KR102629079B1 - A radiographic inspection system for blades installed on a wind power generator using a drone - Google Patents

Abstract

The present invention is to safely conduct a radiographic examination of blades installed in a wind power generator using a drone, and to emit radiation to one side of the blade. The first device includes a radiation source generator, a radiation source emitter, and a radiation source tube. drone; And a second drone including a film storage unit, a film provision unit, and a film transfer unit to provide a film cartridge to the other side of the blade in response to the first drone, wherein the radiation source emitting unit includes the A radiation source emitter main body connected to the radiation source generator installed in the first drone through a radiation source tube; a plurality of emitting unit fixing members extending from the radiation source emitting unit main body to fix the radiation source emitting unit main body to one surface of the blade and an emitting unit adsorption member provided in front of the emitting unit fixing member; an emission unit negative pressure generating member that provides negative pressure to the emission unit adsorption member so that the radiation source emission unit is adsorbed to one surface of the blade; and an emission angle control member disposed in an area between a plurality of the emission unit fixing members and installed on the radiation source emission unit main body; Provides a radiographic inspection system for blades installed in wind power generation facilities, including.

Description

Radiographic inspection system for blades installed on wind power generators using drones {A RADIOGRAPHIC INSPECTION SYSTEM FOR BLADES INSTALLED ON A WIND POWER GENERATOR USING A DRONE}

The present invention relates to a radiographic examination method using a drone, and more specifically, to a radiographic examination system for blades installed in a wind power generator and a radiographic examination method using the same.

Recently, in response to global warming issues, the installation of wind power generation facilities is increasing to obtain sustainable energy.

Wind power generation facilities are often equipped with large blades for effective power generation, and are installed in mountainous areas or at sea where approval is rare.

Accordingly, the blades of wind power generators can be damaged due to long-term use or natural disasters such as lightning, and damage to the blades can cause serious safety accidents, so periodic inspection is necessary.

However, the size of the wind power generator and blades is very large, so it is not easy for workers to access the blades to inspect the blades, and even if workers directly approach the blades using an aerial ladder or crane, there is a risk of safety accidents due to work at heights. There is a risk, and a lot of work time and cost are incurred.

In addition, inspection of the blade through a telescope, etc. from a distance can only perform surface inspection, and the accuracy of the inspection is low.

Accordingly, a method of inspecting the blades of wind turbines using drones (drones, meaning unmanned aerial vehicles capable of remote control or autonomous operation) used in various industries has recently been introduced. However, to date, the exterior appearance has only been performed using the drone's camera. It remains at the level of inspection only.

Accordingly, there is a need for a method for safe and accurate inspection of blades installed in wind power generators using drones.

The present invention is intended to provide a radiographic examination system using a drone and a radiographic examination method using the same to enable safe and accurate inspection of blades installed in wind power generators.

In order to solve the above problems, the present invention includes a radiation source generator, a radiation source emitter, and a radiation source tube to emit radiation to one side of the blade in radiographic examination of blades installed in wind power generation facilities. The first drone that does; and a second drone including a film storage unit, a film provision unit, and a film transfer unit to provide a film cartridge to the other side of the blade in response to the first drone. It includes a radiation source emitting unit, the radiation source emitting unit main body connected to the radiation source generating unit installed in the first drone through a radiation source tube; a plurality of emitting unit fixing members extending from the radiation source emitting unit main body to fix the radiation source emitting unit main body to one surface of the blade and an emitting unit adsorption member provided in front of the emitting unit fixing member; an emission unit negative pressure generating member that provides negative pressure to the emission unit adsorption member so that the radiation source emission unit is adsorbed to one surface of the blade; and an emission angle control member disposed in an area between a plurality of the emission unit fixing members and installed on the radiation source emission unit main body; Provides a radiographic inspection system for blades installed in wind power generation facilities, including.

In addition, in order to solve the above problem, the invention relates to a radiographic examination method using a radiographic examination system for blades installed in wind power generation facilities, in which the first drone and the second drone are seated on the russell and then deviate from the drone. Fixing the government's wire winding unit to the russell, and flying the first drone and the second drone connected to the wire winding unit and the drone fixing wire; The first drone flies close to one surface of the blade, and the radiation source emitting part of the first drone is fixed to one surface of the blade; The second drone flies close to the other surface of the blade in response to the first drone, and the film providing portion provided at one end of the film transfer unit of the second drone is fixed to the other surface of the blade to transmit the film of the second drone. The film cartridge pulled out from the drawing unit is attached to the other side of the blade; flying the second drone away from the film cartridge attached to the other side of the blade; Radiation is emitted from a radiation source generator provided in the first drone, and the test result is detected in the film cartridge; and the second drone collecting the film cartridge attached to the other side of the blade; Provides a radiographic inspection method of blades installed in wind power generation facilities, including.

According to an embodiment of the present invention, a radiographic examination of blades installed in a wind power generator can be safely performed using a drone.

Additionally, according to one embodiment of the invention, a radiographic examination of blades installed in a wind power generator can be performed at an accurate location using a drone.

Additionally, according to one embodiment of the invention, a radiographic examination of blades installed in a wind power generator can be performed using a drone while minimizing damage to the blades.

1 to 3 are schematic diagrams of a radiographic inspection system for blades installed in wind power generation facilities using drones according to each embodiment of the present invention.
Figure 4 is a schematic diagram of a radiographic inspection of blades installed in a wind power generation facility using a drone according to an embodiment of the present invention.
Figure 5 is a schematic diagram of the radiation source emitting unit of the first drone according to an embodiment of the present invention.
Figure 6 is a schematic diagram of the radiation source generator and radiation source emitter of the first drone according to an embodiment of the present invention.
Figure 7 is a schematic diagram of a film providing unit according to an embodiment of the present invention.
Figures 8 and 9 are schematic diagrams of a film providing unit according to an embodiment of the present invention.
Figures 10 and 11 are schematic diagrams of a second drone according to each embodiment of the present invention.
Figures 12 to 15 are schematic diagrams of the film transfer unit and film provision unit of the second drone according to an embodiment of the present invention.
Figure 16 is a schematic diagram of a second drone according to an embodiment of the present invention.
Figures 17 to 29 are schematic diagrams of a film storage unit and a film provision unit according to an embodiment of the present invention.
Figure 30 is a schematic diagram of a third drone according to an embodiment of the present invention.
Figure 31 is a schematic diagram of the drone fixing part of the second drone according to an embodiment of the present invention.
Figure 32 is a schematic diagram of a drone fixing unit according to an embodiment of the present invention.
Figure 33 is a schematic diagram of a wire winding portion according to an embodiment of the present invention.
Figure 34 is a flowchart of a radiography method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention are described in detail. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms. The present embodiments only serve to ensure that the disclosure of the present invention is complete and to convey the content of the present invention to those skilled in the art. It is provided for more complete information.

This will be described in detail below with reference to the drawings.

1 to 3 are schematic diagrams of a radiographic inspection system for blades installed in wind power generation facilities using drones according to each embodiment of the present invention.

Referring to FIG. 1, in the radiographic examination of the blade 10 installed in the wind power generation facility 1, a first drone 1000 and a second drone 2000 may be included.

The first drone 1000 and the second drone 2000 may be unmanned aerial vehicles capable of remote control or autonomous operation. For example, it may be a multicopter type drone that includes a plurality of propellers and is advantageous for hovering, but is not limited thereto. Accordingly, the first drone 1000 and the second drone 2000 can easily access the blade 10 installed on the russell 20 mounted on the top of the support 30, so that radiographic examination can be performed. .

The first drone 1000 and the second drone 2000 can be fixed to the russell 20 with a drone fixing wire 122. The drone fixing wire 122 is flexible, but may be a high-tensile wire that can withstand a fall of the drone, for example, synthetic fiber wire or metal wire, but is not limited thereto. Accordingly, the drone fixing wire 122 can prevent the first drone 1000 and the second drone 2000 from falling to the floor due to malfunction or abnormal airflow or from deviating from a safe working radius.

The first drone 1000 has a radiation source generator 1100 and a radiation source tube 1300 that extends from the radiation source generator 1100 to direct radiation to a specific location in order to emit radiation to one side of the blade 10. ) may include. Accordingly, a radiographic examination of the blade 10 can be performed by emitting radiation at a specific location of the blade 10 using the first drone 1000.

The second drone 2000 may include a film storage unit 2300 and a film transfer unit 2100 to provide a film cartridge to the other side of the blade 10 corresponding to the first drone 1000. Accordingly, after the radiation emitted from the end of the radiation source tube 1300 of the first drone 1000 passes through the blade 10, the film cartridge containing a film or a radiation detector sensor sensitive to the radiation is transferred to the blade 10. ) It is possible to detect radiation emitted from the first drone (1000) by providing it at a location where radiographic examination is performed.

Referring to FIG. 2, in the radiographic examination of the blade 10 installed in the wind power generation facility 1, a first drone 1000, a second drone 2000, and a third drone 3000 may be included. .

The third drone 3000 may include a radiation measurement unit 3100 to measure the amount of radiation emitted from the first drone 1000 toward the ground. For example, the third drone 3000 may fly below the first drone 1000 and measure the amount of radiation emitted from the first drone 1000 toward the ground. At this time, the third drone 3000 is located at a distance (B) that is at least 3 times the distance (A) between the first drone (1000) and the blades (10) at a point 5m vertically below the first drone (1000). The amount of radiation emitted from the first drone 1000 toward the ground can be measured by horizontally reciprocating a point opposite to the direction in which the radiation source tube 1300 touches the blade 10, but is not limited to this. Accordingly, by measuring the radioactivity that may leak to the ground during radiography of the blade 10, it is possible to confirm the risk due to radioactivity leak and take preventive measures.

Referring to FIG. 3, in the radiographic examination of the blade 10 installed in the wind power generation facility 1, the first drone 1000, the second drone 2000, the third drone 3000, and the fourth drone ( 4000).

The fourth drone 4000 may include a drone holding unit 4100 capable of holding the first drone 1000, the second drone 2000, and the third drone 3000. Accordingly, the fourth drone 4000 is operated by the drone holding unit 4100 when a flight error occurs in at least one of the first drone 1000, the second drone 2000, and the third drone 3000. This drone can be caught and safely collected and landed on the ground.

Figure 4 is a schematic diagram of a radiographic examination of blades installed in a wind power generation facility using a drone according to an embodiment of the present invention.

Referring to FIG. 4, a radiographic examination of a blade 10 installed in a wind power generation facility may include a first drone 1000 and a second drone 2000.

The first drone 1000 may include a radiation source generator 1100 between landing gears 1001 extending downward. Accordingly, when the first drone 1000 lands, the radiation source generator 1100 can be protected from touching the floor or other structures.

The first drone 1000 may be fixed to the russell 20 with a drone fixing wire 122 extending from the landing gear 1001 extending downward. Accordingly, the drone fixing wire 122 can prevent the first drone 1000 from falling to the floor due to malfunction or abnormal airflow or from deviating from a safe working radius.

The first drone 1000 may include a radiation source tube 1300 that extends from the radiation source generator 1100 and can guide radiation to a specific location in order to emit radiation to one side of the blade 10. At this time, it may include a radiation source emitter 1200 including a plurality of emitter fixing members that can be fixed to one side of the blade 10 connected to the end of the radiation source tube 1300 facing the blade 10. Accordingly, the first drone 1000 can be used to position the radiation source emitting unit 1200 at a specific position of the blade 10 and then emit radiation to perform a radiographic examination of the blade 10.

The second drone 2000 may include a film storage unit 2300 between landing gears 2001 extending downward. Accordingly, when the second drone 2000 lands, the film storage unit 2300 can be protected from touching the floor or other structures.

The second drone 2000 may be fixed to the russell 20 with a drone fixing wire 122 extending from the landing gear 2001 extending downward. Accordingly, the drone fixing wire 122 can prevent the second drone 2000 from falling to the floor due to malfunction or abnormal airflow or from deviating from a safe working radius.

The second drone 2000 provides a film providing unit 2200 on the opposite side of the blade 10 in response to the radiation source emitting unit 1200 at a specific position of the blade 10 of the first drone 1000, It may include a multi-stage, length-adjustable rod-shaped film transfer unit 2100 extending below the second drone 2000.

Figure 5 is a schematic diagram of the radiation source emitting unit of the first drone according to an embodiment of the present invention.

Referring to FIG. 5, the radiation source emitting unit 1200 may include a radiation source emitting unit main body 1210 and an emitting unit fixing member 1240.

In FIG. 5 , for the purpose of explaining the invention, the direction in which the radiation source emitting unit main body 1210 faces the blade 10 is defined as the front, and the direction in which the radiation source tube 1300 is connected to the radiation source emitting unit main body 1210 is defined as the rear.

The radiation source emitter 1200 may include a radiation source emitter main body 1210 connected to the radiation source generator of the first drone and a radiation source tube 1300. Accordingly, the radiation emitted from the radiation source generator of the first drone can be transmitted to the radiation source emitter main body 1210 through the radiation source tube 1300, and emits radiation toward the front of the radiation source emitter main body 1210. can do.

The radiation source emitting unit main body 1210 may include a plurality of emitting unit fixing members 1240 extending from the radiation source emitting unit main body 1210 to fix the radiation source emitting unit main body 1210 to one surface of the blade 10. there is. For example, the emitter fixing member 1240 is a leg-shaped structure that faces forward from the radiation source emitter main body 1210, and the emitter fixing member 1240 includes joints and angles in various directions. It can be adjusted. Accordingly. It can be adjusted to a suitable position on the surface of the blade 10 and effectively fixed to the surface of the blade 10, and the front of the radiation source emitting unit main body 1210 can be adjusted to face the surface of the blade 10.

The discharge part fixing member 1240 may include an emitter adsorption member 1250 provided in front of the discharge part fixing member 1240.

The emitter adsorption member 1250 may provide adhesion to the surface of the blade 10 so that the radiation source emitter 1200 can be attached and fixed to the surface of the blade 10. For example, after the discharge adsorption member 1250 is attached to the surface of the blade 10, a negative pressure is provided between the discharge adsorption member 1250 and the surface of the blade 10 to cause the discharge adsorption member 1250 to adhere to the surface of the blade 10. ) and the surface of the blade 10 may be pressed and attached to each other.

The radiation source emitting unit main body 1210 may include an emitting unit negative pressure generating member 1230 that provides negative pressure to the emitting unit adsorption member 1250 so that the radiation source emitting unit 1200 is adsorbed to one surface of the blade 10. . For example, the discharge unit negative pressure generating member 1230 may be equipped with a vacuum pump, but is not limited thereto. At this time, the sound pressure formed by the discharge unit negative pressure generating member 1230 may be transmitted to the discharge unit adsorption member 1250 through the discharge unit fixing member 1240, or may be transmitted through a separate line, but is not limited thereto.

The radiation source emitting unit 1200 is disposed in an area between the plurality of emitting unit fixing members 1240 and may include an emission angle control member 1220 installed on the radiation source emitting unit main body 1210. The emission angle control member 1220 may be, for example, a collimator that can adjust the radiation dose or adjust the radiation beam to be parallel, but is not limited thereto. Accordingly, the radiation emitted through the emission angle control member 1220 can be adjusted so that the radiation can be irradiated to an appropriate location for radiographic examination of the blade 10.

The radiation source emitting unit main body 1210 may include an emitting unit main body docking port 1260 at the rear of the radiation source emitting unit main body 1210. Accordingly, the emitter main body docking tool 1260 is connected to the radiation source emitter docking rod of the radiation source emitter transfer member described later, and the radiation source emitter 1200 can be transferred to the first drone or attached to the blade 10. , the radiation source emitter docking rod is separated from the emitter main body docking port 1260 and the radiation source emitter 1200 is attached to the blade 10, and then the first drone can be separated from the radiation source emitter 1200.

The emitting unit body docking tool 1260 may be connected to the radiation source emitting unit docking rod of the radiation source emitting unit transfer member using an emitting unit body fixing wire 1261. Accordingly, when the radiation source emitter docking rod and the emitter main body docking tool 1260 are combined, they can be guided to be connected to the correct position by the emitter main body fixing wire 1261.

Figure 6 is a schematic diagram of the radiation source generator and radiation source emitter of the first drone according to an embodiment of the present invention.

Referring to FIG. 6, the radiation source generator 1100 may include a radiation source generator main body 1110 and a drone coupling portion 1140.

The radiation source generator 1100 includes a drone coupling portion 1140 at the top and can be coupled to the first drone. Accordingly, the radiation source generator 1100 can be transferred to the blade of a wind power generation facility that requires radiographic examination using the first drone.

The radiation source generator 1100 may include a radiation source generator main body 1110, a radiation source eastern portion 1120, and a communication portion 1130 at the bottom of the drone coupling portion 1140.

The radiation source generator main body 1110 can transmit the radiation source to the radiation source emitter 1200 through the radiation source tube 1300 connected to the radiation source generator main body 1110 by the radiation source driving unit 1120.

The radiation source generator main body 1110 can remotely control operations related to radiation generation, such as the operation of the radiation source drive unit 1120, through the communication unit 1130. For example, the communication unit 1130 may use the radio's own channel, or LoRaWAN, WLAN (Wireless LAN), Wi-Fi, Wibro, Wimax, HSDPA (High Speed Downlink Packet Access) ), LTE (Long Term Evolution), LTE-A (Long Term Evolution Advanced), etc. can be used, but are not limited thereto.

The radiation source generator main body 1110 may include a radiation source emitter transfer member 1150 at the bottom.

The radiation source emitter transfer member 1150 may be positioned horizontally in the form of a multi-stage foldable rod, and a radiation source emitter docking rod 1152 may be included at the end of the radiation source emitter transfer member 1150. Accordingly, the radiation source emitter transfer member 1150 connects the radiation source emitter docking rod 1152 and the emitter main body docking port 1260, and can transfer the radiation source emitter 1200 to the first drone. The radiation source emitter 1200 can be located at a specific location on the blade of a wind power generation facility that requires transmission inspection.

The radiation source emitter transport member 1150 may include a buffer member 1151 at the rear of the radiation source emitter docking rod 1152. For example, the buffer member 1151 may be a spring shock absorber, a pneumatic shock absorber, or an elastic rubber shock absorber, but is not limited thereto. Accordingly, the buffer member 1151 prevents the first drone from shaking when connecting the radiation source emitter docking rod 1152 of the radiation source emitter transfer member 1150 and the emitter main body docking port 1260 of the radiation source emitter 1200. And it can serve to absorb shock to prevent damage to the blade and radiation source emitting unit 1200 by absorbing adhesion shock.

The radiation source emitting unit docking rod 1152 may be connected to the emitting unit main body docking port 1260 of the radiation source emitting unit 1200 using an emitting unit body fixing wire 1261. Accordingly, the radiation source emitter docking rod 1152 can be guided to an accurate position by the emitter body fixing wire 1261 when connected to the emitter main body docking port 1260.

Figure 7 is a schematic diagram of a film providing unit according to an embodiment of the present invention.

In FIG. 7, for the purpose of explaining the invention, the direction in which the film provision unit main body 2210 faces the film cartridge 200 is defined as the front, and the direction in which the film provision unit main body 2210 faces the first film transfer unit 2110 is defined as the rear. do.

Referring to FIG. 7, the film providing unit 2200 includes a film providing unit main body 2210, a film holding unit 2230, and a film holding unit connecting rod 2220.

The film providing unit 2200 may be connected to the first film transport member 2110 of the film transport unit of the second drone. For example, the film providing unit docking port 2211 included in the film providing unit main body 2210 of the film providing unit 2200 and the film providing unit docking rod 2112 provided in front of the film transport unit first member 2110. can be connected Accordingly, the film providing unit 2200 can be positioned at a specific position of the blade of the wind power generation facility that requires radiographic examination by the film transfer unit of the second drone.

The film provider docking rod 2112 may be connected to the film provider docking port 2211 and the film provider fixing wire 2215. Accordingly, the film provision docking rod 2112 can be guided to an accurate position by the film provider fixing wire 2215 when connected to the film provision docking tool 2211. In addition, since the film provider docking rod 2112 and the film provider docking tool 2211 are connected to each other by the film provider fixing wire 2215, the film provider 2200 is connected to the film of the second drone. Even if it is separated from the first film transfer member 2110 of the sending unit, it can be prevented from completely leaving the second drone and falling to the floor.

The first film transfer member 2110 may include a buffer member 2111 at the rear of the film provider docking rod 2112. For example, the buffer member 2111 may be a spring shock absorber, a pneumatic shock absorber, or an elastic rubber shock absorber, but is not limited thereto. Accordingly, the buffer member 2111 is used when connecting the film provision docking rod 2112 of the first film transfer member 2110 and the film provider docking port 2211 of the film provider main body 2210. It can act as a shock absorber to prevent damage to the blade and film providing part 2200 by absorbing shaking and adhesion shock.

The film providing unit 2200 may include one or more film holding units 2230 in front of the film providing unit main body 2210. At this time, the film holding unit 2230 is connected to the film providing unit main body 2210 and the film holding unit connecting rod 2220. For example, the film holding unit connecting rod 2220 can control the film holding unit 2230 to move up, down, left, and right based on the film providing unit main body 2210, and the members included in the film holding unit 2230 can be controlled. It may play a connecting role to enable operation, but is not limited to this.

The film holding part 2230 may include a press 2231 that extends toward the center of the film cartridge 200 so as to hold the film cartridge 200. For example, the film holding unit 2230 may hold the film cartridge 200 by inserting the press 2231 into the press engaging member 210 formed at the rear of the film cartridge 200.

The press 2231 can be controlled by the press control unit 2232 of the film holding unit 2230. For example, the film gripper 2230 inserts the presser 2231 into the presser coupling member 210 formed at the rear of the film cartridge 200 to hold the film cartridge 200, and then uses the presser control unit 2232 to hold the film cartridge 200. The pusher 2231 can be advanced forward. Accordingly, the film holding unit 2230 can advance the film cartridge 200 so that the film cartridge 200 can be brought into close contact with the surface of the wind power generation facility blade.

The film holding part 2230 may be provided with a film providing part adsorption member 2233 at the front.

The film providing part adsorption member 2233 can provide adhesion to the surface of the blade so that the film providing part 2200 can be attached and fixed to the blade surface. For example, after the film providing adsorption member 2233 is attached to the blade surface, negative pressure is provided between the film providing adsorption member 2233 and the blade surface to cause the film providing adsorption member 2233 to adhere to the blade surface due to a pressure difference. and the blade surfaces may be pressed and attached to each other.

The film providing unit main body 2210 includes a providing unit negative pressure generating member 2212 that provides negative pressure to the film providing unit adsorption member 2233 so that the film holding unit 2230 of the film providing unit 2200 is adsorbed to the surface of the blade. It can be included. For example, the provision negative pressure generating member 2212 may be a vacuum pump, but is not limited thereto. At this time, the sound pressure formed by the negative pressure generating member 2212 may be transmitted to the adsorption member 2233 through the film holding portion connecting rod 2220, or may be transmitted through a separate line, but is not limited thereto.

Figures 8 and 9 are schematic diagrams of a film providing unit according to an embodiment of the present invention.

8 and 9, for the purpose of explaining the invention, the direction in which the film providing unit main body 2210 faces the film cartridge 200 is forward, and the direction in which the film providing unit main body 2210 faces the first film transport member 2110 is shown. Defined as rear.

Referring to FIG. 8, the film providing unit 2200 described with reference to FIG. 7 may include a film pressing member 2214 in the film providing unit main body 2210.

The film providing unit body 2210 of the film providing unit 2200 has a shape extending in the direction of the film cartridge 200 in front of the film providing unit main body 2210, and presses the film cartridge 200 in the direction of the other side of the blade. It may include one or more film pressing members 2214 to do this. For example, the film pressing member 2214 may be elastic in the form of a rod, but the portion that contacts the film cartridge 200 may be formed in a spherical ball shape so as not to damage the film cartridge 200. At this time, the film pressing member 2214 may be made of metal or plastic, and may be manufactured in a shape that is curved outward to provide elasticity while bending outward from the center, but is not limited thereto. Accordingly, as shown in FIG. 9, when the film pressing member 2214 presses the film cartridge 200 through the film providing unit body 2210, the film pressing member 2214 evenly presses the film cartridge 200 so that the film cartridge It can be pressed so that it adheres evenly to the blade surface.

Referring to Figures 8 and 9, the film providing unit docking port 2211 included in the film providing unit main body 2210 of the film providing unit 2200 and the film providing unit docking provided in front of the film transport unit first member 2110. When the rod 2112 is connected, the buffer member 2111 included in the rear of the film providing docking rod 2112 contracts and absorbs the coupling shock, absorbs the shaking and attachment shock of the second drone, and absorbs the blade and film It can prevent damage to study (2200).

Figures 10 and 11 are schematic diagrams of a second drone according to each embodiment of the present invention.

Referring to FIG. 10, the second drone 2000 may include a film storage unit 2300 and a film transfer unit 2100.

The second drone 2000 may include a film storage unit 2300 in which a film cartridge is stored between the landing gear 2001 extending downward. Accordingly, when the first drone 1000 lands, the film storage unit 2300 can be protected from touching the floor or other structures. The film storage unit 2300 will be described in detail with reference to FIGS. 16 to 29 described later.

The second drone 2000 may include a film transfer unit 2100 that extends below the film storage unit 2300.

The film transport unit 2100 may include a first film transport member 2110, a second film transport member 2120, and a third film transport member 2130.

The upper end of the third film transfer unit 2130 is connected to the second drone 2000 and extends vertically downward, and the height of the film transfer unit 2100 can be adjusted from the second drone 2000. For example, the third film transport member 2130 may be formed in a rod-shaped structure capable of adjusting the length in multiple stages so that the height of the film transport unit 2100 can be adjusted in the second drone 2000 by changing the length. It can be done, but is not limited to this. At this time, the length can be adjusted hydraulically, but is not limited to this.

The film transfer unit third member 2130 may be connected to the film transfer unit rotation drive unit 2140 at the bottom. For example, the film transfer unit rotation drive unit 2140 may rotate around the film transfer unit third member 2130 as its axis.

The film transfer unit first member 2110 is formed to extend horizontally, and has one end connected to the film transfer unit rotation drive unit 2140 and the other end including a film provision unit docking rod 2112, so that it may be connected to the film provision unit.

The first film transfer member 2110 may be formed in a rod-shaped structure capable of adjusting the horizontal length in multiple stages, but is not limited thereto. At this time, the length can be adjusted hydraulically, but is not limited to this.

One end of the film transport unit first member 2110 is connected to the film transport unit rotation drive unit 2140, and as the film transport unit rotation drive unit 2140 rotates, the film transfer unit first member 2110 can rotate horizontally.

The film transfer unit first member 2110 includes a film provision docking rod 2112 at the opposite end connected to the film transfer unit rotating drive unit 2140, and a buffer member 2111 at the rear of the film provision unit docking rod 2112. It can be included.

As shown in FIG. 11, the first film transport member 2110 has a film provider docking rod 2112 at the opposite end connected to the film transport unit rotation drive unit 2140, and a buffer member 2111 at the rear of the film provider docking rod 2112. ), but may further include a marking nozzle 2113 behind the buffer member 2111. This will be explained in detail through FIGS. 12 to 15 described later.

The film transfer unit second member 2120 may be formed with one end connected to the film transfer unit rotation drive unit 2140 and extending to the opposite side of the film transfer unit first member 2110, corresponding to the film transfer unit first member 2110.

The second film transport member 2120 may rotate horizontally as the film transport rotary drive unit 2140 rotates.

In addition, the film transfer unit second member 2120 has a counterweight (counterweight) at the opposite end connected to the film transfer unit rotation drive unit 2140 to maintain the center of gravity of the second drone 2000 in response to the film transfer unit first member 2110. 2121) can be prepared. Accordingly, the second film transport member 2120 includes a counterweight 2121 and can be balanced with the first film transport member 2110 even if it extends to a shorter length than the first film transport member 2110.

The second film transfer member 2120 may be formed in a rod-shaped structure capable of adjusting the horizontal length in multiple stages, but is not limited thereto. At this time, the length can be adjusted hydraulically, but is not limited to this.

Figures 12 to 15 are schematic diagrams of the film transfer unit and film provision unit of the second drone according to an embodiment of the present invention.

12 to 15, the second drone 2000 connects the film providing unit 2200, which includes the film cartridge 200 held by the film holding unit 2230, to the first film transfer unit member 2110. This allows access to the blade 10. For example, after positioning the second drone 2000 near the part of the blade 10 where radiographic examination is to be performed, the height of the third film transport member 2130 of the film transport unit 2100 is adjusted to control the film supply unit. (2200) can be adjusted to approximate the exact position of the blade (10).

Thereafter, as shown in FIG. 13, the second drone 2000 extends the length of the first film transfer member 2110 in the direction of the blade 10 so that the film cartridge 200 of the film provider 2200 is attached to the blade 10. It can be attached. At this time, as the length of the first film transport member 2110 is extended, the second drone 2000 is extended in length by the second film transport member 2120 to maintain the balance of the second drone 2000. The length may be extended in the opposite direction.

As shown in FIG. 13, when the second drone 2000 attaches the film cartridge 200 of the film providing unit 2200 to the blade 10, the buffer member 2111 contracts and absorbs the shock, causing the second drone to It is possible to prevent damage to the blade 10 and the film providing part 2200 due to shaking and adhesion shock (2000).

When the second drone 2000 contacts the film provider 2200 with the blade 10, the film provider adsorption member included in the front of the film gripper 2230 of the film provider 2200 (FIGS. 12, 2233) ) The film providing unit 2200 can be attached to the blade 10 by providing negative pressure.

After attaching the film cartridge 200 of the film providing unit 2200 to the blade 10 using the second drone 2000, the film providing unit 2200 and the first film transfer unit 2110 can be separated. . For example, referring to Figure 14, the length of the first film transport member 2110 can be contracted to separate the film provider docking rod 2112 of the first film transport member 2110 from the film provider 2200. . At this time, as the length of the first film transfer member 2110 decreases, in order to maintain the balance of the second drone 2000, the second film transport member 2120 decreases the length of the first film transport member 2110. The length can be contracted in the opposite direction. Accordingly, the second drone 2000 may attach the film providing unit 2200 to the blade 10 and then deviate from the position of the film providing unit 2200.

Even if the film providing unit 2200 and the film providing unit docking rod 2112 of the film transport unit first member 2110 are separated from each other, they can be connected to each other using the film providing unit fixing wire 2215. Accordingly, the film provision unit fixing wire 2215 is the film provision unit fixing wire 2215 when the film provision unit docking rod 2112 of the film transfer unit first member 2110 and the film provision unit 2200 are separated and reconnected. ) can guide you to the correct location. In addition, the film providing unit fixing wire 2215 prevents the film providing unit 2200 from malfunctioning even if the film providing unit 2200 and the film providing unit docking rod 2112 of the film transport unit first member 2110 are separated from each other. Even if it falls from the blade 10, it can be prevented from falling to the floor by being connected to the film provider docking rod 2112 of the first film transfer member 2110 by the film provider fixing wire 2215.

The film providing unit 2200 removes the film material of the first film transfer unit 2110 by the negative pressure of the film providing unit adsorption member (FIG. 12, 2233) included in the front of the film holding unit 2230 of the film providing unit 2200. Even when separated from the docking rod 2112, it can remain attached to the blade 10.

The second drone 2000 attaches the film providing unit 2200 to the blade 10, moves away from the position of the film providing unit 2200 attached to the blade 10, and then attaches the film providing unit 2200. In order to indicate the position on the blade 10, the marking liquid 2114 can be sprayed on the blade 10 as shown in FIG. 15. For example, referring to FIG. 15, the second drone 2000 attaches the film providing unit 2200 to the blade 10, and then the marking nozzle 2113 attaches the film of the blade 10 and the film providing unit 2200. The position of the blade 10 on which radiography was performed can be displayed by moving the position toward the border of the cartridge 200 and then spraying the display liquid 2114. Accordingly, the second drone 2000 can display the location where the radiographic examination was performed with an indicator liquid 2114 so that the location where the radiographic examination was performed can be visually confirmed to prevent the same location from being inspected repeatedly.

Figure 16 is a schematic diagram of a second drone according to an embodiment of the present invention.

Referring to FIG. 16, the second drone 2000 may include a film storage unit 2300.

The second drone 2000 may include a film storage unit 2300 capable of storing a film cartridge 200 therein between the landing gear 2001 extending downward of the second drone 2000.

The film storage unit 2300 includes a film withdrawal unit 2310 that withdraws the film cartridge 200 stored inside before use for inspection, and a film inlet section (2310) that inserts and stores the film cartridge 200 used in the inspection. 2320).

The film storage unit 2300 provides the film cartridge 200 to the film provider 2200 connected to the film transfer unit 2100 before using it for the test stored in the film withdrawal unit 2310 of the film storage unit 2300. You can.

In addition, the film storage unit 2300 collects the film cartridge 200 held in the film provision unit 2200 used for inspection from the film provision unit 2200 connected to the film transfer unit 2100 and stores it in the film storage unit 2300. It can be stored in the film inlet 2310.

The film storage unit 2300 is included in the second drone 2000 by dividing the film withdrawal unit 2310 and the film inlet 2320 into independent components, between the film outlet 2310 and the film inlet 2320. The third film transport member 2130 of the film transport unit 2100 may be disposed.

This will be explained in detail through FIGS. 17 to 24 described later.

Figures 17 to 29 are schematic diagrams of a film storage unit and a film provision unit according to an embodiment of the present invention.

Referring to FIG. 17, the film storage unit 2300 may include a film withdrawal unit 2310 and a film inlet unit 2320. At this time, the film withdrawal unit 2310 and the film inlet unit 2320 may be included in the second drone as independent components. For example, the film withdrawal unit 2310 may be disposed on the left side of the y-axis direction, and the film inlet portion 2320 may be disposed on the right side of the y-axis direction. At this time, the third film transfer member 2130 of the film transfer unit 2100 may be located between the film withdrawal unit 2310 and the film inlet unit 2320.

The film withdrawal unit 2310 and the film inlet unit 2320 may include an internal space that can accommodate a plurality of film cartridges 200. For example, when the film cartridge 200 has a rectangular slate shape, the film outlet 2310 and the film inlet 2320 may include an internal space of a rectangular parallelepiped. Additionally, the film withdrawal portion 2310 and the film inlet portion 2320 may be configured in the outer shape of a rectangular parallelepiped, corresponding to the inner space.

The film withdrawal unit 2310 may include a film outlet 2311, a film holding member 2312, a ball joint member 2313, a first horizontal movement guide member 2314, and a second horizontal movement guide member 2315. there is.

The film outlet 2311 of the film outlet 2310 may be formed so that the film cartridge 200 can be pulled out from inside the film outlet 2310. For example, when the surface of the film cartridge 200 in contact with the blade is defined as the front, the opposite surface where the press engaging member 210 is formed is defined as the rear, and the other surfaces are defined as the side, the inside of the film withdrawal unit 2310 The film cartridge 200 standing in the z-axis direction may be formed in a slit shape so that it can be pulled out to the side. At this time, the film outlet 2311 may be formed on the left side of the film outlet 2310 based on the y-axis, but is not limited thereto.

The film holding member 2312 of the film drawing unit 2310 is located below the film drawing unit 2310, and can hold the film cartridge 200 located in the film drawing opening 2311. For example, the film holding member 2312 may be positioned at the film outlet 2311 to press and hold the front and back sides of the lower side of the film cartridge 200 in the z-axis direction, which is exposed to the outside.

The first horizontal movement guide member 2314 of the film withdrawal unit 2310 is connected to the film holding member 2312, and can provide the film holding member 2312 with mobility in the x-axis direction. For example, referring to FIGS. 18 and 19, after the film holding member 2312 holds the film cartridge 200, the first horizontal movement guide member 2314 moves as shown in FIGS. 18 and 19 based on the x-axis direction. You can advance in order. Accordingly, the film cartridge 200 held by the film holding member 2312 can be pulled out from the film outlet 2311 of the film outlet 2310.

The ball joint member 2313 of the film withdrawal unit 2310 can apply rotational force to the film holding member 2312.

The ball joint member 2313 is disposed at the lower end of the film holding member 2312 and the front end of the first horizontal moving guide member 2314 to connect the film holding member 2312 and the first horizontal moving guide member 2314. . At this time, the ball joint member 2313 may rotate the film holding member 2312 based on the first horizontal movement guide member 2314. For example, referring to FIGS. 20 and 21, the ball joint member 2313 may rotate the film holding member 2312 on the xz plane based on the first horizontal movement guide member 2314. Accordingly, as shown in FIG. 21, the film cartridge 200 is held by the film holding member 2312, rotates on the xz plane, and is transferred to a height corresponding to the film providing unit 2200 located below the film storage unit 2300. It can be.

Also, for example, referring to FIG. 22, the ball joint member 2313 may rotate the film holding member 2312 about the z-axis with respect to the first horizontal movement guide member 2314. Accordingly, the film cartridge 200 may be held by the film holding member 2312, rotated about the z-axis, and positioned in front of the film holding unit 2230 of the film providing unit 2200.

The second horizontal movement guide member 2315 of the film withdrawal unit 2310 can provide y-axis direction mobility to the film holding member 2312. For example, referring to Figure 23, the second horizontal movement guide member 2315 moves the first horizontal movement guide member 2314 connected to the film holding member 2312 and the ball joint member 2313 in the y-axis direction. Thus, the film holding member 2312 can be moved in the y-axis direction. Accordingly, the film cartridge 200 is held by the film holding member 2312, moves in the y-axis direction, and is located in front of the film holding part 2230 of the film providing part 2200, and presses the film cartridge 200. The rear side where the coupling member 210 is formed may be located in front of the press 2231 of the film holding part 2230.

Then, for example, as shown in FIG. 24, after the film cartridge 200 is located in front of the film holding part 2230 of the film providing part 2200, the film holding part 2230 moves in the direction of the film cartridge 200. Accordingly, the press engaging member of the film holding portion 2230 may be coupled to the press engaging member on the rear of the film cartridge 200. Accordingly, the film holding unit 2230 can stably hold the film cartridge 200.

The film withdrawal unit 2310 can store a plurality of film cartridges 200 inside, and has a film cartridge inside so that they can be sequentially extracted through the film outlet 3211, which is a space for extracting the film cartridges 200. It may include a draw-out cartridge transfer device (not shown) that transfers (200). For example, the drawer cartridge transfer device (not shown) may include a pressing member that pushes the film cartridge 200 from inside the film drawer 2310 toward the film outlet 3211, but is not limited thereto.

Referring to Figure 17, the film inlet 2320 includes a film inlet 2321, a film holding member 2322, a ball joint member 2323, a first horizontal movement guide member 2324, and a second horizontal movement guide member ( 2325)

The film inlet 2321 of the film inlet 2320 may be formed so that the film cartridge 200 can be introduced into the film inlet 2320 through the film inlet 2321. For example, the film inlet 2321 allows the film cartridge 200, which is erected in the z-axis direction from the outside by the film holding member 2322, to be drawn into the inside of the film inlet 2320 through the film inlet 2321 on the side. It may be formed in the form of a slit so that At this time, the film inlet 2321 may be formed on the right side of the film inlet 2320 based on the y-axis, but is not limited thereto.

The film holding member 2322 of the film inlet 2320 is located below the film inlet 2320 and can hold the film cartridge 200 located in the film providing part 2200. For example, referring to FIG. 25, the film holding member 2322 is the front and rear surfaces of the right side based on the y-axis of the upper side of the film cartridge 200 held by the film holding part 2230 of the film providing unit 2200. It can be gripped by applying pressure. Accordingly, the film holding member 2322 can recover the film cartridge 200 held in the film holding part 2230 of the film providing part 2200 to the film retracting part 2320.

The first horizontal movement guide member 2324 of the film inlet 2320 is connected to the film holding member 2322, and can give the film holding member 2322 mobility in the x-axis direction. For example, referring to FIGS. 28 and 29, the first horizontal movement guide member 2324 moves the film holding member 2322 holding the film cartridge 200 in the order shown in FIGS. 28 and 29 based on the x-axis direction. You can go backwards. Accordingly, the film cartridge 200 held by the film holding member 2322 can be inserted into the film inlet 2321 of the film inlet 2320, and the film cartridge 200 can be stably recovered.

The second horizontal movement guide member 2325 of the film inlet 2320 can provide y-axis direction mobility to the film holding member 2322. For example, referring to FIG. 26, the second horizontal movement guide member 2325 moves the first horizontal movement guide member 2324 connected to the film holding member 2322 and the ball joint member 2323 in the y-axis direction. Thus, the film holding member 2322 can be moved in the y-axis direction. Accordingly, the film cartridge 200 is held by the film holding member 2322, moves in the y-axis direction, and can deviate to the right based on the y-axis from the front of the film holding part 2230 of the film providing unit 2200. there is. Additionally, the first horizontal movement guide member 2324 may be located on the film inlet 2321.

The ball joint member 2323 of the film inlet 2320 can apply rotational force to the film holding member 2322.

The ball joint member 2323 is disposed at the lower end of the film holding member 2322 and the front end of the first horizontal moving guide member 2324 to connect the film holding member 2322 and the first horizontal moving guide member 2324. . At this time, the ball joint member 2323 may rotate the film holding member 2322 based on the first horizontal movement guide member 2324. For example, referring to FIG. 27, the ball joint member 2323 may rotate the film holding member 2322 about the z-axis with respect to the first horizontal movement guide member 2324. Accordingly, the film cartridge 200 is held by the film holding member 2322, rotates in the z-axis, and moves to the first horizontal movement guide member 2324 in front of the film holding part 2230 of the film providing unit 2200. It can be rotated to be located on the x-axis.

Also, for example, referring to FIG. 28, the ball joint member 2323 may rotate the film holding member 2322 on the xz plane based on the first horizontal movement guide member 2314. Accordingly, the film cartridge 200 can be held by the film holding member 2322, rotated on the xz plane, and transported to a height corresponding to the film inlet 2321 of the film inlet 2320.

The film inlet 2320 can store a plurality of film cartridges 200 therein, and may include a pressing member (not shown) that pushes the inserted film cartridges 200 in the direction of the film inlet 2321. Not limited. For example, the film cartridge 200 is pressed against the right wall of the film inlet 2320 so that the film cartridge 200 inserted into the film inlet 2321 does not escape from the film inlet 2321. The film cartridge 200 can be fixed to the right wall so that it does not escape from the film inlet 2321 due to friction.

In addition, for example, when the film cartridge 200 is introduced into the film inlet 2321 by the film holding member 2322, the film inlet is pressed by the pressing member (not shown) or the pressing member (not shown). The film cartridge 200 can be pushed into the film holding member 2322 between the film cartridge stored in the film inlet 2320 pushed to the right wall of 2320 and the right wall of the film inlet 2320. At this time, as the pressing member (not shown) is pushed to the left of the film inlet 2320, the film cartridges can be introduced into the film inlet 2320 side by side.

Figure 30 is a schematic diagram of a third drone according to an embodiment of the present invention.

For the purpose of explaining the invention in FIG. 30, the direction facing the blade 10 is defined as forward.

Referring to FIG. 30, the third drone 3000 may include a radiation measuring unit 3100, a cleaning unit transport means 3200, and a cleaning unit 3300.

The third drone 3000 may include a radiation measurement unit 3100 to measure the amount of radiation emitted from the first drone toward the ground. For example, a survey meter may be applied to the radiation measurement unit 3100, but is not limited thereto. The survey meter is equipped with a camera so that the inspector can monitor it.

The third drone 3000 includes a cleaning unit 3300 for cleaning the surface of the blade 10 before the film cartridge is attached, and a cleaning unit transfer means 3200 for bringing the cleaning unit 3300 close to the blade 10. ) may include.

The cleaning unit 3300 includes a cleaning liquid spray nozzle 3310 that sprays cleaning liquid toward the blade 10 in front of the cleaning unit 3300, and dusting or rubbing foreign substances on the surface of the blade 10 in front of the cleaning unit 3300. It may include a brushing member 3320 that can be used.

The brushing member 3320 may be a brush in the form of a duster or a brush in the form of cilia of a wet mop cleaner, but is not limited thereto.

The washing unit transfer means (3200) includes a washing unit transport means first member 3210, a washing unit transfer means second member 3220, a washing unit transfer means third member 3230, and a washing unit transfer means rotation unit 3240. may include.

The third member 3230 of the washing unit transport means is connected at the top to the third drone 3000 and extends vertically downward, and the height of the washing unit transport means 3200 can be adjusted from the third drone 2000. For example, the third member 3230 of the washing unit transport means has a rod-shaped structure capable of adjusting the length in multiple stages so that the height of the washing unit transport means 3200 can be adjusted in the third drone 3000 by changing the length. It may be formed as, but is not limited to this. At this time, the length can be adjusted hydraulically, but is not limited to this.

The washing unit transfer means third member 3230 may be connected to the washing unit transfer means rotation drive unit 3240 at the bottom. For example, the washing unit transfer means rotation drive unit 3240 may rotate around the washing unit transfer means third member 3230.

The first member 3210 of the washing unit transfer means is formed to extend horizontally, and may have one end connected to the rotary drive unit 3240 of the washing unit transfer means and include a washing unit 3300 at the other end.

The first member 3210 of the washing unit transfer means may be formed in a rod-shaped structure capable of adjusting the length in multiple stages so that the horizontal length can be adjusted, but is not limited thereto. At this time, the length can be adjusted hydraulically, but is not limited to this.

One end of the first member 3210 of the washing unit transfer means is connected to the rotary drive part 3240 of the washing unit transfer means, and as the rotary drive part 3240 of the washing unit transfer means rotates, the first member 3210 of the washing unit transfer means Can rotate horizontally.

The first member 3210 of the washing unit transfer means includes a washing unit 3300 at the opposite end connected to the rotary driving unit 3240 of the washing unit transfer means, and may include a buffer member 3211 at the rear of the washing unit 3300. You can. For example, the buffer member 3211 may be a spring shock absorber, a pneumatic shock absorber, or an elastic rubber shock absorber, but is not limited thereto. Accordingly, when the cleaning unit 3300 contacts the blade 10, the shock absorbing member 3211 is transmitted through the first member 3210 of the cleaning unit transport means and shakes the third drone. By absorbing , damage to the blade 10 caused by the cleaning unit 3300 can be prevented.

The second washing unit transport means member (3220) is connected at one end to the washing unit transport means rotary drive unit (3240), and is located on the opposite side of the washing unit transport means first member (3210) in response to the washing unit transport means first member (3210). It can be formed by extending it.

As the washing unit transfer means rotation drive unit 3240 rotates, the washing unit transfer means second member 3220 may rotate horizontally.

In addition, the second cleaning unit transport member 3220 has an opposite end connected to the film transport unit rotating drive unit 2140 to maintain the center of gravity of the third drone 3000 in response to the washing unit transport unit rotation drive unit 3240. A counterweight 3221 may be provided. Accordingly, the second member 3220 of the washing unit transport means includes a counterweight 3221 and maintains balance with the first member 3210 of the washing unit transport means even if it extends to a shorter length than the first member 3210 of the washing unit transport means. You can fit it.

The second member 3220 of the washing unit transport means may be formed in a rod-shaped structure capable of adjusting the length in multiple stages so that the horizontal length can be adjusted, but is not limited thereto. At this time, the length can be adjusted hydraulically, but is not limited to this.

Figure 31 is a schematic diagram of the drone fixing part of the second drone according to an embodiment of the present invention.

Referring to FIG. 31, the second drone 2000 may include a drone fixing unit 100.

The drone fixing unit 100 may include a casing 110, a wire winding unit 120, and a drone fixing wire 122. For example, the casing 110 of the drone fixing part 100 is formed on the lower part of the landing gear 2001 of the second drone 2000, and the inside of the casing 110 and the wire winding part are connected by the drone fixing wire 122. It can be connected to the wire winding part 120 attached to the surface of the russell 20 by the adsorption member 121. Accordingly, the second drone (2000) is prevented from falling to the floor due to malfunction of the second drone (2000) by the drone fixing wire (122) connected to the wire winding portion (120) attached to the surface of the russell (20). can do.

Although the present invention has been described with reference to the second drone through FIG. 31, the drone fixing unit can be applied to the first drone and is not limited thereto.

Figure 32 is a schematic diagram of a drone fixing unit according to an embodiment of the present invention.

Referring to FIG. 32, the drone fixing part 100 may include a casing 110, a wire winding part 120, and a drone fixing wire 122.

The drone fixing part 100 has an open bottom, and a casing 110, which is a space capable of accommodating the wire winding part 120, may be formed therein. For example, the drone fixing part 100 has a wire winding part 120 located inside the casing 110, and the wire winding adsorption member 121 included at the bottom of the wire winding part 120 is located in the casing 110. ) The casing 110 space may be formed so as not to exceed the bottom. Accordingly, as shown in FIG. 31 described above, the drone fixing part 100 is formed at the bottom of the landing gear of the drone, and the casing 110 is formed inside the landing gear, so that when the drone lands, the wire winding part ( 120), it is possible to prevent damage due to the weight of the drone being applied.

The drone fixing part 100 holds the wire winding part 120 inside the casing 110 so that the wire winding part 120 does not fall into the open lower part of the casing 110 and fixes it inside the casing 110. It may include a wire winding holding member 111. For example, referring to FIG. 32 (a), the wire winding part holding member 111 can hold the side of the wire winding part 120 and fix the wire winding part 120 inside the casing 110. Accordingly, even when the drone is floating in the air, the wire winding part 120 may not fall from the drone fixing part 100.

The drone fixing part 100 is a wire winding part 120 inside the casing 110 that goes down to the open lower part of the casing 110 so that the wire winding part adsorption member 121 can reach the wind power generation facility. The winding part holding member 111 can release the grip of the wire winding part 120. For example, referring to Figure 32 (b), when the lower part of the drone fixing part 100 is seated on the upper part of the russell 20, the wire winding part holding member 111 is installed inside the casing 110 as a wire winding part ( The grip on the side of the wire winding unit 120 can be released so that 120) is not fixed. Accordingly, the wire winding portion 120 may leave the casing 110 and the wire winding portion adsorption member 121 of the wire winding portion 120 may be adsorbed to the top of the russell 20. For example, the drone fixing unit 100 is connected to the drone but is installed on a separate member whose length can vary, so that the drone fixing unit 100 can be seated on the wind power generation facility while the drone is spaced apart from the wind power generation facility. there is. For example, the drone fixing unit 100 may be seated on a wind power generation facility as the drone lands on the wind power generation facility, but is not limited thereto.

The wire winding unit 120 may further include a winding unit negative pressure generating member to provide negative pressure to the wire winding unit adsorption member 121 to impart adsorption force. For example, the winding part negative pressure generating member may be a vacuum pump, but is not limited thereto.

In the drone fixing unit 100, one end of the drone fixing wire 122 is connected to the casing 110 and may be wound around the wire winding unit 120. For example, referring to Figure 32 (c), when the bottom of the drone fixing part 100 deviates from the top of the russell 20 and rises as the drone rises, it is attached to the casing 110 of the drone fixing wire 122. The connected ends rise together. Accordingly, the wire winding portion 120 attached to the russell 20 by the wire winding portion adsorption member 121 is unwound by the tension applied to the drone fixing wire 122, and the drone fixing wire 122 is It may extend from the casing 110 to the wire winding portion 120. At this time, when the tension applied to the drone fixing wire 122 is released, the drone fixing wire 122 can be wound back to the wire winding unit 120.

Figure 33 is a schematic diagram of a wire winding portion according to an embodiment of the present invention.

Referring to FIG. 33, the wire winding portion 120 may be tilted in a specific direction at the top of the wire winding portion adsorption member 121.

For example, referring to FIG. 33(a), when the wire winding portion 120 receives vertical force from the drone fixing wire 122, it can remain horizontal at the top of the wire winding portion adsorption member 121.

Also, for example, referring to Figure 33(b), the wire winding portion 120 may be tilted to the left at the top of the wire winding portion adsorption member 121 when it is forced to the left by the drone fixing wire 122. there is.

Also, for example, referring to Figure 33(c), when the wire winding portion 120 is forced to the right by the drone fixing wire 122, the wire winding portion adsorption member 121 may be tilted to the right. there is.

Accordingly, the wire winding part 120 is tilted according to the force applied to the drone fixing wire 122, but the wire winding adsorption member 121 can remain horizontally attached to the russell 20, thereby maintaining the wire winding adsorption. The member 121 can be stably attached to the russell 20.

Figure 34 is a flowchart of a radiography method according to an embodiment of the present invention.

Referring to FIG. 34, a radiographic examination method using a radiographic examination system for blades installed in wind power generation facilities will be described.

The first and second drones can land and fly in Russell.

The first drone and the second drone are seated on the russell of the wind power generation facility, and the wire winding part of the drone fixing part can be fixed to the russell. For example, the drone fixing part may be fixed to the russell using a wire winding adsorption member included in the wire winding part.

Thereafter, the first drone and the second drone separate from the russell, so that the first drone and the second drone connected to the wire winding unit and the drone fixing wire can fly.

The radiation source emitter of the first drone may be fixed to one surface of the blade.

The first drone may fly close to one surface of the blade, and the radiation source emitter of the first drone may be fixed to one surface of the blade. For example, the radiation source emitter may be fixed to one surface of the blade by an emitter adsorption member included in the radiation source emitter.

Thereafter, the first drone may fly away from the radiation source emitter attached to one surface of the blade.

A film cartridge extracted from the film extraction unit of the second drone may be attached to the other surface of the blade.

At this time, in order to withdraw a film cartridge from the film outlet of the second drone, a film outlet is defined as a space for extracting the film cartridge; a film holding member for holding the film cartridge disposed in the film outlet; A ball joint member that provides rotational force to the film holding member; a first horizontal movement guide member that provides x-axis direction mobility to the film holding member; and a second horizontal movement guide member that provides y-axis direction mobility to the film holding member; may include.

Accordingly, the film cartridge held by the film holding member can be pulled out from the film outlet as the first horizontal movement guide member moves in the x-axis direction.

Thereafter, the film holding member may rotate based on the ball joint member to rotate the film cartridge. For example, the film cartridge can be rotated to change its up and down position, and one side of the film cartridge to be attached to the other side of the blade can be rotated to face forward.

Thereafter, as the second horizontal movement guide member moves in the y-axis direction, the film cartridge held by the film holding member is disposed in front of the film providing unit provided at the end of the film transfer unit, and the film cartridge is held by the film transfer unit. As the film providing unit approaches the film cartridge, the film holding unit provided in the film providing unit may hold the film cartridge.

The second drone flies close to the other surface of the blade in response to the first drone, and the film providing portion provided at one end of the film transfer unit of the second drone is fixed to the other surface of the blade to transmit the film of the second drone. The film cartridge pulled out from the drawing unit may be held by the film providing unit and attached to the other surface of the blade. For example, the film providing part of the second drone may be fixed to the other surface of the blade by the film providing part adsorption member included in the film providing part.

The film providing unit provided at one end of the film transfer unit of the second drone is fixed to the other surface of the blade to attach the film cartridge withdrawn from the film withdrawal unit of the second drone to the other surface of the blade. The film transfer unit includes a first member of the film transfer unit, one end of which is connected to the film providing unit and the other end of which is connected to the film transfer unit rotary drive unit; A second member of the film transport unit is provided with a balance weight to maintain the center of gravity of the second drone in response to the first member of the film transport unit and is connected to the rotary drive part of the film transport unit; And a third member of the film transfer unit, one end of which is connected to the second drone and the other end of which is connected to the film transfer unit rotation drive unit, in order to control the height of the film transfer unit. At this time, the length of the first film transport member, the second film transport member, and the third film transport member may vary. In addition, the first film transport member and the second film transport member can rotate around the third film transport member by the film transport unit rotation drive unit.

Accordingly, the film transfer unit third member extends in length downward of the second drone, and the film transfer unit first member and The second film transfer member can rotate.

Thereafter, the length of the first member of the film transfer unit is extended so that the film cartridge is attached to the other side of the blade, and the length of the second member of the film transfer unit may be extended correspondingly to balance the second drone. .

The second drone may fly away from the film cartridge attached to the other surface of the blade.

At this time, when the second drone flies away from the film cartridge attached to the other side of the blade, the film transfer part of the second drone can be combined with and separated from the film providing part, but when separated, The film providing unit and the film transport unit may be connected to the film providing unit fixing wire. Accordingly, the film providing unit can be maintained attached to the other surface of the blade, and the second drone can fly at a certain distance or more from the film cartridge held by the film providing unit.

Radiation is emitted from the radiation source generator provided in the first drone, and the test results are detected on the film cartridge, so that a radiographic test can be performed on the blades installed in the wind power generation facility.

The second drone can collect the film cartridge attached to the other side of the blade.

The second drone emits radiation from the radiation source generator provided in the first drone, and the test result is detected on the film cartridge, and after performing a radiographic inspection of the blade installed in the wind power generation facility, the second drone attached to the other side of the blade The film cartridge held in the film providing unit can be recovered. For example, the film cartridge can be recovered by combining the film transfer unit of the second drone with the film providing unit and then recovering the film providing unit.

At this time, before collecting the film cartridge attached to the other side of the blade, the marking liquid can be sprayed on the other side of the blade from a marking nozzle provided in the film transfer unit to mark the part where the inspection has been completed on the blade. there is.

It further includes a third drone provided with a radiation measuring unit for measuring the amount of radiation when performing a radiographic examination of blades installed in a wind power generation facility using the first drone and the second drone, wherein the third drone is the first drone. The amount of radiation emitted from the first drone toward the ground can be measured while flying underneath the drone.

At this time, the third drone includes a cleaning unit, so that the second drone can clean the area where the film cartridge is attached before attaching the film cartridge to the other surface of the blade.

When performing a radiographic examination of a blade installed in a wind power generation facility using the first drone, the second drone, and the third drone, the fourth drone is further included as the first drone. , if an abnormality occurs during flight in at least one of the second drone and the third drone, it can be collected and safely landed on the ground.

As described above, the specific description of the present invention has been made based on examples with reference to the accompanying drawings, but since the above-described embodiments are only explained by referring to preferred examples of the present invention, the present invention is limited to the above embodiments. It should not be understood, and the scope of rights of the present invention should be understood in terms of the claims and equivalent concepts described later.

For example, to aid understanding, drawings schematically show each component as the main component, and the thickness, length, number, etc. of each component shown may differ from the actual drawing during the drawing process. In addition, the materials, shapes, dimensions, etc. of each component shown in the above embodiments are only examples and are not particularly limited, and various changes are possible without substantially departing from the effect of the present invention.

1: Wind power generation facility 10: Blade 20: Russell 30: Support
100: Drone fixing part 110: Casing 111: Wire winding holding member
120: Wire winding part 121: Wire winding part adsorption member 122: Drone fixing wire
200: Film cartridge 210: Press coupling member
1000: 1st drone 1001: Landing gear
1100: Radiation source generating unit 1110: Radiation source generating unit main body 1120: Radiation source eastern part
1130: Communication unit 1140: Drone coupling unit 1150: Radiation source emitting unit transfer member
1151: Buffer member 1152: Radiation source emitter docking rod
1200: Radiation source emitting unit 1210: Radiation source emitting unit main body 1220: Radiation angle control member
1230: Discharge part negative pressure generating member 1240: Discharge part fixing member 1250: Discharge part adsorption member
1260: Discharge unit body docking port 1261: Discharge unit body fixing wire
1300: Radiation source tube
2000: Second drone 2001: Landing gear
2100: Film transfer unit 2110: Film transfer unit first member 2111: Buffer member
2112: Film providing docking rod 2113: Marking nozzle 2114: Marking liquid
2120: Film transfer unit second member 2121: Balance weight 2130: Film transfer unit third member
2140: East of the film transfer unit rotation section
2200: Film provision unit 2210: Film provision unit main body 2211: Film provision unit docking port
2212: Providing negative pressure generating member 2213: Wire fastening member 2214: Film pressurizing member
2215: Film providing unit fixing wire 2220: Film holding unit connecting rod 2230: Film holding unit
2231: Presser 2232: Presser control unit 2233: Film providing unit adsorption member
2300: Film storage unit 2310: Film withdrawal unit 2311: Film outlet
2312: Film holding member 2313: Ball joint member 2314: First horizontal movement guide member
2315: Second horizontal movement guide member 2320: Film inlet 2321: Film inlet
2322: Film holding member 2323: Ball joint member 2324: First horizontal movement guide member
2325: Second horizontal movement guide member
3000: Third drone 3100: Radiation measurement unit
3200: Washing unit transport means 3210: Washing unit transport means first member 3211: Buffer member
3220: Washing unit transport means second member 3221: Counterweight 3230: Washing unit transport means third member
3240: Washing unit transfer means rotary drive eastern part
3300: Washing unit 3310: Washing liquid spray nozzle 3320: Brushing member
4000: 4th drone 4100: Drone holding part

Claims (20)

In radiographic examination of blades installed in wind power generation facilities,
A first drone including a radiation source generator, a radiation source emitter, and a radiation source tube to emit radiation to one side of the blade; and
a second drone including a film storage unit, a film provision unit, and a film transfer unit to provide a film cartridge to the other side of the blade in response to the first drone;
Including,
The radiation source emitting unit,
a radiation source emitter main body connected to the radiation source generator installed in the first drone through a radiation source tube;
a plurality of emitting unit fixing members extending from the radiation source emitting unit main body to fix the radiation source emitting unit main body to one surface of the blade and an emitting unit adsorption member provided in front of the emitting unit fixing member;
an emission unit negative pressure generating member that provides negative pressure to the emission unit adsorption member so that the radiation source emission unit is adsorbed to one surface of the blade; and
An emission angle control member disposed in an area between a plurality of the emission unit fixing members and installed on the radiation source emission unit main body;
A radiographic inspection system for blades installed in wind power generation facilities, including a.
In claim 1,
The film providing department,
a film providing unit main body connected to the front of the film transport unit;
a film holding portion provided to hold the film cartridge and provided with a film providing portion adsorption member;
a negative pressure generating member providing negative pressure to the film providing portion adsorption member such that the film providing portion is adsorbed to the other surface of the blade; and
a film holding unit connecting rod connecting the film providing unit main body and the film holding unit;
Including,
A radiographic inspection system for blades installed in a wind power plant, wherein the film holding portion is provided with a press extending toward the center of the film cartridge to press the film cartridge toward the other side of the blade.
In claim 2,
The film providing department,
A radiographic examination system for a blade installed in a wind power plant, further comprising a film pressing member that extends from the film providing unit body in the direction of the film cartridge and presses the film cartridge in the direction of the other surface of the blade.
In claim 1,
The film transport unit,
A first member of the film transfer unit, one end of which is connected to the film providing unit and the other end of which is connected to the film transfer unit rotary drive unit;
A second member of the film transport unit is provided with a balance weight to maintain the center of gravity of the second drone in response to the first member of the film transport unit and is connected to the rotary drive part of the film transport unit; and
A third member of the film transfer unit, one end of which is connected to the second drone and the other end of which is connected to the film transfer unit rotation drive unit, in order to control the height of the film transfer unit;
Including,
A radiographic inspection system for blades installed in a wind power plant, in which the first film transport member and the second film transport member rotate around the third film transport member by the film transport unit rotation drive unit.
In claim 4,
The film transfer unit is further provided with a marking nozzle provided for spraying the display liquid in front of the first film transfer unit member. A radiographic inspection system for blades installed in a wind power generation facility.
In claim 1,
The film storage unit,
a film withdrawal unit where the unused film cartridge is stored; and
a film inlet where the used film cartridge is stored;
Including,
Providing the film cartridge stored in the film withdrawal unit to the film providing unit,
A radiographic inspection system for blades installed in wind power generation equipment, wherein the used film cartridge held and provided in the film providing unit is stored in the film inlet.
In claim 6,
The film withdrawal unit,
a film outlet defined as a space for extracting the film cartridge;
a film holding member for holding the film cartridge disposed in the film outlet;
A ball joint member that provides rotational force to the film holding member;
a first horizontal movement guide member that provides x-axis direction mobility to the film holding member; and
a second horizontal movement guide member that provides y-axis direction mobility to the film holding member;
Including, a radiographic inspection system for blades installed in a wind power generation facility, which allows the film cartridge stored in the film withdrawal unit to be held by the film providing unit.
The method of any one of claims 1 to 7,
a radiation measurement unit for measuring the amount of radiation emitted from the first drone toward the ground; and
a cleaning unit for cleaning the other side of the blade before the film cartridge is attached;
Includes,
A radiographic inspection system for blades installed in a wind power generation facility, further comprising a third drone provided to fly below the first drone.
In claim 8,
Blades installed on the wind power generation facility further include a fourth drone to collect and safely land on the ground when an abnormality occurs during flight of at least one of the first drone, the second drone, and the third drone. radiography system.
The method of any one of claims 1 to 7,
Further comprising a drone fixing unit to prevent the first drone and the second drone from falling,
The drone fixing part is,
A casing with an open bottom;
A wire winding part that is installed in the casing and can be removed from the lower part of the casing, and has one end wound with a drone fixing wire connected to the casing; and
A wire winding portion adsorption member provided on the wire winding portion and adsorbed to the wind power generation facility to secure the wire winding portion to the wind power generation facility;
A radiographic inspection system for blades installed in wind power generation facilities, including a.
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