WO2016207190A1 - Appareil mobile pour réaliser des opérations d'entretien sur une éolienne - Google Patents

Appareil mobile pour réaliser des opérations d'entretien sur une éolienne Download PDF

Info

Publication number
WO2016207190A1
WO2016207190A1 PCT/EP2016/064359 EP2016064359W WO2016207190A1 WO 2016207190 A1 WO2016207190 A1 WO 2016207190A1 EP 2016064359 W EP2016064359 W EP 2016064359W WO 2016207190 A1 WO2016207190 A1 WO 2016207190A1
Authority
WO
WIPO (PCT)
Prior art keywords
mobile device
wind turbine
rotor blade
technical information
sensor
Prior art date
Application number
PCT/EP2016/064359
Other languages
German (de)
English (en)
Inventor
Nicole FRITSCH-NEHRING
Original Assignee
Wobben Properties Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wobben Properties Gmbh filed Critical Wobben Properties Gmbh
Publication of WO2016207190A1 publication Critical patent/WO2016207190A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
    • F03D80/50—Maintenance or repair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2230/00—Manufacture
    • F05B2230/30—Manufacture with deposition of material
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2230/00—Manufacture
    • F05B2230/80—Repairing, retrofitting or upgrading methods
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/80—Diagnostics
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/32—Wind speeds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/328—Blade pitch angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
    • F05B2270/804—Optical devices
    • F05B2270/8041—Cameras
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
    • F05B2270/806—Sonars
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

Definitions

  • the invention relates to a mobile device for carrying out maintenance measures on a wind energy plant, with a drive system, by means of which the mobile device is movable on a surface of the wind energy plant, and a sensor device, which is adapted to technical information about the state of a rotor blade and / or a tower of the wind turbine.
  • the invention further relates to a device with such a mobile device and a wind turbine with such a device. Moreover, the invention relates to a method for carrying out maintenance measures on a wind turbine.
  • the individual components of a wind turbine in particular the tower, the nacelle and the rotor blades are permanently exposed to external influences and concomitant loads after commissioning of the wind turbine.
  • the wind induced as well as constantly changing stress of the individual components can promote or cause damage to individual components and thus reduce the life of a wind turbine.
  • changing environmental conditions such as temperature fluctuations, changes in humidity or other Environmental influences contribute to the damage of individual components.
  • hairline cracks and / or cracks may form at or below the surface of individual components.
  • Such damage requires the implementation of maintenance measures on the wind turbine to continue to ensure a proper and safe operation of the wind turbine.
  • Maintenance measures are understood in particular as maintenance, inspection and / or repair measures.
  • Manufacturers and operators of wind turbines have already recognized the need to carry out maintenance on wind turbines and developed maintenance routines.
  • Known methods for performing maintenance measures use devices that are only temporarily attached to the tower, the nacelle or a rotor blade of the wind turbine.
  • visual inspections are usually performed or sensor devices used.
  • the technical information is then evaluated in order to determine and carry out suitable maintenance measures.
  • the attachment of such devices to wind turbines is always associated with a high time, cost and personnel costs in the known methods.
  • such devices only allow the maintenance, inspection or repair of a small section of the wind turbine.
  • the known non-movable devices only allow a random test.
  • Object of the present invention is therefore to provide a way that allows you to perform cost-effective and with reduced time and staff deployment maintenance on a wind turbine.
  • the object is achieved with a mobile device of the type mentioned, which is set up for permanent retention on the wind turbine.
  • the mobile device is therefore located during any operating conditions on the wind turbine, ie both during standstill, idle and the spinning operation and during normal operation, in which the wind turbine generates electrical energy.
  • the rotor of the wind turbine is rotated without generating electrical energy.
  • the spinning operation differs from the idling by the position of the rotor blades to the wind direction. If the winches are too strong, the rotor blades will be set in feathering mode during the spinning mode, causing stalling and avoiding overloading the system. In weak winds, the rotor blades are placed at idle maximum against the wind, so that a setting of the rotor and thus any damage to the bearings can be prevented.
  • the "permanent" whereabouts of the mobile device on the wind turbine refers to the various operating states of the wind turbine
  • the maintenance measures which the mobile device can perform on the wind turbine include, for example, maintenance, inspection or repair measures
  • Technical information on the state of a rotor blade and or the tower of the wind turbine may, for example, be information concerning the shape or nature of surface sections.
  • the drive system and / or the sensor device is coupled to a control unit which is set up to control the drive system and / or the sensor device as a function of the operating state of the wind energy plant. On the basis of a detected operating state of the wind energy plant, suitable operating instructions are transmitted to the mobile device. If the control unit detects, for example, the standstill of the wind energy plant, the control unit is preferably configured to transmit control signals to the mobile device, which cause the mobile device to carry out maintenance measures on one or more rotor blades.
  • the control unit is preferably configured to transmit control signals to the mobile device for performing maintenance on the rotor blade root when the wind turbine is idling or spinning.
  • the control unit is preferably configured to control the mobile device for carrying out maintenance measures on stationary components of the wind energy plant, for example, to drive it to the tower or the nacelle of the wind energy plant when the wind energy plant is in normal operation. Furthermore, the transmission of control signals is considered, which cause the mobile device to temporarily take a position on the wind turbine and to remain in this position.
  • the control unit is preferably configured to switch the mobile device to a suitable working mode or a sleep mode.
  • the working mode preferably comprises the execution of a plurality of maintenance measures.
  • sleep mode the mobile device temporarily remains in a suitable position on the wind turbine, in which it does not interfere with the operation.
  • control unit is preferably configured to control the drive system and / or the sensor device as a function of environmental conditions, such as, for example, the currently prevailing wind strength.
  • the communication that is, the signal transmission between the control unit and the drive system and between the control unit and the sensor device is preferably wired and / or wireless.
  • the drive system comprises a holding device, which controls a movement of the mobile device on the surface of the wind turbine independently of the position and / or orientation of the mobile device allowed.
  • the holding device allows the movement of the mobile device on the tower surface, the nacelle surface and / or the rotor blade surface.
  • the holding system preferably allows the mobile device to drive, walk or slide along the surface of the wind turbine.
  • the holding system also allows the movement of the mobile device on the surface of the wind turbine in strong winds and rain showers and snowfall.
  • the holding device has one or more gripping arms, which are adapted to partially or completely surround the tower, the nacelle or a rotor blade in sections.
  • the gripper arms are preferably coupled to a drive device, which is also controlled by the control unit.
  • the gripper arms preferably have one or more contact surfaces, via which a frictional connection with the surface of the tower, the nacelle or a rotor blade of the wind turbine can be realized.
  • the number and arrangement of the individual gripper arms is dependent on the intended use of the mobile device and the wind turbine on which the mobile device is to be used.
  • the holding device comprises two, four, six, eight or ten paired gripping arms, wherein in each case a Greifarmcru is arranged in a common plane.
  • the holding device has one or more suction feet for sucking onto the surface of the wind energy plant.
  • the individual suction feet are designed to be pivotable and / or linearly movable.
  • the suction feet are formed of an elastically deformable plastic.
  • the suction feet are connected to a pneumatically operating system, by means of which the suction process of the individual suction feet is controlled.
  • the number and arrangement of the suction feet depends on the purpose of the mobile device and the size and weight of the mobile device and the dimensions of the wind turbine on which the mobile device is to be used.
  • a holding device is preferred which has two, three, four, five, six, seven or eight suction feet.
  • the sensor device of the mobile device is preferably set up to carry out a non-destructive status check of the surface and / or of an area of the wind energy plant lying below the surface, in particular of the tower surface, of the nacelle surface and / or of the rotor blade surfaces.
  • the condition check of the surface preferably comprises a check for hairline cracks, cracks, cavities, corrosion and / or corrosion indicators, such as For example, conductivity, moisture, color change, and / or deformations. Furthermore, an examination of the surface hardness or surface color comes into consideration.
  • the components of a wind turbine, in particular the tower, the rotor blades and the nacelle regularly have one or more elastic protective layers which can mask the aforementioned defects in areas below the surface.
  • the sensor device of the mobile device is preferably configured to detect cracks which are optically unrecognizable from the outside, even in areas below the surface.
  • the sensor device for the non-destructive state test comprises one or more sensors selected from the list consisting of: optical sensor, ultrasonic sensor, pressure sensor and force sensor.
  • the sensor device preferably has one or more sensors of the same type and / or individual or multiple sensors of different types.
  • optical sensors and / or ultrasound sensors are preferred.
  • Ultrasonic sensors allow the detection of defects such as cavities below the surface.
  • the mobile device is advantageously further developed in that the sensor device has one or more sensors selected from the list consisting of: acceleration sensor, torque sensor, humidity sensor, liquid sensor, sensor for vibration measurement, magnetometer, temperature sensor and sensor for angle measurement.
  • the sensors are preferably configured to acquire technical information about the condition of a rotor blade and / or the tower of the wind energy plant.
  • the humidity sensor and the liquid sensor can be determined, for example, whether in certain sections of the wind turbine an expected level of moisture or a quantity of liquid is exceeded, so that conclusions can be drawn on the presence of cracks or other damage.
  • the sensor for vibration measurement for example, allows the recording of a vibration profile for different operating conditions and / or environmental conditions, so that this vibration profile can be compared with reference profiles. The comparison can provide information about the presence of damage to the wind turbine.
  • the one or more optical sensors are adapted to detect distances, colors and / or intensities of light.
  • the mobile device preferably has a light source.
  • the light source is preferably arranged in the region of the sensor device or formed as part of the sensor device.
  • a light source allows the use of such sensors and thus also the execution of maintenance measures in the dark. The mobile device can thus carry out maintenance measures on the wind energy plant both during the day and at night.
  • the light source and / or the sensor device are arranged in a chamber which has an opening on the side facing the surface of the wind turbine and reduces external light radiation in the region of the sensor device and / or the surface of the wind turbine , preferably substantially prevented.
  • the chamber is preferably set up to darken and / or shade the measuring range of the sensor device. In order to be able to record usable and comparable sensor data, constant light conditions are provided in this way. External light radiation, such as sunlight, is absorbed and / or reflected by the chamber before reaching the area of the sensor device and / or the surface of the wind energy plant.
  • the mobile device preferably comprises a material applicator, which is set up to apply material to the surface of the wind energy plant, in particular to the tower surface, the nacelle surface and / or the rotor blade surface.
  • the material applicator is preferably coupled to and controlled by the control unit.
  • the material applicator is fluidly connected to a supply of material.
  • the stock of material is arranged for example on the mobile device or on a device station on the wind turbine.
  • the fluid-conducting connection between the material supply and the material applicator is realized by means of one or more flexible fluid lines.
  • the material applicator and the material supply and the fluid line (s) can be designed for different materials.
  • the material applicator is adapted to apply adhesive, epoxy, paint or combination of the foregoing.
  • adhesive or epoxy resin for example, cracks, which are formed on the surface of the wind turbine have to be backfilled. When filling or repairing cracks that have arisen, this is a repair measure that reduces or eliminates the influence of damage that has occurred.
  • a device for carrying out maintenance measures on a wind energy plant which has a mobile device according to one of the embodiments described above and a device station which is fixedly attachable to the wind turbine, wherein the mobile device with the device station can be coupled.
  • the coupling of the mobile device with the device station is preferably used for signal transmission or charging of a preferably rechargeable storage for electrical energy, which is connected to the drive system of the mobile device.
  • the rechargeable storage for electrical energy is preferably arranged on the mobile device and / or on the wind turbine, for example on the device station and preferably connected to an electric motor of the drive system of the mobile device. While the mobile device is docking with the device dock, the mobile device is in sleep mode.
  • control unit is part of the device station.
  • control unit is preferably part of the mobile device.
  • the mobile device has a connection which can be coupled to a corresponding connection of the device station in order to charge the storage for electrical energy.
  • the device station has a housing which is set up to completely surround the mobile device in sections or-particularly preferably-when the mobile device is coupled to the device station.
  • the mobile device is thus protected, for example, from extreme environmental influences, such as ambient temperatures below freezing point or heavy rain showers or snowfalls.
  • the device has a data memory and / or a data interface for storing, providing and / or receiving data.
  • the data interface is preferably arranged on the mobile device or the device station.
  • the data interface permits toolless coupling with data transmission means, such as cables.
  • the interface can also be designed such that it enables wireless data transmission.
  • the data memory is preferably readable by means of the data interface. This makes it possible to check the stored measured values on site and in a remote control center.
  • the object underlying the invention is further achieved by a wind turbine with a device according to one of the embodiments described above, wherein the mobile device is permanently and movably disposed on the surface of the wind turbine and the device station is permanently and fixedly mounted on the wind turbine.
  • the object on which the invention is based is furthermore achieved by a method for carrying out maintenance measures on a wind energy plant, preferably using a mobile device according to an embodiment described above or a device according to one of the embodiments described above, with the following steps:
  • the mobile device remains permanently on the wind energy plant, regardless of the operating state of the wind energy plant.
  • the detection and evaluation of the operating state of the wind power plant preferably also takes place using data which provides the control of the wind turbine.
  • the detection and evaluation of the operating state of the wind turbine further preferably comprises one, several or all of the following steps: detecting the rotor speed;
  • Providing an operation instruction for the mobile device depending on the operating state of the wind turbine preferably comprises the step of wired or wireless transmission of control signals to the mobile device.
  • an operating instruction initiates one, several or all of the following steps: moving the mobile device on the surface of the wind turbine;
  • the acquisition of technical information about the state of a rotor blade and / or the tower of the wind turbine is preferably carried out by means of one or more sensor devices.
  • the mobile device and / or the device for carrying out maintenance measures preferably have a data memory.
  • Storing the technical information preferably comprises one, several or all of the following steps:
  • the provision of the technical information comprises one, several or all of the following steps:
  • the evaluation of the technical information comprises one, several or all of the following steps:
  • the method comprises one, several or all of the following steps:
  • the reference data are preferably applied during the first operation, that is to say the first time the wind turbine leaves or travels.
  • the system preferably calibrates itself.
  • Wind turbine is arranged;
  • the movement of the mobile device to a rest position or a device station is preferably initiated when the mobile device is on one of the rotor blades during standstill, idle or the whirling operation of the wind turbine and the wind turbine is to be switched back to normal operation, or the Wind speed is too high (see above).
  • the mobile device is preferably caused to leave the rotor blades and to move in the direction of a rest position or the device station, or to remain there until the wind has sufficiently decreased, or the system is stationary.
  • moving the mobile device on the surface of the wind energy installation comprises one, several or all of the following steps:
  • moving the mobile device using a pathfinding routine that automatically makes path corrections includes one, several or all of the following steps: first moving the mobile device along a path;
  • the method according to the invention is further developed advantageously in that the movement of the mobile device on the surface of the wind energy installation comprises one, several or all of the following steps:
  • the movement of the mobile device on the surface of a rotor blade of the wind turbine comprises one, several or all of the following steps:
  • Rotating the rotor blade during the change of the mobile device from the first side of the rotor blade to the second side of the rotor blade preferably in dependence on the movement speed of the mobile device; Adjusting the rotational speed of the rotor blade and / or the moving speed of the mobile device such that the mobile device substantially maintains its absolute position during the change from the first side of the rotor blade to the second side of the rotor blade.
  • the mobile device "runs” along the blade as it rotates under the device, so the mobile device does not have to "shimmy” along the underside of the blade, but can also "swing the second side of the rotor blade” from above
  • the blade is preferably in the 3 o'clock or 9 o'clock position.
  • the acquisition of technical information about the condition of a rotor blade and / or the tower of the wind turbine comprises one or both of the following steps:
  • Examination of the surface and examination of an area below the surface of a rotor blade and / or the tower of the wind energy plant is preferably carried out using sensors which are suitable for a nondestructive condition test.
  • sensors which are suitable for a nondestructive condition test.
  • optical sensors, ultrasonic sensors, pressure sensors and / or force sensors are used for examining the surface or investigating an area below the surface of a rotor blade and / or the tower of the wind energy plant.
  • the examination of the surface comprises one, several or all of the following steps:
  • the method according to the invention is further developed advantageously in that the acquisition of technical information about the state of a rotor blade and / or the tower of the wind turbine comprises one or both of the following steps:
  • a light source For illuminating a portion of the surface of the wind turbine, preferably a light source is used, which is arranged in the region of the sensor device or designed as part of the sensor device. Shading, in particular by reducing external light irradiation in the area of the surface section to be examined, is preferably effected by means of a chamber which has an opening on the side facing the surface of the wind turbine and in which the light source and / or the sensor device are arranged.
  • a further preferred embodiment of the method according to the invention comprises the step of dispensing material from a material applicator of the mobile device onto the surface of the tower, the nacelle or a rotor blade of the wind energy plant.
  • Show it 1 shows an embodiment of the wind turbine according to the invention in a perspective view.
  • FIG. 2 shows an embodiment of the mobile device according to the invention on a section of a tower surface
  • FIG 3 shows an embodiment of the device according to the invention and a section of a rotor blade
  • FIG. 4 shows an embodiment of the method according to the invention as a block diagram.
  • FIG. 1 shows a wind energy plant 100 with a tower 102 and a nacelle 104.
  • a rotor 106 with three rotor blades 108 and a spinner 110 is arranged on the nacelle 104.
  • the rotor 106 is set in rotation by the wind in rotation and thereby drives a generator in the nacelle 104 at.
  • a mobile device 1 for performing maintenance measures on the wind turbine 100 is arranged on the tower surface 103.
  • the mobile device 1 has a drive system by means of which it is movable on the tower surface 103, the nacelle surface 105 and the rotor blade surfaces 109 of the wind turbine 100. Via a sensor device, the mobile device 1 is able to acquire technical information about the state of a rotor blade 108 and / or the tower 102 of the wind energy plant 100.
  • the mobile device 1 is set up to remain permanently on the wind energy plant 100.
  • a mobile device V may be disposed on a rotor blade 108 of the wind turbine 100.
  • a device station 3 is arranged on the tower surface 103, which is fixedly attached to the tower 102 of the wind turbine 100. Alternatively or additionally, a device station 3 'is attached to the nacelle 104 of the wind turbine 100.
  • the mobile device 1 can be coupled to the device station 3.
  • the coupling of the mobile device 1 with the device station 3 takes place, for example, via corresponding connections, which are arranged on the mobile device 1 and the device station 3.
  • the drive system of the mobile device 1 includes an electric motor and a rechargeable electric energy storage coupled to the electric motor.
  • the rechargeable electric energy store of the mobile device 1 can be charged, so that the mobile device 1 can move wirelessly on the tower surface 103 of the wind turbine 100.
  • data can also be exchanged between the mobile device 1 and the device station 3.
  • FIG. 2 shows a section of a tower surface 103 on which a mobile device 1 according to the invention is arranged.
  • the mobile device 1 has a drive system 5 which comprises four suction feet 7a, 7b, 7c, 7d. By means of the suction feet 7a, 7b, 7c, 7c, the mobile device 1 can catch on the tower surface 103.
  • the suction feet 7a, 7b, 7c, 7d are part of a holding device, which allows a movement of the mobile device 1 on the tower surface 103, regardless of the position and orientation of the mobile device 1.
  • the mobile device 1 further comprises a sensor device 9, which is set up to acquire technical information about the state of the wind energy plant, in particular technical information about the condition of the tower surface 103 or the rotor blade surface 109.
  • the sensor device 9 has an ultrasonic sensor by means of which defects such as cracks, hairline cracks and / or cavities can be detected.
  • the drive system 5 and the sensor device 9 are coupled to a control unit 11, which is set up to control the drive system 5 and the sensor device 9 as a function of the operating state of the wind energy plant and in dependence on the ambient conditions.
  • the control unit 1 1 provides operating instructions to the drive system 5 and / or the sensor device 9, which are executed by the drive system 5 and / or the sensor device 9.
  • the mobile device 1 remains permanently on the wind turbine irrespective of the operating state of the wind turbine.
  • the mobile device 1 also has a light source 13, which is arranged in the region of the sensor device.
  • the mobile device 1 also has a connection 17, by means of which the mobile device 1 can be coupled to a device station (not shown).
  • the mobile device 1 is arranged on the rotor blade surface 109 in FIG.
  • a sensor device 9 which is adapted to technical To detect information about the state of the rotor blade surface
  • a control unit 1 1 which is adapted to control the drive system 5 and the sensor device 9 depending on the operating state of the wind turbine
  • the mobile device 1 preferably additionally comprises a material applicator 15 which is adapted to Apply material to the rotor blade surface.
  • the material applicator 15 is also coupled to the control unit 1 1 and is controlled by this.
  • a material supply 27 is arranged on the mobile device 1, which is fluid-conductively connected to the material applicator 15.
  • the material applicator 15 and the material supply 27 are adapted to apply adhesive, epoxy or paint on the rotor blade surface 109.
  • the control unit 1 1 is coupled to an antenna 23, which enables a wireless signal or data exchange with the mobile device 3.
  • the mobile device 3 also has an antenna 25a for this purpose.
  • a further antenna 25b is further arranged, via which a wireless signal or data exchange with other external devices is possible.
  • both the mobile device 1 and the device station 3 have a data interface 21, 29 for data and signal transmission.
  • the mobile device 1 can be coupled via the connection 17 to the device station 3.
  • the device station 3 also has a connection 19.
  • FIG. 4 shows an exemplary embodiment of the method according to the invention for carrying out maintenance measures on a wind energy plant as a block diagram.
  • the method comprises the steps:
  • the step of detecting and evaluating the operating state of the wind turbine 53 further comprises the following steps:
  • the step of performing the operation instruction by the mobile device 63 further includes the following steps:
  • the step of moving the mobile device on the surface of the wind turbine 65 includes one, several or all of the following steps:
  • the step of acquiring technical information about the condition of a rotor blade, the nacelle and / or the tower of the wind turbine 73 comprises one, several or all of the following steps: 75) examining the surface and / or an area below the surface of the tower of the wind turbine, in particular for cracks;
  • Steps 75, 77, 79, 81 and / or 83 are followed by one, several or all of the following steps:

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Wind Motors (AREA)

Abstract

L'invention concerne un appareil mobile (1, 1') pour réaliser des opérations d'entretien sur une éolienne (100), ledit appareil mobile (1, 1') comprenant un système d'entraînement (5) au moyen duquel il peut se déplacer sur une surface (103, 105, 109) de l'éolienne (100), et un système de capteurs (9) conçu pour détecter des informations techniques concernant l'état d'une pale de rotor et/ou d'un pylône de l'éolienne (100), l'appareil mobile (1, 1') étant conçu pour résider de manière permanente sur l'éolienne (100). L'invention concerne en outre un dispositif et un procédé pour la réaliser des opérations d'entretien sur une éolienne (100), ainsi qu'une éolienne (100).
PCT/EP2016/064359 2015-06-23 2016-06-22 Appareil mobile pour réaliser des opérations d'entretien sur une éolienne WO2016207190A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015211517.8A DE102015211517A1 (de) 2015-06-23 2015-06-23 Mobiles Gerät zur Durchführung von Instandhaltungsmaßnahmen an einer Windenergieanlage
DE102015211517.8 2015-06-23

Publications (1)

Publication Number Publication Date
WO2016207190A1 true WO2016207190A1 (fr) 2016-12-29

Family

ID=56178360

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/064359 WO2016207190A1 (fr) 2015-06-23 2016-06-22 Appareil mobile pour réaliser des opérations d'entretien sur une éolienne

Country Status (2)

Country Link
DE (1) DE102015211517A1 (fr)
WO (1) WO2016207190A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112621745A (zh) * 2020-11-25 2021-04-09 中国大唐集团新能源科学技术研究院有限公司 一种风电机组巡检机器人系统

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1930722A2 (fr) * 2006-12-07 2008-06-11 Siemens Aktiengesellschaft Procédé d'essai non destructif d'une pièce de travail et agencement pour essai non destructif
KR20130026154A (ko) * 2011-09-05 2013-03-13 삼성중공업 주식회사 로봇관리장치 및 이를 구비한 풍력발전기

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110031066A1 (en) * 2009-08-04 2011-02-10 General Electric Company Tower climbing and servicing device
US8171809B2 (en) * 2010-06-25 2012-05-08 General Electric Company System and method for wind turbine inspection
US8641374B2 (en) * 2010-06-30 2014-02-04 Vestas Wind Systems A/S Cleaning and inspecting apparatus for wind turbine and related methods

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1930722A2 (fr) * 2006-12-07 2008-06-11 Siemens Aktiengesellschaft Procédé d'essai non destructif d'une pièce de travail et agencement pour essai non destructif
KR20130026154A (ko) * 2011-09-05 2013-03-13 삼성중공업 주식회사 로봇관리장치 및 이를 구비한 풍력발전기

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112621745A (zh) * 2020-11-25 2021-04-09 中国大唐集团新能源科学技术研究院有限公司 一种风电机组巡检机器人系统

Also Published As

Publication number Publication date
DE102015211517A1 (de) 2016-12-29

Similar Documents

Publication Publication Date Title
DE102006054667B4 (de) Kollisionswarnsystem für eine Windenergieanlage
DE10065314B4 (de) Verfahren und Einrichtung zur Überwachung des Zustandes von Rotorblättern an Windkraftanlagen
DE102005016524B4 (de) Verfahren und Vorrichtung zur Erkennung von Rotorblatteis
EP3343030B1 (fr) Dispositif et procédé de surveillance d'un palier de pale d'une éolienne
WO2018050596A1 (fr) Procédé et dispositif pour déterminer des sollicitations exercées sur un mât d'éolienne
DE102010016292A1 (de) Kontrolleinrichtung für eine Windkraftanlage
EP2565444A1 (fr) Procédé et dispositif de surveillance d'état de pales de rotor
DE102015106366B4 (de) Verfahren und Vorrichtung zur Bestimmung einer Position von Fehlstellen oder Schädigungen an Rotorblättern einer Windkraftanlage in eingebautem Zustand
DE102010010382A1 (de) Rotorblattreiniger
DE102009022179A1 (de) Vorrichtung zur zerstörungsfreien optischen Inspektion von Bauteilen mit einem von außen zugänglichen langgestreckten Hohlraum, insbesondere Rotorblätern von Windenergieanlagen, von innen
DE102010048400A1 (de) Verfahren zur Überprüfung des baulichen Zustands von Windkraftanlagen
DE102015117032A1 (de) Verfahren zum Überwachen einer Windenergieanlage
WO2018109180A1 (fr) Dispositif et procédé de détection de l'accumulation de glace à une structure d'un ouvrage de construction
EP2615301B1 (fr) Procédé de fonctionnement d'une éolienne dans lequel un danger de givre est détecté en raison de données météorologiques, et éolienne destinée à la réalisation du procédé
DE102012003513B3 (de) Verfahren zur Überprüfung des baulichen Zustands von Windkraftanlagen
WO2013131516A2 (fr) Procédé et dispositif de surveillance de l'état de surface d'éléments structuraux
WO2012016563A1 (fr) Dispositif de surveillance de la solidité d'éoliennes
WO2016207190A1 (fr) Appareil mobile pour réaliser des opérations d'entretien sur une éolienne
WO2005119054A1 (fr) Dispositif pour surveiller sur place des ailettes de rotor d'installations eoliennes
DE102010023250A1 (de) Messvorrichtung zum Messen von Verformungen elastisch verformbarer Objekte
AT512155B1 (de) Vorrichtung zum Erfassen eines Eisbelags auf den Rotorblättern einer Windturbine
EP3472459A1 (fr) Procédé de surveillance d'un réglage de pales de rotor
DE102009059668A1 (de) Windenergieanlage und Verfahren zum Steuern einer solchen
DE202007001136U1 (de) Kollisionswarnsystem für eine Windenergieanlage
DE102011121439A1 (de) Messvorrichtung und Verfahren zum Erfassen einer Belastung eines Rotorblatts und Regelsystem zum Ansteuern des Rotorblatts

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16731144

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16731144

Country of ref document: EP

Kind code of ref document: A1