blades 11 of the wind turbine 10. FIG.

In FIG. 1C, the transfer device 400 is shown carrying the attachment device 300 with the rope holding device 200 . The attachment device 300 has an attachment mechanism 310 for attaching the attachment device 300 to the blade 11 .

Attachment mechanism 310 can be any mechanism so long as it allows attachment device 300 to attach to blade 11 . For example, the attachment mechanism 310 may be a mechanism for attaching the attachment device 300 to the blade 11 by mechanical force, a mechanism for attaching the attachment device 300 to the blade 11 by magnetic force, or a mechanism for attaching the attachment device 300 to the blade 11 by electrical force. 11, or a mechanism for attaching the attachment device 300 to the blade 11 by pressure or suction force. Preferably, attachment mechanism 310 may be a mechanism that attaches attachment device 300 to blade 11 by mechanical force.

In one example, the attachment mechanism 310 can be a tightenable band or belt.

FIG. 3 schematically shows the configuration of the mounting device 300 in this example. The attachment device 300 includes an attachment mechanism 310 and a main body 320 . An attachment mechanism 310, which may be a band or belt, has a first end 311 secured to the body 320 and a second end 312 rewoundly coupled to the body 320, thereby securing the body 320. and the attachment mechanism 310 form a space 313 .

For example, once blade 11 has passed through space 313 , attachment mechanism 310 can clamp blade 11 by winding second end 312 of attachment mechanism 310 . Here, the mechanism for winding the second end 312 does not matter. Attachment device 300 may use any mechanism to reel second end 312 . For example, the attachment device 300 can wind the second end 312 by rotating a pulley or roller to which the second end 312 is secured. At this time, the pulleys or rollers may be built in the main body 320 of the attachment device 300 or may be externally attached to the main body 320 .

In the above example, the first end 311 is fixed to the main body 320 and the second end 312 can be wound, but the aspect of the attachment mechanism 310 is not limited to this. For example, both first end 311 and second end 312 may be coilable. For example, a band or belt may be stretchable to tighten blades 11 passing through space 313 .

Referring again to FIGS. 1C and 1D, the mounting device 300 together with the rope holding device 200 is moved into position on the wind turbine 10 by the moving device 400 . Once moved into position, mounting device 300 is mounted in position, as shown in FIG. 1D.

In this example, the predetermined position is the constricted portion at the base of the blades 11 of the wind turbine 10 . The reason why the predetermined position is on the blade to be maintained is that the rope can be positioned near the surface of the blade 11 when the rope is extended from the attachment device 300 as shown in FIG. preferable. It is also preferred that the predetermined location is the waisted portion of the blade, as the bulging portion adjacent to the waisted portion allows the mounting device 300 to be securely attached. Further, the reason why the predetermined position is the root of the blade is that when the rope is extended from the attachment device 300 as shown in FIG. ,preferable.

Mounting device 300 can be mounted in place using mounting mechanism 310 . For example, the mounting device 300 can be mounted in place on the blade 11 by tightening the blade 11 with a tightenable band or belt as described above.

The rope retention device 200 is moved with the attachment device 300 so that when the attachment device 300 is in place on the blade 11, the rope retention device 200 is also in position on the blade.

FIG. 1E shows the stage of securing a portion of at least one rope 20 to the attachment device 300 . In this example, after attaching the attachment device 300 to the predetermined position of the blade 11, a part of at least one rope 20 is fixed to the attachment device 300. The timing of fixing a part of the rope 20 is not limited to this. For example, after securing a portion of at least one rope 20 to the attachment device 300, the attachment device 300 may be attached to a predetermined position on the blade 11, as shown in FIGS. 1B-1D. In this case, at least one extremity described above can be omitted.

For example, by attaching a length of rope 20 to a first end of a line extending from the attachment device 300 on the blade 11 and the rope retainer 200 to the deck 16 and pulling on the second end of the line, the rope 20 It will pass through the attachment device 300 and the rope retention device 200 on the blade 11 instead of the extremities. Further pulling on the second end of the mane so that the first end of the mane returns to the deck 16 aligns the ends of the rope 20 on the deck 16 . This results in two rope portions (a first portion and a second portion of one rope) extending from the attachment device 300 to the deck 16 . In the following description, two rope sections 20 extend to the deck 16 as an example. Of course, it is understood that the invention is not limited to utilizing two rope sections, and that one rope or two or more rope sections may be utilized.

The at least one rope 20 passes through eyebolts on the attachment device 300 , for example similar to a line, so that a portion of the at least one rope is secured to the attachment device 300 . Here, "fixed" means that one of the ropes does not move with respect to the other. It means that the device 300 does not move. "Fixation" includes not only permanent fixation but also temporary fixation. For example, the at least one rope may extend past and wraps around a first side eyebolt of the attachment device 300 and past and wraps around a second side eyebolt to extend to the first side. The portion of the rope that extends between the eyebolt of the second side and the eyebolt of the second side will be secured to the attachment device 300 . The manner in which the at least one portion of the rope is fixed to the attachment device 300 is not limited to this, and the at least one portion of the rope can be fixed to the attachment device 300 in any manner.

For example, after attaching the attachment device 300 to a predetermined position of the blade 11 with a string lighter than the rope passed through the attachment device 300, at least one rope can be attached to the attachment device 300 by exchanging the string and the rope. Securing can reduce the weight carried by transfer device 400, and after securing a portion of at least one rope to attachment device 300, attachment device 300 can be removed, as shown in FIGS. 1B-1D. in place on the blade 11.

FIG. 4 shows the details of the portion surrounded by a dashed-dotted circle in FIG. 1E. FIG. 4 shows that the attachment device 300 to which the rope retainer 200 is coupled is positioned at the leading edge L.2 of the blade 11. It is shown attached to the constricted portion of the blade 11 on E. FIG. FIG. 4(a) shows the leading edge L.L. FIG. 4(b) is a top view of L.E, and FIG. It is the figure which looked at E from the side. For convenience, L.L. The right side of L.E is called the first side; The left side of E is called the second side.

The attachment device 300 is attached to the constricted portion of the blade 11 via an attachment mechanism 310 . Attachment mechanism 310 is a tightenable band and is secured to body 320 at first end 311 and second end 312 .

The attachment device 300 comprises rope fixing means 321 . Rope securing means 321 are shown as a plurality of eyebolts, but are not so limited. The rope fixing means 321 can be any means as long as it is capable of fixing at least a portion of a rope to the attachment device 300 . A plurality of eyebolts 321 are positioned on both the first side and the second side of the mounting device 300 .

The rope holding device 200 comprises moving means 210 . Although mobile means 210 is shown as wheels, it is not so limited. The moving means 210 can be any means so long as it allows the rope retaining device 200 to move over the blade. The wheels may be non-driven wheels or driven wheels driven by a power source. For example, the rope retainer 200 may utilize a winch and non-driven wheels to move over the blades 11, or may utilize driven wheels to move the blades 11 without a winch (and rope). You may make it move up. If a winch is used to move over the blade, a winch (not shown) may be provided with the rope retention device 200 or may be provided external to the rope retention device 200 (e.g., attachment device 300 or deck 16). may be If a winch is used to move the rope retainer 200, for example, a moving rope or wire separate from the rope 20 can be used. A traveling rope or wire may, for example, extend from the attachment device 300 to the rope retention device 200 or may extend from the deck 16 through the attachment device 300 to the rope retention device 200 . The winch may be an electric winch or a manual winch operated by an operator on deck 16 .

The rope holding device 200 comprises rope connection means 220 . The rope connecting means 220 may comprise an engaging portion 221 that engages the rope and a guide portion 222 that guides the rope.

The engaging portion 221 can be, for example, an engaging roller driven by a driving portion. By driving the engaging roller with the drive unit in a state where the rope is wound around the engaging roller, a force for feeding the rope forward or backward can be applied to the rope. This allows the rope holding device 200 to move along the rope. Engagement portion 221 can be implemented by any other mechanism as long as it can achieve a similar function.

The guide portion 222 is any mechanism that guides the rope to the engagement portion 221 . The guide part 222 can be, for example, a guide roller.

The transfer means 210 and the rope connection means 220 are arranged on both the first side and the second side of the attachment device 300 .

The rope 20 enters the rope holding device 200 from the first side of the rope holding device 200, passes through the first guide portion 222, wraps around the engagement portion 221, passes through the second guide portion 222, and exits the rope holding device 200. are leaving. Then, the rope 20 enters the attachment device 300 from the first side of the attachment device 300, wraps around the first eyebolt 321, extends to the second eyebolt 321 on the second side of the attachment device 300, and reaches the second eyebolt 321. 2 and exits the attachment device 300 . Then, the rope 20 enters from the second side of the rope holding device 200, passes through the second guide portion 222, winds around the engaging portion 221, passes through the first guide portion 222, and exits the rope holding device 200. there is In this way, the rope 20 is partially secured by the plurality of eyebolts 321 and the rope retaining device 200 receives the rope 20 extending from the attachment device 300 . In FIG. 4, the portion of the rope passing through the interior of the rope holding device 200 and the attachment device 300 is depicted in dashed lines.

FIG. 1F shows the stage of connecting the two rope sections 20 to the maintenance device 100 on deck 16 .

The maintenance device 100 comprises moving means for moving the maintenance device 100 along the rope portion 20 . The moving means is, for example, a winch. The maintenance device 100 includes, for example, two winches, one rope portion is connected to one of the two winches, and another rope portion is connected to the other of the two winches. The maintenance device 100 can ascend along the rope portion 20 by winding the rope portion 20 using a winch.

Alternatively, moving means for moving the maintenance device 100 along the rope portion 20 can be provided outside the maintenance device 100 . For example, the attachment device 300 can include a moving means such as a winch, and the maintenance device 100 can move along the rope portion 20 by winding the rope portion 20 using the winch.

FIG. 1G shows the stage of placing the rope holding device 200 at an arbitrary position on the blades 11 of the wind turbine.

Two rope portions 20 extend from the attachment device 300 to the rope retaining device 200 and the rope retaining device 200 can receive these rope portions 20 . The two rope sections 20 pass through a rope holding device 200 and extend to a maintenance device 100 on deck 16 . The rope retainer 200 can retain the rope portion 20 by engaging the rope portion 20 passing through the rope retainer 200 .

In one example, a winch provided on the deck 16 is preferably used to move the rope retainer 200 over the blade 11 . This is because the mechanism of the rope holding device 200 can be simplified and the weight can be reduced. Thereby, the movement of the rope holding device 200 by the moving device 400 can be facilitated. Moreover, it is not necessary to use a large-sized mobile device 400 .

In another example, it is preferable to move over the blade 11 using an electric winch or using drive wheels without the use of a winch (and rope). This is because there is no need for the operator to operate the manual winch on the deck 16, and manpower can be reduced. It also reduces the need for workers to work in unsafe locations (eg, offshore).

Rope holding device 200 can move over blade 11 and remain in position over blade 11 to hold rope portion 20 in that position.

For example, the rope retainer 200 may retain the rope portions 20 on the blade 11 such that the two rope portions 20 are on opposite sides of the blade 11 bisected by the leading edge. That is, the rope retention device 200 is arranged such that the first rope portion 20 is located on a first side on the blade and the second rope portion 20 is located on a second side opposite the leading edge on the blade. can hold the rope portion 20 on the blade 11 . Thereby, two rope portions extend from both sides of the blade 11 .

At this time, for example, if the rope holding device 200 is positioned at the tip of the blade 11, each of the two rope portions 20 has a significant length extending from the waist of the wind turbine to the tip, thus Its weight is also significant. The rope retention device 200 can be lighter than the respective rope sections by being lightened. Therefore, the weight of the two rope sections 20 on either side of the leading edge of the blade 11 and the friction between the rope retainer 200 and the blade 11 keep the rope retainer 200 stable on the blade 11 . can be placed as

Once the rope holding device 200 has moved to a position on the blade 11 of the wind turbine (for example, the tip of the blade), the maintenance device 100 will move to the blade 11 .

FIG. 1H shows the stage of moving the maintenance device 100 onto the blades 11 of the wind turbine 10 .

The maintenance device 100 can move to the blade 11 along two rope portions 20 extending from a rope holding device 200 arranged on the blade 11 . As described above, the maintenance device 100 may move along the two rope portions 20 to the blade 11 using a moving means such as a winch provided in the maintenance device 100, or the maintenance device 100 may The blade 11 may be moved along the two rope portions 20 by using a moving means such as a winch provided outside.

The rope holding device 200 can move on the blade 11 so that the spatial position of the maintenance device 100 moving to the blade 11 and the position of the rope holding device 200 on the blade 11 are linked. Thereby, the position of holding the two rope portions 20 on the blade 11 can be interlocked with the spatial position of the maintenance device 100 . For example, the rope holding device 200 moves on the blade so that the position of the rope holding device 200 on the blade is substantially directly above the maintenance device 100, and holds the two rope portions 20 on the blade 11. position can be changed. This causes the rope portion 20 to extend vertically from the rope holding device 200 located on the blade 11 to the maintenance device 100 without the maintenance device 100 having to be controlled in its attitude or spatial position. Alternatively, it can climb up to the blade 11 without being swung from side to side. In addition, since the rope holding device 200 holds the two rope portions close to each other, the rope portions on which the maintenance device 100 rises also come close to each other. As a result, the maintenance device 100 can effectively utilize the two rope portions 20 for ascent. For example, climbing along two or more rope sections provides a safer and more stable climb than climbing along a single rope.

As the maintenance device 100 rises along the rope 20, it reaches the blade 11 as shown in FIG. 1I. Thereby, the maintenance device 100 can be arranged on the blade 11 .

After reaching the blade 11, the maintenance device 100 can be attached to the blade 11 by any mechanism. For example, the maintenance device 100 may be attached to the blade 11 by mechanical force, may be attached to the blade 11 by magnetic force, may be attached to the blade 11 by electric force, It may be attached to the blade 11 by pressure. A mechanism for attaching to blade 11 by mechanical force may be, for example, a pair of frames biased to clamp blade 11 . The mechanism for attaching to the blade 11 by pressure can be, for example, a mechanism for generating negative pressure to stick to the blade 11 .

When the maintenance device 100 reaches the blades 11, maintenance of the blades 11 of the wind turbine is performed.

FIG. 1J shows the maintenance device 100 moving over the leading edge of the blade 11 along the rope section 20 . The maintenance device 100 can move on the blade 11 together with the rope holding device 200 .

The maintenance device 100 can remain attached to the blade 11 as the maintenance device 100 moves along the leading edge. Thereby, the maintenance device 100 can move on the leading edge of the blade 11 without being lifted. Further, as described above, since the leading edge of the blade 11 is inclined about 5 degrees (in some cases, about 1 degree to about 10 degrees) with respect to the vertical, the gravity acting on the maintenance device 100 is It acts to press the 100 against the leading edge of the blade 11 and prevents the maintenance device 100 from floating.

The maintenance device 100 performs maintenance on the blade 11 while moving on the leading edge of the blade 11 . For example, the maintenance device 100 uses a camera to capture an image of the surface of the leading edge while moving over the leading edge of the blade 11 . For example, the maintenance device 100 moves on the leading edge of the blade 11 and inspects the continuity of the lightning receiving portion (receptor) using a probe. For example, while moving on the leading edge of the blade 11, the maintenance device 100 uses a probe to transmit radio waves or pulse signals to lightning receivers (receptors) to inspect disconnection or disconnection points of down conductors. For example, the maintenance device 100 cleans the surface of the leading edge using a cleaning device while moving over the leading edge of the blade 11 . For example, the maintenance device 100 polishes the surface of the leading edge using a sander while moving over the leading edge of the blade 11 . For example, the maintenance device 100 applies paint to the surface of the leading edge using a paint applying device while moving over the leading edge of the blade 11 . For example, the maintenance device 100 moves on the leading edge of the blade 11 and applies a material such as putty, adhesive, or sealant to the surface of the leading edge using an electric gun. The holes in the blade 11 can be filled with the applied material. The purpose of filling the hole is to block the hole to prevent water from entering the blade 11, and does not require beauty or perfection.

The maintenance device 100 controls the winding and unwinding of the blade 11 in the direction in which the rope 20 extends over the leading edge of the blade 11, for example, in the direction from the tip of the blade to the root of the blade and from the root of the blade to the root of the blade. It can move in a direction toward the tip. As a result, the maintenance device 100 can perform maintenance while reciprocating on the leading edge of the blade 11 . Also, even if the maintenance device 100 should come off the blade 11, the rope 20 connected to the winch of the maintenance device 100 serves as a lifeline, preventing the maintenance device 100 from falling.

FIG. 1K shows the rope retainer 200 moving along the rope portion 20 and over the leading edge of the blade 11 .

As the rope retainer 200 moves along the leading edge, the rope retainer 200 can remain attached to the blade 11 . This allows the rope holding device 200 to move on the leading edge of the blade 11 without lifting. Also, as described above, since the leading edge of the blade 11 is inclined about 5 degrees (in some cases, about 1 degree to about 10 degrees) with respect to the vertical, the force of gravity acting on the rope retainer 200 is It acts to press the holding device 200 against the leading edge of the blade 11 to prevent the maintenance device 100 from floating.

The rope holding device 200 performs maintenance of the blade 11 in cooperation with the maintenance device 100 while moving on the leading edge of the blade 11 . For example, while the rope holding device 200 moves over the leading edge of the blade 11, it uses a camera to image the surface of the leading edge. For example, while moving on the leading edge of the blade 11, the rope holding device 200 detects a signal corresponding to the radio wave transmitted by the maintenance device 100 when it propagates through the down conductor in the blade 11. Inspect the conductors for breaks or open spots. For example, the maintenance device 100 moves on the leading edge of the blade 11 and places the reference conductor substantially parallel to the down conductor in the blade 11 . This allows the maintenance device 100 to inspect the disconnection or disconnection location of the down conductor.

The rope holding device 200 controls winding and unwinding by the winch so that the rope 20 extends over the leading edge of the blade 11, for example, from the tip of the blade to the root of the blade and from the root of the blade to the blade. can move in a direction toward the tip of the Thereby, the rope holding device 200 can perform maintenance while reciprocating on the leading edge of the blade 11 . Also, even if the rope holding device 200 should come off the blade 11, the rope 20 connected to the rope holding device 200 serves as a lifeline, and the rope holding device 200 can be prevented from falling.

In this manner, maintenance of the blades 11 of the wind turbine 10 is performed through cooperation between the maintenance device 100 and the rope holding device 200 . Once the maintenance is complete, the system of the invention will be withdrawn from the blades 11 of the wind turbine 10 .

1L-1R show the stages of recovery of the system of the present invention from the blades 11 of the wind turbine 10. FIG. 1L-1N show the steps of removing the maintenance device 100 from the blade 11, and FIGS. 1O-1R show the steps of removing the rope holding device 200 and the attachment device 300 from the blade 11. .

As shown in FIG. 1L , when the rope holding device 200 is moved to a position on the blade 11 (eg, the tip of the blade), the maintenance device 100 is moved from above the blade 11 . The maintenance device 100 can descend along the rope portion 20 held by the rope holding device 200 . The maintenance device 100 may be positioned vertically below the rope retaining device 200 .

1L-1N, the rope retention device 200 is configured such that the spatial position of the maintenance device 100 moving from the blade 11 is associated with the position of the rope retention device 200 on the blade 11. It can move on the blade 11 . Thereby, the position of holding the two rope portions 20 on the blade 11 can be interlocked with the spatial position of the maintenance device 100 . For example, when the rope holding device 200 moves toward the root of the blade 11 (diagonally upward to the right of the paper surface of FIGS. 1L and 1M), the maintenance device 100 is positioned substantially directly below the rope holding device 200. The maintenance device 100 also moves rightward on the paper surface of FIGS. 1L and 1M. This allows the maintenance device 100 to maintain vertical alignment with the rope retention device 200 located on the blade 11 without the maintenance device 100 having to be controlled in its attitude or spatial position, or , can descend from the blade 11 without being swung from side to side. In addition, since the rope holding device 200 holds the two rope portions close to each other, the rope portions on which the maintenance device 100 descends also come close to each other. Thereby, the maintenance device 100 can effectively utilize the two rope portions 20 for descent. For example, descending along two or more rope sections provides a safer and more stable ascent than descending along a single rope.

By lowering the maintenance device 100 while controlling the position of the rope holding device 200 on the blade 11, the maintenance device 100 reaches the deck 16, as shown in FIG. 1N. When maintenance device 100 reaches deck 16 , rope portion 20 is removed from maintenance device 100 . Further, the rope portion 20 is also removed from the rope holding device 200 and the attachment device 300 . The manner in which the rope portion 20 is removed from the rope holding device 200 and the attachment device 300 does not matter. For example, removing the rope portion 20 from the rope retainer 200 and the attachment device 300 by exchanging the rope portion 20 for the mane in the same manner as exchanging the mane for the rope described above (alternatively, the mane is replaced by the rope retainer). 200 and attachment device 300). Alternatively, for example, after connecting the rope holding device 200 and the attachment device 300 with an arbitrary mechanism, pulling one end of the rope portion 20 (connected to the maintenance device 100) (connected to the maintenance device 100) The other end of the rope portion 20 (which was previously held) passes through the rope retainer 200 and the attachment device 300 and off.

Transfer device 400 is then coupled to mounting device 300, as shown in FIG. 1O. Movement device 400 may be coupled to mounting device 300 by any means. For example, the moving device 400 may be coupled to the mounting device 300 by mechanical force, may be coupled to the mounting device 300 by magnetic force, may be coupled to the mounting device 300 by electrical force, It may be coupled to the mounting device 300 by pressure or suction. The moving device 400 is a device that moves the attachment device 300 and the rope holding device 200 from above the blade to the deck. The mobile device 400 may be, but is not limited to, a flyable mobile device such as a drone. Any means can be used as long as the attachment device 300 and the rope retention device 200 can be moved from the blade. The moving device 400 may be the same moving device used to move the attachment device 300 and the rope holding device 200 to the blade, or it may be a different device. Preferably it is the same device. This is because additional costs can be suppressed by using the same device.

Next, as shown in FIG. 1P, attachment to blade 11 by attachment mechanism 310 is released. Untightening attachment mechanism 310 , for example, a clampable band or belt, releases attachment mechanism 310 from blade 11 . For example, the attachment device 300 can untighten the attachment mechanism 310 by rotating a pulley or roller to which the second end 312 is secured to extend the second end 312 . Alternatively, for example, the attachment device 300 can unclamp the attachment mechanism 310 by separating the first end 311 or the second end 312 from the body 320 . Attachment device 300 can separate first end 311 or second end 312 from body 320 by any mechanism.

The attachment device 300 together with the rope holding device 200 is then moved from its position on the blade 11 by the moving device 400, as shown in FIGS. 1Q and 1R. The attachment device 300 is then moved to the deck 16 together with the rope retaining device 200 .

Thus, the maintenance device 100 as well as the rope holding device 200 and attachment device 300 are recovered from the blades 11 of the wind turbine 10 . After the maintenance device 100 and the rope holding device 200 and attachment device 300 are withdrawn from the blades 11 of the wind turbine 10, the blades 11, 12 are positioned such that the next blade 12 or 13 to be maintained extends vertically downward. , 13 are rotated. Then, with the next maintenance target blade 12 or 13 positioned to extend downward in the vertical direction, maintenance of that blade is performed in the same procedure as in FIGS. 1B to 1R. This can be repeated until all blades to be maintained have been maintained.

By using the system of the present invention, blade maintenance can be performed safely and easily even in wind turbines such as the offshore wind turbine 10 that do not have sufficient footholds. For example, the attachment device 300 allows the rope to be installed on the wind turbine without the need for an operator to attach the rope.

In this example, the rope 20 is removed from the attachment device 300 before moving the attachment device 300 from the predetermined position of the blade 11, but the timing of removing the rope 20 from the attachment device 300 is not limited to this. For example, as shown in FIGS. 1O-1R, the rope 20 may be removed from the attachment device 300 after the attachment device 300 has been moved from its position on the blade 11 to the deck 16 . Preferably, however, the rope 20 is removed from the attachment device 300 prior to moving the attachment device 300 out of position on the blade 11 . This is because by removing the rope 20 from the attachment device 300, the weight carried by the moving device 400 can be reduced, and the need to use a large moving device 400 is eliminated. This can lead to easy maintenance.

In the above example, the attachment device 300 is moved to a predetermined position on the blades 11 to attach the attachment device 300 to the predetermined position. and can be mounted in any position. For example, as shown in FIG. 2, the mounting device can be mounted in place on the tower 17 of the wind turbine 10 .

FIG. 2 shows an example of attaching a rope to a predetermined position on the tower 17 of the wind turbine 10 using an attachment device 300' in an alternative embodiment. FIG. 2 shows, by way of example, the stage of placing a rope holding device 200 similar to FIG. 1G at an arbitrary position on the blades 11 of a wind turbine.

In this example, the transfer device 400 can be moved to a predetermined position on the attachment device 300 ′ tower 17 , and alternatively the transfer device 400 can move the rope holding device 200 to any position on the blade 11 . can be moved. At least one rope extending from the attachment device 300 is thereby retained on the blade by the rope retaining device 200 .

The mounting device 300' can be mounted in place on the tower 17 of the wind turbine 10 by any means. For example, the attachment device 300' may be attached by mechanical force, attached by magnetic force, attached by electric force, attached by pressure or suction force.

Once at least one rope is held in any position on the blade 11 by the rope holding device 200, maintenance of the blade 11 is performed as in FIGS. 1H-1K.

After maintenance has been performed, the attachment device 300 and the rope holding device 200 will be collected separately.

The procedure described with reference to FIGS. 1A-1R has at least the following advantages over the alternative embodiment procedure described with reference to FIG.

First, in the procedure described with reference to FIGS. 1A-1R, both the rope holding device 200 and the mounting device 300 can be moved in one step to a position above the blades 11 of the wind turbine 10, and the rope holding device It can contribute to quick positioning of the device 200 and the mounting device 300 on the blade 11 . For example, in the experience of the inventor of the present invention, it takes at least an hour for a worker to install a rope on the nacelle of a wind turbine, and it takes even more time if the wind turbine is an offshore wind turbine. was In contrast, the inventor of the present invention moves both the holding device 200 and the mounting device 300 to the position of the blades of the wind turbine by the moving device 400, which is a device that can fly, and mounts the mounting device 300 at that position. Thus, the inventors have found that the work of attaching the rope can be completed in a very short time (for example, in about 5 minutes).

Second, the procedure described with reference to FIGS. 1A-1R uses the mobile device 400, which is a device that can fly, so even in places where there is not enough foothold, such as offshore windmills, there is sufficient As with scaffolding, the work of attaching ropes can be completed in a very short time. Furthermore, since it is not necessary to attach the rope manually, maintenance of the windmill can be safely performed even in a place such as an offshore windmill where there is no sufficient footing.

Third, in the procedure described with reference to FIGS. 1A to 1R, when the attachment device 300 is placed on the blade, the rope holding device 200 is also placed on the blade, so the rope holding device 200 alone approach the blade. In particular, approaching a blade with a relatively small rope holding device 200 involves skill and is difficult, and the procedure described with reference to FIGS. No, and there is minimal risk that the rope holding device 200 will contact and break the blade while approaching the blade.

Fourth, the procedure described with reference to FIGS. 1A-1R also allows both the rope holding device 200 and the attachment device 300 to be retrieved from the blades 11 of the wind turbine 10 in one step, saving labor time for maintenance. can be reduced.

In the above example, one maintenance device 100 is used to perform maintenance of the wind turbine blades, but it is also possible to perform maintenance of the wind turbine blades using a plurality of maintenance devices 100 .

Although the example described above uses one rope holding device 200, the number of rope holding devices 200 may be any number equal to or greater than one. For example, two rope retainers 200, three rope retainers 200, or four or more rope retainers 200 can be used. Furthermore, although the above example describes the use of two rope sections 20, the invention is not so limited. In the present invention, at least one rope can be used for maintenance of the blades of the wind turbine.

In the maintenance method described with reference to FIGS. 1A to 1R and 2, the maintenance device 100 can be easily arranged on the blade 11. FIG. The maintenance device 100 can reach the blade 11 and land on the blade 11 simply by following the rope held by the rope holding device 200 . At this time, it is not necessary to finely control the posture of the maintenance device 100 when landing on the blade 11 . This is because the maintenance device 100 can be guided to an appropriate landing position on the blade 11 by the rope held by the rope holding device 200 . This makes it possible to simplify or omit the mechanism for landing that the maintenance device 100 should have. In addition, since landing is easy, it is possible to reduce manpower at the time of landing. Furthermore, since there is no need to finely control the posture during landing, even if the weight of the maintenance device is increased, the impact on the difficulty of landing is small. Therefore. Many functions can be installed in the maintenance device so that many maintenances can be performed at once. This leads to more efficient maintenance.

2. Configuration of System for Maintenance of Wind Turbine Blades The system for maintenance of wind turbine blades of the present invention comprises a maintenance device 100 , a rope holding device 200 and an attachment device 300 . The system may comprise any number of maintenance devices 100, any number of rope holding devices 200, and any number of attachment devices 300. The system can also comprise transportation means 400 .

The maintenance device 100 can have any configuration as long as it is configured to perform maintenance on the blades of the wind turbine and travel on ropes to and over the blades.

The maintenance device 100 can comprise any means for performing maintenance. The means for performing maintenance can include, for example, at least one of imaging means, continuity testing means, disconnection testing means, cleaning means, polishing means, grinding means, and coating means. .

The imaging means may be any camera capable of capturing still or moving images of the object.

The continuity testing means can be any means capable of testing whether a current flows through a conductive portion on the surface of the object. For example, the continuity test means includes a probe capable of testing whether or not current flows through the lightning receivers provided on the blades of the wind turbine.

The disconnection inspection means may be any means capable of inspecting whether or where a conductor extending inside the object (e.g., the down conductor of a wind turbine blade) is broken. . For example, the disconnection inspection means comprises a transmitter/receiver capable of transmitting a pulse signal to the receptor of the down conductor and detecting its reflected waveform. For example, the disconnection testing means comprises a probe capable of sending radio waves to the receptor of the down conductor. At this time, the transmitter that actually generates radio waves may be provided in the maintenance device 100 or may be provided outside the maintenance device 100 (for example, on the deck of the windmill). Moreover, the rope holding device 200 can be provided with a detector that detects a signal in response to the radio waves sent through the disconnection inspection means.

The cleaning means can be any means capable of cleaning an object. For example, the cleaning means may be a mechanism that wipes away stains using a cleaning liquid and a rag. When using such a mechanism to clean the blades 11 of the wind turbine 10 while moving over the blades 11 of the wind turbine 10 as shown in FIG. Cleaning is performed by

Abrasive means can be any means capable of abrading an object. For example, the polishing means may be a mechanism for polishing using sandpaper, a grinder, a disk grinder, or the like. When using sandpaper, a grinder, or a disc grinder to grind the blades 11 of the windmill 10 while moving over the blades 11 of the windmill 10 as shown in FIG. Polishing is performed by moving the maintenance device 100 over the blade while pressing against the blade.

The grinding means can be any means capable of grinding an object. For example, the grinding means may be a grinding mechanism using a leuter (or hand grinder or precision grinder), belt sander, or the like. For example, the grinding means can grind the surface of the blades 11 by pressing a router or a belt sander against the blades 11 of the wind turbine 10 .

The application means can be any means capable of applying material to an object. Materials applied by the application means include, for example, paint, putty, adhesive, and sealant. For example, the application means may be an injection device capable of injecting paint. When such an injection device is used to apply paint to the blades 11 of the wind turbine 10 while moving over the blades 11 of the wind turbine 10 as shown in FIG. The coating is applied by movement of 100 over the blade. For example, the application means may be a caulking gun capable of extruding putties, adhesives, sealants, and the like. When using such a caulking gun to apply a material such as putty, adhesive, or sealant to the blades 11 of the wind turbine 10 while moving over the blades 11 of the wind turbine 10 as shown in FIG. The portion to be coated is identified in advance using imaging means or the like, and the material is applied by pushing out the material when the maintenance device 100 moves on the blade 11 and reaches the portion to be coated with the material.

Note that means for performing maintenance are not limited to imaging means, continuity testing means, disconnection testing means, cleaning means, polishing means, grinding means, and coating means. The maintenance device 100 may be provided with other means for performing maintenance instead of or in addition to the above means.

The maintenance device 100 can be provided with communication means, for example. Thereby, it is possible to receive a signal from outside the maintenance device 100 and transmit a signal to the outside of the maintenance device 100 . The communication means may receive a signal from the outside of the maintenance device 100 wirelessly or by wire. The communication means may transmit the signal to the outside of the maintenance device 100 wirelessly or by wire. The communication means can receive, for example, a signal for controlling each operation of the maintenance device 100 from outside the maintenance device 100 (for example, an operation terminal used by an operator). The communication means can, for example, transmit image data obtained by the imaging means to the outside of the maintenance device 100 (for example, an operation terminal used by an operator). The communication means can, for example, transmit a signal indicating the spatial position of the maintenance device 100 to the rope holding device 200 . The communication means may, for example, receive signals from the rope retention device 200 indicating the position of the rope retention device 200 on the blade.

Although it has been described that each operation of the maintenance device 100 is controlled according to a signal from the outside of the maintenance device 100, the present invention is not limited to this. For example, a program for realizing a series of operations for performing blade maintenance may be stored in the memory of the maintenance device 100, and the processor of the maintenance device 100 reads and executes the program to perform maintenance device maintenance. 100 can function as a device for automatically performing blade maintenance.

The maintenance device 100 comprises moving means that enable the maintenance device 100 to move along the rope. The moving means also allows the maintenance device 100 to move over the blade. For example, the moving means comprises a winch allowing the maintenance device 100 to move along the rope. For example, the moving means comprises wheels that allow the maintenance device 100 to move over the blades. The wheels may be non-driven wheels, but may also be driven wheels driven by a power source. For example, the maintenance device 100 may move over the blade using a winch and non-driven wheels, or may move over the blade using driven wheels without using a winch (and rope). can be

In the above example, the maintenance device 100 may include means for performing maintenance, communication means, memory, processor, and moving means, but the present invention is not limited to this. Systems in which at least one of the components of maintenance device 100 is located external to the body of maintenance device 100 are also within the scope of the present invention. For example, instead of the maintenance device 100 having a winch, the mounting device 300 may have a winch. In this case, the rope extending from the winch of the attachment device 300 is fixed to the maintenance device 100, and the winch of the attachment device 300 winds or pays out the rope so that the maintenance device 100 moves up to and over the blade 11. may

The rope holding device 200 receives at least one rope extending from the attachment device 300 and holds the at least one rope in any position on the blades of the wind turbine and is movable on the blades. It can have any configuration as long as it is configured to

As described above with reference to FIG. 4, the rope holding device 200 comprises moving means 210 and rope connecting means 220 .

The moving means 210 can be any means so long as it allows the rope retaining device 200 to move over the blade. The moving means 210 may be, for example, wheels or tracks, or may be a combination of a winch and wheels or tracks.

The rope connection means 220 can be any means as long as it allows a rope to be connected to the rope retention device 200 . The rope connection means 220 may comprise an engaging portion 231 that engages the rope and a guide portion 232 that guides the rope.

Engagement portion 231 may be an engagement roller driven by a drive portion, as shown in FIG. By driving the engaging roller with the drive unit in a state where the rope is wound around the engaging roller, a force for feeding the rope forward or backward can be applied to the rope. This allows the rope holding device 200 to move along the rope. Engagement portion 221 can be implemented by any other mechanism as long as it can achieve a similar function.

The guide portion 232 is any mechanism that guides the rope to the engagement portion 221 . The guide part 222 can be, for example, a guide roller.

The rope holding device 200 may, for example, further comprise a control unit and a communication unit.

The control unit is configured to control the operation of the entire rope holding device 200 . The control unit may, for example, control the components of the rope holding device 200 according to control signals received by the communication unit. The control unit can drive the rope connection means 220 to move along the connected rope, for example according to control signals received by the communication unit. The control unit can drive the moving means 210 to move over the blades, for example according to control signals received by the communication unit.

Control unit 210 may be implemented by any control means such as, for example, one or more processors.

Although it has been described that each component of the rope holding device 200 is controlled according to a signal from the outside of the rope holding device 200, the present invention is not limited to this. For example, a program for realizing a series of operations of each component of the rope holding device 200 may be stored in a memory that the rope holding device 200 may have, and the control unit 210 reads and executes the program. Thus, the rope holding device 200 can function as an autonomous device.

The communication unit can receive signals from outside the rope holding device 200 . Additionally, the communication unit may transmit signals to the outside of the rope holding device 200 . The communication unit may receive a signal from the outside of the rope holding device 200 wirelessly or by wire. The communication unit may transmit the signal to the outside of the rope holding device 200 wirelessly or by wire. The communication unit, for example, sends a control signal for controlling each component of the rope holding device 200 from the outside of the rope holding device 200 (for example, the operation terminal used by the operator, the maintenance device 100, or the attachment device 300) can receive. The communication unit may, for example, send a signal to the maintenance device 100 indicating the position of the rope holding device 200 on the blade. The communication means can receive, for example, a signal indicating the spatial position of the maintenance device 100 from the maintenance device 100 . The communication unit may be implemented by any means of communication, eg an antenna.

The rope holding device 200 can further comprise a camera. A camera can be any camera capable of taking still or moving images of an object. Still images or videos captured by the camera are used, for example, to inspect the condition of the surface of the blade, or to identify the position of the rope holding device 200 on the blade, or to the maintenance device for the rope holding device 200. 100 can be utilized to identify the location. Alternatively, still or moving images captured by the camera can be used to confirm the display screen of the detector, which will be described later.

The rope holding device 200 can further include a detector that detects a signal in response to the radio waves transmitted through the disconnection inspection means of the maintenance device 100 . A detector may, for example, detect a signal responsive to radio waves transmitted to the down conductor of the blade. The signal detected at the disconnection point and the non-disconnection point is different, or the signal cannot be detected at the non-disconnection point. can be detected. The detector can detect breaks in down conductors, for example, by using the same principle as a buried cable searcher that can search for cables buried in the ground.

The rope retention device 200 may further comprise a reference conductor positionable on the blade. A reference conductor extends between the rope holding device 200 and the attachment device 300 . As the rope retention device 200 moves from the attachment device 300 toward the tip of the blade, the rope retention device 200 can place the reference conductor on the blade. At this time, the conductor extends inside the blade, and the arranged reference conductor can be substantially parallel to the conductor. Here, "substantially parallel" means that the angle formed by two straight lines is ±5°.

Thus, the rope holding device 200 receives at least one rope extending from the attachment device 300 and holds the at least one rope in any position on the blades of the wind turbine and on the blades. It can have a minimum configuration that can realize the function for moving. Thereby, the weight of the rope holding device 200 can be reduced. Rope retention device 200 may, for example, have a weight of about 2 kg or less, may have a weight of about 1.5 kg or less, or may have a weight of about 1 kg or less. It is preferable that the weight of the rope holding device 200 be reduced as much as possible by mounting the minimum necessary components. This is because the movement by the movement device 400 is thereby facilitated.

For example, the rope retainer 200 preferably weighs less than the at least one rope strung on the blade. For example, since at least one rope strung over the blades has a weight of about 5 kg, the rope retention device 200 preferably has a weight of less than about 5 kg, eg, a weight of about 2 kg.

The weight of the rope holding device 200 is lighter than the weight of the maintenance device 100. - 特許庁For example, the ratio of the weight of the rope holding device 200 to the weight of the maintenance device 100 can be about 1:10, about 1:20, about 1:50, about 1:100, and the like. Preferably, the ratio of the weight of the rope holding device 200 to the weight of the maintenance device 100 can be from about 1:20 to about 1:50.

For example, the size of the rope holding device 200 is preferably small. The rope holding device 200 has, for example, a volume of less than about 30000 ^cm3 , a volume of less than about 25000 ^cm3 , a volume of less than about 20000 ^cm3 , a volume of less than about 15000 cm3, a volume of less than about ^{10000 cm3} , a volume of less than about 5000 ^cm3 , It may have a volume of less than about 3000 cm ³ , a volume of less than about 1000 cm ³ . Preferably, the rope retainer 200 can have a volume of about 2000 cm ³ to about 4000 cm ³ .

For example, the ratio between the size (volume) of the rope holding device 200 and the size (volume) of the maintenance device 100 is about 1:10, about 1:20, about 1:50, about 1:60, about 1:100, It can be about 1:150, about 1:200, about 1:220, and the like. Preferably, the ratio of the size of the rope holding device 200 to the size of the maintenance device 100 can be from about 1:60 to about 1:220.

The mounting device 300 can have any configuration as long as it is configured to be mounted in place on the blades of the wind turbine and to which at least a portion of one rope is fixed.

As described above with reference to FIG. 3, attachment device 300 includes attachment mechanism 310 and body 320 .

Attachment mechanism 310 can be any mechanism so long as it allows attachment device 300 to attach to blade 11 . For example, the attachment mechanism 310 may be a mechanism for attaching the attachment device 300 to the blade 11 by mechanical force, a mechanism for attaching the attachment device 300 to the blade 11 by magnetic force, or a mechanism for attaching the attachment device 300 to the blade 11 by electrical force. 11, or a mechanism for attaching the attachment device 300 to the blade 11 by pressure or suction force. Preferably, attachment mechanism 310 may be a mechanism that attaches attachment device 300 to blade 11 by mechanical force.

In one example, the attachment mechanism 310 can be a tightenable band or belt. For example, a first end of attachment mechanism 310 may be secured to body 320 and a second end may be removably coupled to body 320 . Alternatively, for example, both the first end and the second end may be coilable. A clampable band or belt is preferred in that it allows a simple mechanism or structure to mount the mounting device 300 onto the blade.

Body 320 may further comprise a control unit and a communication unit.

The control unit is arranged to control the operation of the entire mounting device 300 . The control unit may, for example, control components of the mounting device 300 according to control signals received by the communication unit. The control unit may, for example, drive the mounting mechanism 310 to mount the mounting device 300 in place according to control signals received by the communication unit. The control unit may, for example, drive the attachment mechanism 310 to release the attachment device 300 from the predetermined position according to control signals received by the communication unit.

The control unit may be implemented by any control means, eg one or more processors. The mounting device 300 may control each component of the mounting device 300 according to a signal from the outside of the mounting device 300, or a program for realizing a series of operations of each component of the mounting device 300 may be , may be stored in a memory that may be included in the mounting device 300, and the control unit may read and execute the program to enable the mounting device 300 to function as an autonomous device.

The communication unit can receive signals from outside the attachment device 300 . Additionally, the communication unit may transmit signals external to the mounting device 300 . The communication unit may receive signals from the outside of the attachment device 300 wirelessly or by wire. The communication unit may transmit the signal to the outside of the mounting device 300 wirelessly or by wire. The communication unit receives, for example, a control signal for controlling each component of the attachment device 300 from outside the attachment device 300 (for example, an operation terminal used by an operator, the maintenance device 100, or the rope holding device 200). can do. The communication unit may be implemented by any means of communication, eg an antenna.

The body 320 comprises fastening means for fastening a portion of at least one rope. The fixing means can be any means as long as they are capable of fixing a portion of at least one rope. For example, the fixing means can be at least one eyebolt and a portion of the at least one rope can be fixed by winding the rope around the at least one eyebolt.

The moving means 400 can be any means as long as it can move at least the mounting device 300 to a predetermined position on the wind turbine. The mobile means 400 may be, for example, a flightable device such as a drone. Alternatively, the moving means 400 may be, for example, a device having an extendable structure (eg, crane, ladder truck). Alternatively, the moving means 400 may be a moving means provided by the mounting device 300 (eg, wheels, tracks, etc.). The predetermined position is, for example, a position on the blade of the wind turbine, preferably a position at the root of the blade of the wind turbine or a position on the constricted portion, more preferably a position on the constricted portion of the root of the blade of the wind turbine. obtain. Alternatively, the predetermined position may be, for example, a position on the tower of the wind turbine, preferably the top of the tower of the wind turbine.

Preferably, the moving means 400 can move both the attachment device 300 and the rope holding device 200 to a predetermined position. This is advantageous in at least the following respects.

Firstly, both the at least one rope holding device 200 and the at least one mounting device 300 can be moved in one step to a position above the blades 11 of the wind turbine 10, and the at least one rope holding device 200 and the at least one mounting device 300 can be moved in one step. It can contribute to quick positioning of one mounting device 300 on the blade 11 . For example, the at least one rope holding device 200 and the at least one attachment device 300 are moved by the moving means 400, which may be a flyable device, to the position of the blades of the wind turbine, and the at least one attachment device 300 is attached to the position. Thus, the work of attaching the rope can be completed in a very short time.

Second, when at least one attachment device 300 is placed on the blade, at least one rope holding device 200 is also placed on the blade, so that the at least one rope holding device 200 alone approaches the blade. No need. In particular, approaching the relatively small rope holding device 200 to the blade requires skill and is difficult. No such skill is required, and the risk of the at least one rope retention device 200 contacting and breaking the blade during approach to the blade is minimal.

Third, both the at least one rope holding device 200 and the at least one attachment device 300 can also be retrieved from the blades 11 of the wind turbine 10 in one step, reducing maintenance work time.

In the above examples, it was explained that the system of the invention comprises a maintenance device 100, at least one rope holding device 200, at least one attachment device 300 and may also comprise a moving means 400, but the A system may be configured from some of these components, and components other than these components may be added.

For example, in one embodiment, the system of the present invention can consist of the maintenance device 100 and at least one mounting device 300 among the components described above. In this embodiment, at least one attachment device 300 will hold at least one rope on the blade.

For example, in one embodiment, the system of the present invention can consist of at least one rope retention device 200 and at least one attachment device 300 of the components described above. In this embodiment, the system of the present invention can be said to be a system for assisting blade maintenance. That is, in this embodiment, the system of the present invention provides ropes on the blade for access to the blade for maintenance devices described herein, as well as other maintenance devices, such as: Blade maintenance can be assisted.

Alternatively, in this embodiment, at least one of the at least one rope holding device 200 and the at least one attachment device 300 may also have a maintenance function. This allows maintenance of the blades by means of at least one rope holding device 200 and at least one attachment device 300 .

3. Method for Maintaining Wind Turbine Blades FIG. 5 shows an example procedure (step 500) of a method for performing maintenance on wind turbine blades using the system of the present invention.

Step S<b>501 is a step of moving at least one mounting device 300 to a predetermined position on the wind turbine 10 . Here, it does not matter how the at least one mounting device 300 is moved into place. The movement may be active movement by at least one attachment device 300 or passive movement by at least one attachment device 300 . Preferably, the moving means 400 are capable of moving at least one mounting device 300 .

The predetermined position is, for example, a position on the blades 11 of the wind turbine 10, preferably a position at the root of the blades 11 of the wind turbine 10 or a position on a constricted portion, more preferably a constricted position at the root of the blades 11 of the wind turbine 10. It can be a position on the part. Alternatively, the predetermined position can be, for example, a position on the tower 17 of the wind turbine 10 , preferably the upper end of the tower 17 of the wind turbine 10 .

Step S502 is a step of attaching at least one mounting device 300 that has been moved to a predetermined position to a predetermined position. At least one attachment device 300 can be attached in place by an attachment mechanism 310 . For example, a control unit of the at least one mounting device 300 can control the mounting mechanism 310 to mount the at least one mounting device 300 in place. The control unit may, for example, control the attachment mechanism 310 according to instructions stored in memory, or may control the attachment mechanism 310 according to instructions from an operator.

A portion of at least one rope may be fixed to at least one attachment device 300 before step S503, and the timing at which at least a portion of at least one rope is fixed to at least one attachment device 300 is I don't mind. For example, it may be fixed to the mounting device 300 before step S501, or it may be fixed to at least one mounting device 300 after step S502. At least before step S503, at least one rope extends from at least one attachment device 300 to at least one rope holding device 200, and at least one rope holding device 200 will receive this rope. By both fixing a portion of the at least one rope to at least one mounting device 300 and mounting the at least one mounting device 300 at a predetermined position of the wind turbine 10, at least one The attachment of the rope to the windmill 10 is completed.

In one embodiment, in step S501, the moving means 400 moves the at least one attachment device 300 together with the at least one rope holding device 200 into position, and in step S502, moves the at least one attachment device 300 into position. can be attached to At this time, the predetermined positions are positions on the blades 11 of the wind turbine 10 . Also, the transportation means 400 may be a device capable of flying. This allows both the at least one rope holding device 200 and the at least one attachment device 300 to be moved in one step to a position above the blades 11 of the wind turbine 10, as shown in FIGS. 1B-1D, At least one mounting device 300 can then be mounted at that location. This may contribute to quick positioning of the at least one rope holding device 200 and the at least one attachment device 300 onto the blade 11 . For example, in the experience of the inventor of the present invention, it takes at least one hour to manually attach a rope to the nacelle of a wind turbine, and it takes even more time if the wind turbine is an offshore wind turbine. It was hanging In contrast, the inventor of the present invention moves both the at least one rope holding device 200 and the at least one attachment device 300 to the position of the blades of the wind turbine by the moving means 400, which is a device that can fly, so that at least It has been found that by attaching one attachment device 300 to the position, the operation of attaching the rope can be completed in a very short period of time (eg, about 5 minutes or so). Since the moving means 400, which is a device capable of flying, is used, even in a place such as an offshore windmill where there is no sufficient foothold, the work of attaching a rope can be performed in a very short time in the same way as in a place where there is a sufficient foothold. It can be completed. By shortening the work time for attaching the rope, it is possible to significantly reduce the time required for maintenance of the wind turbine. Furthermore, since it is not necessary to attach the rope manually, maintenance of the windmill can be safely performed even in a place such as an offshore windmill where there is no sufficient footing.

Step S503 is a step of moving at least one rope holding device 200 to an arbitrary position on the blade 11. FIG. Here, it does not matter how the rope holding device 200 is moved to any position on the blade 11 . The movement may be active movement by the at least one rope holding device 200 or passive movement by the at least one rope holding device 200 . For example, the control unit of the at least one rope holding device 200 can control the rope connection means 220 to move the at least one rope holding device 200 . The control unit may, for example, control the rope connection means 220 according to instructions stored in a memory, or may control the rope connection means 220 according to instructions from an operator.

For example, if in step S501 only at least one attachment device 300 was moved into position, then in step S503 at least one rope holding device 200 needs to be moved to the blade 11 . The at least one rope holding device 200 can move, for example, along a rope that can extend from the attachment device 300, to the blade 11, and over the blade to any position on the blade.

For example, if in step S501 the at least one rope holding device 200 was moved into position along with the at least one attachment device 300, step S503 moves the at least one rope holding device from the given position to the desired position. A step of moving the device 200 is included. For example, in step S503, at least one rope holding device 200 is moved from a predetermined position to an arbitrary position, as shown in Figures 1F-1G.

Any position on the blade can be, for example, the position of the tip of the blade. Alternatively, any position on the blade may be a suitable position to start pulling maintenance device 100 up to blade 11 . Alternatively, any position on the blade may be a position linked to the position of the maintenance device 100, for example. The position linked to the position of the maintenance device 100 can be, for example, the position above the maintenance device 100 .

Step S504 is the step of holding at least one rope in position on the blade 11 by at least one rope holding device 200 . The position on the blade is the position to which the at least one rope retaining device 200 was moved in step S503. The at least one rope retained on the braid 11 is the rope extending from the at least one attachment device 300 to the at least one rope retention device 200 .

For example, as shown in FIGS. 1F-1G, the at least one rope retaining device 200 moves over the blade 11 to any position (eg, the tip of the blade 11) resulting in the at least one rope retaining device 200 At least one rope received by is held on the blade 11 . When at least two ropes are held on the blades 11, the at least two ropes held on the blades 11 are divided into a first rope group comprising at least one rope, as shown in FIG. Extending from the first side of the blade, a second rope group including at least one rope extends from the second side of the blade.

Step S505 is a step of connecting at least one rope held on the blade 11 by at least one rope holding device 200 in step S504 to the maintenance device 100 . For example, at least one rope is connected to the maintenance device 100 by connecting at least one rope to the winch of the maintenance device 100 .

Step S505 can be performed manually, for example, by an operator on deck 16. FIG.

With the at least one rope holding device 200 holding the at least one rope on the blade 11, the at least one rope held by the at least one rope holding device 200 up to the blade 11 in step S506. Move the maintenance device 100 . For example, the maintenance device 100 is moved to the blade 11 as shown in FIGS. 1G-1I. The maintenance device 100 can move along at least one rope held by at least one rope holding device 200 to the blade.

When moving the maintenance device 100 to the blade 11 in step S506, the spatial position of the maintenance device 100 and the position of the at least one rope holding device 200 when the maintenance device 100 moves to the blade 11 on the at least one rope. The position of at least one rope retention device 200 may be controlled in conjunction. This control can be dynamic control. For example, the blade of at least one rope holding device 200 is moved so that the position on the blade of at least one rope holding device 200 is substantially directly above the maintenance device 100, and the at least one rope holding device 200 is The position of holding the at least one rope on the blade 11 can be controlled. This causes at least one rope to extend vertically from at least one rope holding device 200 on the blade 11 to the maintenance device 100, which needs to be controlled in its attitude or spatial position. It can move up to the blade 11 without being swung from side to side. Furthermore, by utilizing the fact that the maintenance device 100 naturally moves so as to come substantially directly below the at least one rope holding device 200 due to the action of gravity, the at least one rope holding device 200 can be moved on the blade 11. , the horizontal movement of the maintenance device 100 can also be guided. This can eliminate or reduce the need for an operator to control the spatial position of maintenance device 100 from deck 16 or the like, leading to less manpower.

Step S<b>507 is a step of moving the maintenance device 100 above the blade 11 after the maintenance device 100 has moved to the blade 11 . Here, it does not matter how the maintenance device 100 is moved on the blade 11 .

For example, maintenance device 100 can be moved over blade 11 along at least one rope 20 extending from attachment device 300, as shown in FIGS. 1I and 1J. In another example, the maintenance device 100 may be provided with drive wheels to move the maintenance device 100 over the blades 11 . In another example, a rope other than the at least one rope 20 extending from the attachment device 300 can be utilized to move the maintenance device 100 over the blade 11 .

At this time, the maintenance device 100 can be firmly attached to the blade 11 via any attachment means. Thereby, the maintenance device 100 can move on the leading edge of the blade 11 without being lifted. Further, since the leading edge of the blade 11 is inclined about 5 degrees with respect to the vertical, the gravity acting on the maintenance device 100 acts to press the maintenance device 100 against the leading edge of the blade 11, causing the maintenance device 100 to float. prevent For example, step S507 may be performed in response to a worker transmitting a control signal to the maintenance device 100 using an operation terminal, or may be performed in response to a robot transmitting a control signal to the maintenance device 100. may Alternatively, the maintenance device 100 may autonomously perform step S507.

The step of moving the maintenance device 100 in step S507 includes moving the maintenance device 100 in a first direction of the directions in which at least one rope extends on the blade 11, and moving the maintenance device 100 in a second direction of the extending directions. For example, the first direction is from the tip of the blade to the root of the blade, and the second direction is from the root of the blade to the tip of the blade. The maintenance device 100 can move in the first direction or the second direction by controlling winding or unwinding by a winch.

Step S508 is a step of performing maintenance on the blade while the maintenance device 100 is moving over the blade. For example, as shown in FIG. 1J , maintenance device 100 performs maintenance on blade 11 while maintenance device 100 is moving over the leading edge of blade 11 . At this time, the maintenance device 100 is firmly attached to the blade 11 via any attachment means. Thereby, the maintenance device 100 can press the maintenance means such as the cleaning means and the polishing means against the leading edge of the blade 11 without being lifted. Further, since the leading edge of the blade 11 is inclined about 5 degrees with respect to the vertical, the gravity acting on the maintenance device 100 acts to press the maintenance device 100 against the leading edge of the blade 11, causing the maintenance device 100 to float. prevent For example, step S508 may be performed in response to a worker transmitting a control signal to the maintenance device 100 using an operation terminal, or may be performed in response to a robot transmitting a control signal to the maintenance device 100. may Alternatively, the maintenance device 100 may autonomously perform step S508.

After performing maintenance in step S508, procedure 500 may include recovering the system of the present invention. For example, retrieving includes retrieving maintenance device 100 from blade 11 by moving maintenance device 100 from blade 11 over at least one rope. This is, for example, moving the maintenance device 100 from the blade 11 to the deck 16 as shown in FIGS. 1L-1N.

At this time, the at least one rope holding device is arranged so that the spatial position of the maintenance device 100 and the position of the at least one rope holding device 200 are linked when the maintenance device 100 moves from the blade 11 on the at least one rope. 200 may be controlled. This control can be dynamic control. For example, the blade of at least one rope holding device 200 is moved so that the position on the blade of at least one rope holding device 200 is substantially directly above the maintenance device 100, and the at least one rope holding device 200 is The position of holding the at least one rope on the blade 11 can be controlled. This causes at least one rope to extend vertically from at least one rope holding device 200 on the blade 11 to the maintenance device 100, which needs to be controlled in its attitude or spatial position. can be moved from the blade 11 (eg, to the deck 16) without being swayed or swayed from side to side. Furthermore, by utilizing the fact that the maintenance device 100 naturally moves so as to come substantially directly below the at least one rope holding device 200 due to the action of gravity, the at least one rope holding device 200 can be moved on the blade 11. , the horizontal movement of the maintenance device 100 can also be guided. This can eliminate or reduce the need for an operator to control the spatial position of maintenance device 100 from deck 16 or the like, leading to less manpower.

FIG. 6A shows an example of a specific flow performed in the blade maintenance step of step S508. The flow shown in FIG. 6A is a flow for the maintenance device 100 to cooperate with the rope holding device 200 to inspect the disconnection of the conductor (down conductor) extending inside the blade, and the reflection from the conductor A pulse-based disconnection test is performed. It is assumed that the rope holding device 200 is provided with a reference conductor used for this disconnection inspection. One end of the reference wire is coupled to the rope holding device 200 and the other end is coupled to the attachment device 3000 so that the reference wire is positioned between the rope holding device 200 and the attachment device 300. Extend.

Step S5081 is the step of moving the at least one rope retaining device 200 to position the reference wire substantially parallel to the wire extending inside the blade. One end of the reference conductor is coupled to the rope retention device 200 and the other end is coupled to at least one attachment device 300 so that the at least one rope retention device 200 can be attached to at least one attachment on the blade. A reference wire can be placed on the blade by moving it away from the device 300 . Preferably, at least one mounting device 300 is mounted on the blade at this time. This is because the conductors arranged on the blade are along the blade. Furthermore, by making the moving direction of at least one rope holding device 200 substantially parallel to the extending direction of the conductor extending inside the blade, the reference conductor arranged on the blade extends inside the blade. approximately parallel to the wire.

Generally, the conductors that extend inside the blades (down conductors) extend in the root direction from the lightning receptors (receptors) at the tips of the blades of the wind turbine, which is the rope retention device of the system of the invention. 200 movement direction. As such, movement of the rope retention device 200 need not be differently designed and/or controlled in order to perform a wire break inspection.

At least one rope holding device 200 preferably moves to the lightning strike of the blade 11 . This is because the lightning receiving portion of the blade 11 can be aligned with the end of the reference conductor.

Next, the maintenance device 100 moves to the position of the lightning receptor of the blade 11 and the end of the reference conductor, and in step S5082, the maintenance device 100 applies a pulse signal to the conductor and the reference conductor via the lightning conductor.

In step S5083, the maintenance device detects the reflected waveform of the pulse signal sent in step S5082. Based on the detected reflected waveform, it is possible to detect the presence or absence of wire breakage and further the location of wire breakage. This can be accomplished by analyzing the reflected waveform obtained from the conductor against a reflected waveform obtained from a reference conductor (an unbroken conductor). For example, a TDR (Time Domain Reflectometry) method can be used to identify the presence or absence of disconnection and furthermore, the location of disconnection.

By identifying the disconnection point of the conductor inside the blade, the disconnection point can be quickly repaired.

FIG. 6B shows another example of a specific flow performed in the blade maintenance step of step S508. The flow shown in FIG. 6A is a flow for the maintenance device 100 to cooperate with the rope holding device 200 to inspect the disconnection of the conductor (down conductor) extending inside the blade, and the conductor is propagated. A disconnection inspection is performed based on signals corresponding to radio waves.

Step S<b>5081 ′ is a step in which the maintenance device 100 emits radio waves to the conducting wire for inspecting disconnection of the conducting wire. The maintenance device 100 can send radio waves to the conducting wire via the lightning receiver. For example, the maintenance device 100 may transmit radio waves generated by a transmitter included in the maintenance device 100 through a conductor, or may transmit radio waves transmitted from the outside of the maintenance device 100 (for example, a transmitter on the deck 16). You may make it flow an electric wave to a conducting wire. Preferably, the maintenance device 100 can send radio waves transmitted from outside the maintenance device 100 (for example, a transmitter on the deck 16) to the conductor. This is because the maintenance device 100 does not need to be equipped with a transmitter, and the weight of the maintenance device 100 can be prevented.

Step S5082' is the step of detecting a signal responsive to radio waves propagating in the conductor while the at least one rope holding device 200 is moving on the blade 11. The at least one rope holding device 200 can detect signals in response to radio waves using detectors.

For example, the at least one rope retention device 200 detects signals at locations along the blade 11 while traveling along the blade 11 from tip to root of the blade 11 . For example, the detected signal can be recorded or monitored and it can be determined that an open wire exists where a specific signal (eg, no signal or weak signal level) is detected.

Generally, the conductors that extend inside the blades (down conductors) extend in the root direction from the lightning receptors (receptors) at the tips of the blades of the wind turbine, which is the rope retention device of the system of the invention. 200 movement direction. Therefore, even in this wire breakage inspection, it is not necessary to design and/or control the movement of the rope holding device 200 differently in order to carry out the wirebreakage inspection.

It is preferable that at least one mounting device 300 is mounted on the blade also in this disconnection inspection. This is because the at least one rope holding device 200 can move along the blade and along the conductors present inside the blade, allowing the detector to be as close as possible to the conductors. Thereby, detection accuracy can be improved.

Through such a disconnection inspection, it is possible to detect the presence or absence of disconnection of the conducting wire and the location of the disconnection. By identifying the disconnection point of the conductor inside the blade, the disconnection point can be quickly repaired.

As described above, each step of the method of performing maintenance on the blades of the wind turbine may be performed under the initiative of an operator, or each step may be automatically performed by a robot. By having robots perform each step, it is possible to safely perform maintenance of wind turbine blades without the need for workers to go to the site. This is especially true in locations where there is not enough footing, such as offshore windmills.

In this specification, "during movement" refers to the period during which the object moves from one position to another, and does not necessarily have to continue moving. For example, the period during which the maintenance device 100 is moving from the tip of the blade to the base of the blade, and the period during which the maintenance device 100 is repeatedly moving forward and backward is also “during movement”. include.

Although the examples described with reference to FIGS. 1-6 describe systems and methods for performing maintenance on wind turbine blades, the invention is not so limited. The subject of maintenance by the system and method of the present invention is any object that needs to be maintained on which a rope can be held and the held rope can be utilized to move the maintenance device. can be at least part of any object capable of For example, the object to be maintained may be the whole object or a part thereof. In the example above, the arbitrary object is a wind turbine and at least part of the arbitrary object is the blades of the wind turbine. For example, the arbitrary object may be a building, at least a part of the arbitrary object may be the wall of the building, the arbitrary object may be an airplane, and at least a part of the arbitrary object may be the main wing of the airplane. good. For example, if it is the wall surface of a building, it is necessary to clean dirt from rain. Airplane wings, for example, need to be inspected and cleaned to keep the surface smooth. For example, a rope can be held on the roof or wall of a building, and the maintenance device can move to the roof or wall of the building using the held rope. For example, a rope can be held on the wings or fuselage of an airplane, and the maintenance device can use the held rope to move to the wing or fuselage.

In the above example, movement of the maintenance device using the rope was movement involving vertical movement (i.e., raising and lowering), but movement of the maintenance device using the rope involved movement in the vertical direction. There may be no movement. Movement of the maintenance device using ropes may include movement involving movement only in a horizontal plane. Even if the movement involves movement only in the horizontal plane, the attachment device is attached to the maintenance target first, the rope is held on the maintenance target by the rope holding device, and the maintenance device is passed along the rope held by the rope holding device. This is because it is possible to move to the maintenance target by hand, and easy maintenance can be achieved. This is particularly useful for maintenance of objects that are in locations where there is not enough footing. This is because the rope can be easily attached to the object by using the attachment device and the rope holding device even in a place where there is no sufficient foothold.

Any object to be maintained is preferably an elevated object. Here, a high place means a place at a height beyond the reach of workers on the ground. The high place may be, for example, a place at a height of about 3 m or more from the ground, a place at a height of about 5 m or more from the ground, or a place at a height of about 10 m or more from the ground. It may be located at a height of about 100 m or more from the ground. The high place may be, for example, a place at a height of about 3 m to about 100 m above the ground, a place at a height of about 5 m to about 100 m above the ground, and a place at a height of about 10 m to about 100 m above the ground. It can be a place of height. Note that the ground may be an outdoor location or an indoor location.

Further, the angle of the surface on which the maintenance device 100 attaches to at least a portion of any object is arbitrary, but the surface on which the maintenance device 100 attaches to at least a portion of any object may be inclined with respect to the vertical. preferable. By attaching the maintenance device 100 to the inclined surface, the gravitational force acting on the maintenance device 100 acts to press the device 100 against at least a part of the object, in addition to the gripping force by the attachment means, and the maintenance device 100 presses the maintenance device 100 against at least a part of the object. This is because they are more stable on the team.

Further, in the examples described with reference to FIGS. 1 to 6, an apparatus for performing maintenance on at least a part of an object has been described, but the present invention is not limited to this. The system of the present invention may be a robot having functions to accomplish any purpose including performing maintenance. For example, any purpose may be the purpose of transporting goods to heights. It is possible to facilitate the transportation of goods to high places by attaching a device loaded with goods to an object in a high place (for example, the outer wall of a veranda of an apartment building, etc.). For example, any purpose may be for decorative purposes of an object. By attaching the decorated device to the elevated object, it is possible to easily decorate the elevated object.

In this specification, elements without specific reference to numbers or with the English equivalent of "a" or "the" refer to "at least one" of the element unless otherwise specified. intended to represent

The invention is not limited to the embodiments described above. It is understood that the invention is to be construed in scope only by the claims. It is understood that a person skilled in the art can implement an equivalent range from the description of specific preferred embodiments of the present invention based on the description of the present invention and common technical knowledge.

The present invention is useful as a system and method for safely and easily performing maintenance on at least a portion of an object.

REFERENCE SIGNS LIST 10 windmill 11, 12, 13 blade 14 nacelle 15 hub 16 deck 17 tower 20 rope 100 maintenance device 200 rope holding device 300 mounting device 400 moving device

Claims (20)

A system for performing maintenance on at least a portion of an object, comprising:
at least one attachment device configured to be attached to a predetermined position on said object, said at least one attachment device having a portion of at least one rope fixed thereto; at least one attachment device, wherein a book rope extends from the at least one attachment device;
at least one rope configured to receive the at least one rope extending from the at least one attachment device and to hold the at least one rope in any position on the at least the portion of the object; at least one rope retaining device, said at least one rope retaining device being movable over said at least a portion of said object;
A maintenance device configured to perform maintenance of the at least part of the object, the maintenance device moving the at least one rope of the object over the at least one rope held by the at least one rope holding device. a maintenance device configured to move to and over at least a portion of the object. 2. The system of claim 1, further comprising moving means for moving the at least one attachment device and the at least one rope retaining device together to the predetermined position. 3. The system of claim 2, wherein said locomotion means is a flyable device. further comprising control means for controlling the position of said at least one rope retaining device on said at least part of said object;
The control means coordinates the spatial position of the maintenance device with the position of the at least one rope holding device when the maintenance device moves over the at least one rope to the at least part of the object. A system according to any one of claims 1 to 3, wherein the position of the at least one rope retaining device is controlled so as to. a conductor extending through the at least part of the object;
the at least one rope retention device is operable to position a reference wire from the at least one attachment device substantially parallel to the wire;
The maintenance device comprises inspection means for inspecting disconnection of the conductor,
The inspection means is
passing a pulse signal through the conductor and the reference conductor;
5. The system according to any one of claims 1 to 4, wherein detecting a reflected waveform of said pulse signal and detecting a disconnection of said conducting wire. 6. The system according to claim 5, wherein said inspection means detects disconnection points of said conducting wire based on said reflected waveform. a conductor extending through the at least part of the object;
The maintenance device comprises means for sending radio waves through the conducting wire for inspecting disconnection of the conducting wire,
A system according to any one of the preceding claims, wherein said at least one rope holding device comprises detection means for detecting a signal responsive to radio waves propagating in said conductor. The system according to any one of the preceding claims, wherein said object is an offshore wind turbine and said at least part of said object is a blade of said wind turbine. The system according to any one of the preceding claims, wherein said predetermined position is a position on a waisted portion of a blade of a wind turbine. A system for performing maintenance on at least a portion of an object, comprising:
at least one attachment device configured to be attached to a predetermined position on said object, said at least one attachment device having a portion of at least one rope fixed thereto; at least one attachment device, wherein a book rope extends from the at least one attachment device;
A maintenance device configured to perform maintenance of the at least part of the object, the maintenance device moving the at least part of the object over the at least one rope extending from the at least one attachment device. a maintenance device configured to move to and over said at least a portion of said object. A system for assisting maintenance of at least a portion of an object, comprising:
at least one attachment device configured to be attached to a predetermined position on said object, said at least one attachment device having a portion of at least one rope fixed thereto; at least one attachment device, wherein a book rope extends from the at least one attachment device;
at least one rope configured to receive the at least one rope extending from the at least one attachment device and to hold the at least one rope in any position on the at least the portion of the object; and at least one rope retaining device, said at least one rope retaining device being movable over said at least a portion of said object. A method for performing maintenance on at least a portion of an object, comprising:
moving at least one mounting device into position on the object;
attaching the at least one attachment device to the predetermined location, a portion of at least one rope being fixed to the at least one attachment device, the at least one rope being attached to the at least extending from one attachment device to at least one rope retention device;
moving the at least one rope retainer to any position on the at least part of the object;
retaining the at least one rope at the arbitrary position on the at least the portion of the object by the at least one rope retaining device;
connecting the at least one rope held by the at least one rope holding device to a maintenance device;
moving the maintenance device over the at least one rope held by the at least one rope holding device to the at least a portion of the object;
moving the maintenance device over the at least a portion of the object;
performing maintenance on the at least part of the object while the maintenance device is moving over the at least part of the object. moving the at least one attachment device includes moving the at least one attachment device together with the at least one rope retention device to the predetermined position;
10. The method of claim 9, wherein moving the at least one rope retaining device comprises moving the at least one rope retaining device from the predetermined position to the arbitrary position. moving the maintenance device to the at least part of the object,
The at least 14. A method according to claim 12 or claim 13, comprising controlling the position of one rope retaining device. further comprising retrieving the maintenance device from the at least a portion of the object by moving the maintenance device from the at least a portion of the object over the at least one rope;
Collecting the maintenance device includes:
The at least A method according to any one of claims 12 to 14, comprising controlling the position of one rope holding device. a conductor extending through the at least part of the object;
performing maintenance on the at least part of the object,
displacing a reference conductor substantially parallel to the conductor between the at least one attachment device and the at least one rope retention device by moving the at least one rope retention device; and passing a pulse signal through the reference conductor;
16. The method according to any one of claims 12 to 15, wherein said maintenance device detects a reflected waveform of said pulse signal and inspects for disconnection of said conducting wire. 17. The method of claim 16, wherein inspecting the conductor wire for disconnection comprises detecting a disconnection location in the conductor wire based on the reflected waveform. a conductor extending through the at least part of the object;
performing maintenance on the at least part of the object,
the maintenance device sending radio waves through the conducting wire for inspecting disconnection of the conducting wire;
while the at least one rope holding device is moving over the at least part of the object, the at least one rope holding device detects a signal responsive to radio waves propagating in the conductor; A method according to any one of claims 12 to 15, comprising A method according to any one of claims 12 to 18, wherein said object is an offshore wind turbine and said at least part of said object is a blade of said wind turbine. A method according to any one of claims 12 to 19, wherein said predetermined position is a position on a waisted portion of a blade of a wind turbine.

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