WO2017110743A1 - Procédé de maintenance de grande structure, procédé de maintenance d'installation de production d'énergie éolienne, et aéronef téléguidé - Google Patents

Procédé de maintenance de grande structure, procédé de maintenance d'installation de production d'énergie éolienne, et aéronef téléguidé Download PDF

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Publication number
WO2017110743A1
WO2017110743A1 PCT/JP2016/087797 JP2016087797W WO2017110743A1 WO 2017110743 A1 WO2017110743 A1 WO 2017110743A1 JP 2016087797 W JP2016087797 W JP 2016087797W WO 2017110743 A1 WO2017110743 A1 WO 2017110743A1
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WO
WIPO (PCT)
Prior art keywords
maintenance
unmanned airplane
unit
rotor blade
wire
Prior art date
Application number
PCT/JP2016/087797
Other languages
English (en)
Japanese (ja)
Inventor
直哉 小長井
靖之 福島
浩 磯部
康寛 松永
Original Assignee
Ntn株式会社
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
Priority claimed from JP2015254111A external-priority patent/JP2017115787A/ja
Priority claimed from JP2016224278A external-priority patent/JP2017125493A/ja
Application filed by Ntn株式会社 filed Critical Ntn株式会社
Publication of WO2017110743A1 publication Critical patent/WO2017110743A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface  wheeled type, e.g. multi-wheeled bogies
    • B64C25/36—Arrangements or adaptations of wheels, tyres or axles in general
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • 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
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the present invention relates to a maintenance method for large structures, a maintenance method for wind power generation facilities, and an unmanned airplane.
  • inspections have been conducted on wind power generation facilities, bridges, high-rise buildings, etc.
  • the inspection of the rotor blade of a conventional wind power generation facility has been performed by the operator according to the following procedure. The worker climbs to the nacelle part of the wind power generation facility and approaches the rotor blade while descending by rope access. An operator conducts visual inspection or hammering inspection near the rotor blade.
  • Patent Document 1 discloses that an air temperature device is used to change the temperature inside the rotor blade, and this is applied from the outside with an infrared camera mounted on an unmanned airplane or the like. A method of observing is disclosed. The defect of the rotor blade is found by observing the difference in temperature change between the normal part and the abnormal part with an infrared camera or the like.
  • Patent Document 1 since the method described in Patent Document 1 requires an air heat device mounted in the wind power generation facility, it cannot be applied to a wind power generation facility in which no air heat device is mounted.
  • large-scale wind power generation equipment of megawatt class requires a high-power air heat device to change the internal temperature, so installing the air heat device requires enormous costs and time for modification. Necessary.
  • the present invention has been made to solve the above problems, and provides a large structure maintenance method and an unmanned airplane capable of reducing the time and cost required for maintenance of a large structure maintenance object.
  • Another object of the present invention is to provide a method for maintaining a wind power generation facility and an unmanned airplane that can reduce the time and cost required for maintenance of an object to be maintained such as a rotor blade of the wind power generation facility.
  • a maintenance method for a large structure includes a step of fixing the fixing portion to the guide of the maintenance object, a step of landing an unmanned airplane on the maintenance object in a state where the fixing portion is fixed to the guide, And a step of performing maintenance on the maintenance object in which the fixing portion is fixed by the maintenance unit.
  • the maintenance unit of the unmanned airplane includes a striking unit that strikes the maintenance target, and the step of performing the maintenance includes the striking for the diagnosis of the maintenance target.
  • a step of hitting the maintenance object using a unit may be included.
  • the step of performing the maintenance includes a step of acquiring vibration generated in the maintenance target object by hitting using the hitting unit by a sensor installed on the unmanned airplane or the maintenance target object. Further, it may be included.
  • the unmanned airplane further includes a winding mechanism for winding the wire, and after the step of landing the unmanned airplane on the maintenance object, the unmanned airplane sends out the wire to the unmanned airplane. There may be further provided a step of moving.
  • the winding mechanism further includes a moving amount measuring unit that measures the wire sending amount
  • the step of moving the unmanned airplane includes the wire feeding operation and the winding operation.
  • the step of measuring the amount of wire delivered by the moving amount measuring unit may be included.
  • the unmanned airplane further includes a pair of telescopic mechanisms arranged symmetrically with respect to the wire, the tip of which moves in a direction perpendicular to the wire feeding direction. May be.
  • the maintenance unit is provided at the tip of the telescopic mechanism.
  • the unmanned airplane further includes a camera unit for photographing an appearance of the maintenance object
  • the step of performing the maintenance further includes the maintenance object using the camera unit.
  • a step of photographing may be included.
  • the unmanned airplane further includes a pair of telescopic mechanisms arranged symmetrically with respect to the wire, the tip of which moves in a direction perpendicular to the wire feeding direction. May be.
  • the maintenance unit is provided at the tip of the telescopic mechanism.
  • each of the plurality of guides provided in the maintenance object may be cut.
  • the unmanned airplane main body a plurality of rotor blades for flying the unmanned airplane main body, a fixing part fixed to a maintenance object, and the fixing part And a maintenance unit for performing maintenance on the maintenance object to which the fixing portion is fixed.
  • the unmanned airplane may further include a winding mechanism that winds up the wire, and the winding mechanism may include a moving amount measuring unit that measures the amount of the wire sent out.
  • the maintenance unit may include a hitting unit that hits the maintenance target and a sensor that acquires vibration generated in the maintenance target by the hitting unit.
  • the unmanned aerial vehicle may further include a pair of expansion / contraction mechanisms arranged symmetrically with respect to the wire, the tip of which moves in a direction perpendicular to the wire sending direction.
  • the maintenance unit is provided at the tip of the telescopic mechanism.
  • an unmanned airplane including a gripping mechanism having a moving mechanism and a maintenance unit that can be moved to a maintenance position.
  • the wind power generation equipment maintenance method includes the step of landing the unmanned airplane on the rotor blade of the wind power generation equipment and gripping the leading edge or trailing edge of the rotor blade by the gripping mechanism, and the moving mechanism of the gripping mechanism, A step of moving the unmanned airplane on the leading edge or a trailing edge; a step of moving the maintenance unit to a maintenance position; and a step of performing maintenance of the rotor blade by the maintenance unit.
  • the maintenance unit of the unmanned airplane includes a striking unit that strikes the rotor blade, and the maintenance step includes the striking unit for diagnosis of the rotor blade. And using the step of striking the rotor blade.
  • the step of performing the maintenance further includes a step of acquiring vibration generated in the rotor blade by hitting using the hitting unit by a sensor installed on the unmanned airplane or the rotor blade. But you can.
  • the unmanned airplane further includes a camera unit for photographing the appearance of the rotor blade, and the maintenance step further photographs the rotor blade using the camera unit. Steps may be included.
  • the unmanned airplane further includes a winding mechanism, and a wire having one end connected to the winding mechanism, and the other end of the wire is connected to the maintenance unit,
  • the maintenance unit can be lowered and raised, and the winding mechanism includes a winding amount measuring unit that measures the amount of wire drawn, and the moving mechanism measures the amount of movement of the unmanned airplane on the rotor blade.
  • a movement amount measuring unit may be included.
  • the unmanned airplane may further include a tilt sensor, and the shape of the trailing edge may be measured by the tilt sensor.
  • the position of the maintenance unit on the rotor blade may be specified using the shape of the trailing edge measured by the tilt sensor.
  • the unmanned airplane main body the plurality of rotor blades for flying the unmanned airplane main body, the unmanned airplane main body, and a part of the maintenance target And holding the unmanned airplane main body on the maintenance object, and a maintenance unit for performing maintenance on the maintenance object gripped by the gripping mechanism.
  • the gripping mechanism may include a moving mechanism for traveling on the maintenance target.
  • the unmanned airplane further includes a winding mechanism and a wire having one end connected to the winding mechanism, and the other end of the wire is connected to the maintenance unit so that the maintenance unit can be lowered and raised. It is good.
  • the unmanned airplane further includes a winding mechanism and a wire having one end connected to the winding mechanism, and the other end of the wire is connected to the maintenance unit so that the maintenance unit can be lowered and raised.
  • the winding mechanism includes a winding amount measuring unit that measures the amount of the wire drawn
  • the moving mechanism includes a moving amount measuring unit that measures the amount of movement of the unmanned airplane on the maintenance target. May be included.
  • the maintenance unit may include a striking unit that strikes the rotor blade and a sensor that acquires vibration generated in the rotor blade by the striking unit.
  • the unmanned airplane may further include an inclination sensor that measures the inclination of the unmanned airplane with respect to the ground.
  • the maintenance object may be a rotor blade of a wind power generation facility, and the gripping mechanism may grip a leading edge or a trailing edge of the rotor blade.
  • the large structure maintenance method and unmanned airplane according to the present invention can reduce the time and cost required for the maintenance of the large structure maintenance object.
  • the maintenance method and unmanned aircraft of the wind power generation facility it is possible to reduce the time and cost required for maintenance of a maintenance target object such as a rotor blade of the wind power generation facility.
  • a maintenance method for a wind power generation facility according to an embodiment based on the present invention and an unmanned airplane according to an embodiment based on a first aspect of the present invention will be described with reference to the drawings.
  • a maintenance object of a large structure that is maintained by an unmanned airplane is a rotor blade of a wind power generation facility.
  • FIG. 1 is a front view showing an external appearance of the wind power generation facility in the present embodiment.
  • the wind power generation facility 1 includes a tower 5, a nacelle 2 mounted on the top of the tower 5, a rotor 3 mounted on the nacelle 2, and three rotor blades 4 (4a, 4b and 4c).
  • the center side end of the rotor blade 4 is connected to the rotor 3.
  • the rotor blade 4 can rotate in the direction of the angle ⁇ shown in FIG. 1 about an axis extending in the nacelle 2 in the horizontal direction. This rotation can be stopped by a brake mechanism (not shown).
  • the rotor blade 4 can be rotated around an axis extending in the longitudinal direction of each of the rotor blades 4a, 4b and 4c by a rotation mechanism (not shown).
  • the rotation about the longitudinal direction of the rotor blade 4 can be performed in the direction of the angle ⁇ or the pitch angle shown in FIG. This rotation can be stopped by a brake mechanism (not shown).
  • the rotor blade 4 rotates in a certain direction (the direction of the angle ⁇ ), and the leading edge in the rotation direction is called the leading edge 7 and the trailing edge is called the trailing edge 8.
  • FIG. 2 is a partially enlarged view showing the structure of the rotor blade in the present embodiment.
  • FIG. 2 shows a state in which the rotor blade 4 is stopped with the leading edge 7 downward and the trailing edge 8 upward.
  • the trailing edge 8 is provided with a plurality of guides 6 at regular intervals.
  • the trailing edge 8 provided with the guide 6 is on the rear side with respect to the rotation direction of the rotor blade 4 (the direction of the angle ⁇ ).
  • interval which provides the guide 6 can be changed suitably.
  • the guide 6 is constituted by a cut.
  • the guide 6 can be configured by a structure other than the notch.
  • FIG. 3 is a plan view showing the structure of the unmanned airplane in the present embodiment
  • FIG. 4 is a front view showing the structure of the unmanned airplane in the present embodiment.
  • the unmanned airplane 10 includes an unmanned airplane main body 30, a motor 11, and a rotary wing 12 connected to the motor 11.
  • the unmanned airplane 10 has a controller 13 that controls the aircraft.
  • An inverter 14 that drives the motor 11 and a wireless communication unit 15 that performs wireless communication are connected to the controller 13.
  • the unmanned airplane main body 30 is formed in a substantially rectangular shape in plan view.
  • a motor 11 and a rotor blade 12 are provided at the tip of each of the four arms extending in the diagonal direction of the unmanned airplane main body 30.
  • the external shape of the unmanned airplane main body 30 and the number of motors 11 and rotor blades 12 can be variously changed.
  • the unmanned airplane 10 communicates with other devices by the wireless communication unit 15 and flies by manual operation or automatic operation.
  • the unmanned airplane 10 is equipped with various sensors (not shown) such as a GPS unit, a magnetic sensor, a gyro sensor, and a barometer.
  • the unmanned aerial vehicle 10 flies while performing three-dimensional positioning by controlling the number of rotations of the rotor blade 12 and the like based on the values obtained from these sensors.
  • the unmanned aerial vehicle 10 has a maintenance unit 16 for performing maintenance work on the rotor blade.
  • the maintenance unit 16 performs various inspections and operations in cooperation with the controller 13.
  • the unmanned airplane 10 includes a fixed portion 17 fixed to the guide 6 of the rotor blade 4, a wire 18 having one end attached to the fixed portion 17, and a winding mechanism 19 that winds the wire 18 while the other end of the wire 18 is fixed. And.
  • the winding mechanism 19 includes a moving amount measuring unit 20 that measures the amount of wire 18 delivered.
  • the winding mechanism 19 includes a drum (not shown) and a drive unit that rotationally drives the drum.
  • the wire 18 is wound around the drum.
  • the winding mechanism 19 is provided on the side surface of the unmanned airplane body 30 such that the wire 18 extends from the side surface of the unmanned airplane body 30.
  • the position where the winding mechanism 19 is provided can be changed.
  • the winding mechanism 19 is preferably provided at a position where the unmanned airplane 10 is stabilized on the surface of the rotor blade 4 when the unmanned airplane 10 is suspended by the wire 18.
  • the wire 18 may be of any structure that can suspend the unmanned airplane 10.
  • the wire is not limited to a metal wire, and may be a resin wire or a wire formed of a chain.
  • a maintenance unit 16, a camera unit 22, and a passive wheel 21 are provided on the bottom surface of the unmanned airplane main body 30.
  • the passive wheel 21 is for smoothly moving on the rotor blade 4 in a state where the unmanned airplane 10 has landed on the surface of the rotor blade 4.
  • the passive wheels 21 are constituted by wheels, and are provided at four locations on the unmanned airplane main body 30.
  • the maintenance operation of the rotor blade 4 is performed using the unmanned airplane 10 as described above.
  • Maintenance work by the unmanned aerial vehicle 10 includes work for obtaining the state of the rotor blade 4, for example, photo shooting with a camera and hammering inspection, defect repair work for the rotor blade 4, cleaning work, and the like.
  • the unmanned airplane 10 in order to avoid the influence of wind, the unmanned airplane 10 is landed on the rotor blade 4 with the fixing portion 17 fixed to the guide 6 provided on the rotor blade 4. More specifically, the unmanned airplane 10 is landed on the rotor blade 4 so that the unmanned airplane 10 is suspended by the wire 18 in which the fixing portion 17 is fixed to the guide 6. Maintenance work is performed in a stable state after landing.
  • FIG. 5 is a front view showing the position of the rotor blade when performing maintenance work in the present embodiment.
  • the rotor blade 4a to be subjected to the hammering test is stopped so as to be substantially horizontal with the ground.
  • the rotor blade 4a is stopped so that the trailing edge 8 is on the upper side.
  • the trailing edge 8 is provided with a plurality of guides 6 as shown.
  • the unmanned airplane 10 is caused to fly to the vicinity of the sky above the rotor blade 4a.
  • the wire 18 and the fixing portion 17 are sent out from the unmanned airplane 10 by the winding mechanism 19. Since the amount to be sent out can be confirmed by the movement amount measuring unit 20, the designated appropriate length is sent out. The fixed portion 17 and the wire 18 that have been sent out are hung from the unmanned airplane 10 because the unmanned airplane 10 is waiting in the air.
  • FIG. 6 is a view seen from the longitudinal direction of the rotor blade, showing a state where the fixed portion of the unmanned airplane according to the present embodiment is fixed to the guide of the rotor blade.
  • the fixing portion 17 is a plate-like member, and the end portion of the wire 18 is connected to the center portion of the plate-like fixing portion.
  • the width of the cut forming the guide 6 is smaller than the width of the fixed portion 17.
  • FIG. 7A and FIG. 7B are views seen from the longitudinal direction of the rotor blade, showing different examples in which the fixed portion of the unmanned airplane according to the present embodiment is fixed to the guide of the rotor blade.
  • the guide 6 is formed of a cut bar and a round bar connecting both sides of the cut.
  • the guide 6 is provided as a recess that opens toward the edge of the rotor blade 4.
  • the fixing portion 17 is constituted by a hook-shaped member.
  • the fixing portion 17 can be fixed to the guide 6 by engaging the hook-shaped fixing portion 17 with the round bar shown in FIG. 7A or the concave portion shown in FIG. 7B.
  • the unmanned airplane 10 After connecting the fixed part 17 to the guide 6, the unmanned airplane 10 gradually reduces the rotational speed of the rotor blades 12. When the number of revolutions is lowered to a state where the unmanned airplane 10 cannot be stopped in the air, the unmanned airplane 10 lands on the rotor blade 4a with the connecting portion between the guide 6 and the fixed portion 17 as a starting point.
  • the aircraft control of the unmanned airplane 10 may be performed and the aircraft of the unmanned airplane 10 may be inclined before landing. Even if the aircraft is tilted, the unmanned airplane 10 is connected to the guide 6 by the wire 18, so that it does not move further than the length of the wire 18. Furthermore, it is possible to land stably by the tension acting from the wire 18.
  • the pitch angle of the rotor blade 4 may be tilted in advance so that the surface of the rotor blade 4 faces obliquely upward. By doing so, it is not necessary to make the unmanned airplane 10 vertical when landing, so that stable landing can be achieved. Further, when the unmanned airplane 10 is suspended by the wire 18, it can be avoided that the unmanned airplane 10 does not come into contact with the rotor blade 4.
  • the hammering inspection apparatus includes a striking unit that strikes the rotor blade and a sensor that acquires vibration generated in the rotor blade by the striking unit. This sensor may be arranged on the rotor blade, and the vibration generated by the striking unit may be acquired by the rotor blade sensor. As shown in FIGS. 4 and 6, since the maintenance unit 16 is provided at a position sandwiched between the passive wheels 21, the distance between the maintenance unit 16 and the rotor blade 4 is determined by the passive wheels 21 when performing a hit inspection. Can be kept constant.
  • a solenoid actuator or the like can be used as the hitting portion.
  • a sensor capable of measuring vibration such as an acceleration pickup can be used. The acquired data is subjected to pass / fail determination after vibration analysis, and the result is recorded in the controller 13.
  • FIG. 8 is a diagram showing coordinates on the rotor blade in the present embodiment.
  • the data of the inspection position is also recorded in association with the inspection result.
  • the position in the “X” direction shown in FIG. 8 can be obtained from the design value of the guide 6 that is currently connected, and the position in the “Y” direction can be obtained from the value of the moving amount measuring unit 20.
  • the inspection position may be taken by the camera unit 22, and an image may be recorded in association with the inspection position.
  • These inspection results, inspection positions, and image data may be transmitted to other devices on the ground by the wireless communication unit 15.
  • the inspection position or the defect position may be marked. By marking the mark, the operator can easily find the defect position when the rotor blade is repaired manually.
  • FIG. 9 and 10 are diagrams showing a state in which the unmanned airplane according to the present embodiment performs maintenance work.
  • the other inspection position moves downward or upward as shown in FIG. 9 by the passive wheel 21 such as a tire attached to the unmanned airplane 10 and the winding mechanism 19.
  • the passive wheel 21 is provided so as to roll up and down.
  • a winding mechanism 19 is used as power for moving in the vertical direction.
  • the inspection position P is a vertical row that can be moved by the guide 6 that is currently connected, and the inspection interval can be set arbitrarily.
  • the passive wheel 21 may not be in contact with the shape and angle of the rotor blade 4a.
  • the maintenance unit 16 does not reach the surface of the rotor blade 4 and cannot be inspected.
  • the pitch angle of the rotor blade 4a is changed so that the passive wheel 21 contacts.
  • the maintenance unit 16 can be made to reach the surface of the rotor blade 4, and a hammering test or the like can be performed.
  • the operation moves to the guide 6 where the inspections are not completed.
  • This movement is performed by ascending the unmanned airplane 10 again to the sky, releasing the connection between the guide 6 and the fixed portion 17 and then connecting the fixed portion 17 to the other guide 6.
  • the inspection is executed in the same procedure, and the inspection is performed on all the designated guides 6. Further, the same inspection is performed on the back surface of the rotor blade 4a.
  • the rotor blade 4a After the rotor blade 4a is inspected, the rotor blade 4b and the rotor blade 4c are similarly inspected to complete the inspection of all the rotor blades.
  • the rotor blade is inspected.
  • the rotor blade 4 is provided with the guide 6 and the fixing portion 17 provided at the tip of the wire 18 is fixed to the guide 6 so that the unmanned airplane 10 Can be landed on the rotor blade.
  • the unmanned airplane 10 can be stabilized on the rotor blade 4, and various maintenance operations can be performed in a stable state.
  • the unmanned airplane 10 Since the unmanned airplane 10 is connected to the rotor blade 4 by the wire 18, it is possible to prevent the unmanned airplane 10 from falling during work.
  • the guide 6 is provided rearward with respect to the rotation direction of the rotor blade 4, it is possible to prevent a significant deterioration in rotational efficiency even when the rotor blade is normally rotated for power generation.
  • the pitch angle of the rotor blade 4 can be changed to make the unmanned airplane 10 face the rotor blade 4 at a constant angle. It becomes possible. As a result, the maintenance work can be performed only on the lower surface of the unmanned airplane 10. By doing so, a plurality of maintenance units are provided in different directions and a mechanism for moving the maintenance units is not necessary, so that the structure of the maintenance unit and the unmanned airplane can be simplified.
  • a winding mechanism 19 that winds the wire 18 provided with the fixing portion 17 at one end is provided so that the unmanned airplane 10 can move up and down while being suspended from the wire 18.
  • the winding mechanism 19 may be omitted and the wire 18 may be fixed in length.
  • the maintenance unit 16 can be suspended from the unmanned airplane 10 by another wire, and a winding mechanism is provided on the wire that suspends the maintenance unit 16. With the maintenance unit 16 suspended, it can be moved up and down using a winding mechanism.
  • the extensible mechanism 23 has its tip moved in a direction perpendicular to the delivery direction of the wire 18.
  • a pair of expansion / contraction mechanisms 23 are provided and are arranged symmetrically with respect to the wire 18.
  • the maintenance unit 16 or the camera unit 22 is provided at the tip of the telescopic mechanism 23. You may attach both the maintenance unit 16 and the camera unit 22 to the front-end
  • the expansion and contraction mechanism 23 expands and contracts at the same distance from the left and right at the same time, and the posture of the unmanned airplane 10 can be kept horizontal by performing inspection.
  • the up and down movement of the unmanned airplane 10 can also be performed while keeping the level. As a result, a wider range of inspection can be performed with the fixed portion 17 of the unmanned airplane 10 connected to one guide 6.
  • expansion / contraction mechanism 23 various known expansion / contraction mechanisms can be used.
  • a pantograph mechanism can be used.
  • the unmanned aerial vehicle 10 can be used for maintenance objects of various large structures such as bridges, dams, dikes, and high-rise buildings in addition to rotor blades.
  • the guide 6 is provided on the maintenance object of the bridge 24.
  • the fixed portion 17 of the unmanned airplane 10 is connected to the guide 6 provided on the bridge 24. In this state, the maintenance of the bridge 24 by the unmanned airplane 10 can be performed.
  • a wind power generation facility maintenance method according to an embodiment based on the present invention and an unmanned airplane according to an embodiment based on the second aspect of the present invention will be described with reference to the drawings.
  • a maintenance object of an unmanned airplane is a rotor blade of a wind power generation facility.
  • FIG. 13 is a front view showing an external appearance of the wind power generation facility in the present embodiment.
  • the wind power generation facility 1 includes a tower 5, a nacelle 2 mounted on the top of the tower 5, a rotor 3 mounted on the nacelle 2, and three rotor blades 4 (4a, 4b and 4c).
  • the center side end of the rotor blade 4 is connected to the rotor 3.
  • the rotor blade 4 can rotate in the direction of the angle ⁇ shown in FIG. 13 about an axis extending in the nacelle 2 in the horizontal direction. This rotation can be stopped by a brake mechanism (not shown).
  • the rotor blade 4 can be rotated around an axis extending in the longitudinal direction of each of the rotor blades 4a, 4b and 4c by a rotation mechanism (not shown).
  • the rotation about the longitudinal direction of the rotor blade 4 can be performed in the direction of the angle ⁇ or the pitch angle shown in FIG. This rotation can be stopped by a brake mechanism (not shown).
  • FIG. 14 is a diagram showing the structure of the rotor blade near the rotor in the present embodiment.
  • the rotor blade 4 rotates in a certain direction (the direction of the angle ⁇ ), and the leading edge in the rotation direction is called the leading edge 7 and the trailing edge is called the trailing edge 8.
  • a position L where the chord length, which is the length between the leading edge 7 and the trailing edge 8, is maximum is present in the vicinity of the rotor 3.
  • FIG. 15 is a plan view showing the structure of the unmanned airplane in the present embodiment
  • FIG. 16 is a front view showing the structure of the unmanned airplane in the present embodiment.
  • the unmanned airplane 110 includes an unmanned airplane main body 130, a motor 111, and a rotor blade 112 connected to the motor 111.
  • the unmanned airplane 110 has a controller 113 that controls the aircraft.
  • An inverter 114 that drives the motor 111 and a wireless communication unit 115 that performs wireless communication are connected to the controller 113.
  • the unmanned airplane main body 130 is formed in a substantially rectangular shape in plan view.
  • a motor 111 and a rotor blade 112 are provided at the tip of each of the four arms extending in the diagonal direction of the unmanned airplane main body 130.
  • the outer shape of the unmanned airplane main body 130 and the number of motors 111 and rotor blades 112 can be variously changed.
  • the unmanned airplane 110 communicates with other devices by the wireless communication unit 115 and flies by manual operation or automatic operation.
  • the unmanned airplane 110 is equipped with various sensors such as a GPS unit, a magnetic sensor, a gyro sensor, and a barometer (not shown).
  • the unmanned airplane 110 flies while performing three-dimensional positioning by controlling the number of rotations of the rotor blade 112 and the like based on the values obtained from these sensors.
  • the unmanned airplane 110 has a maintenance unit 116 that performs maintenance work on the rotor blade.
  • the maintenance unit 116 performs various inspections and operations in cooperation with the controller 113.
  • the unmanned airplane 110 is equipped with a tilt sensor 128 and can measure the tilt of the unmanned airplane 110 with respect to the ground.
  • the unmanned airplane 110 includes a gripping mechanism 117 below the unmanned airplane main body 130.
  • the gripping mechanism 117 includes a pair of side walls 140 and 140 that extend downward, and a top surface portion 141 that continues to the upper ends of the pair of side walls 140 and 140 and extends in the horizontal direction.
  • the gripping mechanism 117 has a moving mechanism 118 provided on the top surface portion 141.
  • the moving mechanism 118 has a tire driven by a motor (not shown).
  • the gripping mechanism 117 has a passive wheel 119 provided on each of the opposing surfaces of the pair of side walls 140 and 140.
  • a moving mechanism 118 is positioned between the pair of passive wheels 119 and 119.
  • the passive wheel 119 has a pair of wheels arranged along the inner surface of the side wall 140.
  • the gripping mechanism 117 has a pressing portion 120 that can push out the passive wheel 119 in a direction protruding from the side wall 140.
  • the pressing portion 120 is provided at a position corresponding to the passive wheel 119 inside the side wall 140.
  • the pressing unit 120 is configured by a spring, an actuator mechanism, or the like, and can passively or actively project and retract the passive wheel.
  • FIG. 17 is a view seen from the longitudinal direction of the rotor blade, showing a state in which the unmanned airplane according to the present embodiment grips the rotor blade. More specifically, FIG. 17 shows a state where the gripping mechanism 117 of the unmanned airplane 110 grips the trailing edge 8 of the rotor blade 4. The unmanned airplane 110 may grip the leading edge 7 of the rotor blade 4 by the gripping mechanism 117.
  • the tire of the moving mechanism 118 is in contact with the end surface of the trailing edge 8, and the passive wheel 119 is in contact with the side surface of the trailing edge 8. Yes.
  • the moving mechanism 118 and the passive wheel 119 can roll in a direction along the trailing edge 8.
  • the side wall 140 provided with the passive wheel 119 faces the side surface of the trailing edge 8 and extends substantially in parallel. As shown in FIG. 15, two pairs of side walls 140 and 140 facing each other are provided in the direction along the trailing edge 8, and a total of four side walls 140 are provided.
  • a passive ring 119 is provided on the inner surface of each side wall 140.
  • the maintenance unit 116 can be moved to a maintenance position where maintenance of an object to be maintained is performed. Although the case where the maintenance unit 116 is moved up and down is described in the present embodiment, a mechanism for moving the maintenance unit 116 horizontally may be provided and moved to the maintenance position by moving horizontally.
  • the unmanned airplane 110 has a wire 122 having one end connected to the maintenance unit 116 and a winding mechanism 126 to which the other end of the wire 122 is connected.
  • the winding mechanism 126 has a drum (not shown) and a drive unit that rotationally drives the drum.
  • the wire 122 is wound around the drum.
  • the maintenance unit 116 can be raised and lowered by winding or feeding the wire 122 by the winding mechanism 126.
  • the mechanism for raising and lowering the maintenance unit 116 is not limited to the one using the wire 122 and the winding mechanism 126, and for example, a mechanism combining a chain and a gear may be used. Moreover, you may use the arm etc. which are expanded-contracted with a link mechanism.
  • the maintenance unit 116 has a passive wheel 125 that contacts the surface of the rotor blade 4. When the maintenance unit 116 moves up and down, the passive wheel 125 rolls on the surface of the rotor blade 4.
  • the unmanned airplane 110 can move freely along the trailing edge 8 by using the moving mechanism 118.
  • the winding mechanism 126 has a winding amount measuring mechanism 121, and the moving mechanism 118 has a moving amount measuring mechanism 127.
  • the amount of movement of the maintenance unit 116 in the vertical direction and the horizontal direction on the rotor blade 4 is measured by a winding amount measuring mechanism 121 and a moving amount measuring mechanism 127, respectively.
  • the left-right direction with respect to the rotor blade 4 refers to the longitudinal direction of the rotor blade 4 in a state where one rotor blade 4 is fixed horizontally to the ground.
  • the vertical direction means a direction perpendicular to the longitudinal direction.
  • the maintenance unit 116 has a camera unit 123 and a dedicated unit 124 for performing various operations on the surface facing the rotor blade 4.
  • the unit provided in the maintenance unit 116 is selected according to the maintenance work to be performed.
  • the maintenance operation of the rotor blade 4 is performed using the unmanned airplane 110 as described above.
  • Maintenance work by the unmanned airplane 110 includes work for obtaining the state of the rotor blade 4, for example, photography of a camera and sound inspection, as well as defect repair work for the rotor blade 4 and cleaning work.
  • the unmanned airplane 110 in order to avoid the influence of wind, the unmanned airplane 110 is landed on the rotor blade 4 and the trailing edge 8 is gripped by the gripping mechanism 117 to stabilize the unmanned airplane 110. Maintenance work is performed while the unmanned airplane 110 is moved in the left-right direction by the moving mechanism 118 and the maintenance unit 116 is moved in the up-down direction by the winding mechanism 126.
  • FIG. 18 is a front view showing the position of the rotor blade when performing maintenance work in the present embodiment.
  • the rotor blade 4a to be subjected to the hammering test is stopped so as to be substantially horizontal with the ground.
  • the rotor blade 4a is stopped so that the trailing edge 8 is on the upper side.
  • the unmanned airplane 110 is caused to fly to the vicinity of the sky above the rotor blade 4a.
  • FIG. 19 is a view seen from the longitudinal direction of the rotor blade, showing a state in which the unmanned airplane according to the present embodiment grips the rotor blade
  • FIG. 20 shows a state in which the unmanned airplane according to the present embodiment grips the rotor blade. It is the figure which looked at the side of the rotor blade which looked at the state from the center side a little.
  • the unmanned airplane 110 is landed on the trailing edge 8.
  • the unmanned airplane 110 is rotated in the air in a direction in which the pair of opposed passive wheels 119 and 119 can be sandwiched between the trailing edges 8.
  • the passive wheel 119 After landing the unmanned airplane 110, the passive wheel 119 is pushed out by the pressing portion 120 of the gripping mechanism 117, and is gripped by being sandwiched between the trailing edges 8 by the passive wheel 119. As a result, the unmanned airplane 110 can be stabilized on the trailing edge 8. At that time, the end surface of the trailing edge 8 contacts the moving mechanism 118 by the dead weight of the unmanned airplane 110. As shown in FIG. 20, the maintenance unit 116 is located between a pair of side walls 140, 140 aligned in the longitudinal direction of the trailing edge 8.
  • FIG. 21 to FIG. 23 are views showing a state in which the maintenance operation is performed by the maintenance unit while the unmanned airplane according to the present embodiment holds the rotor blade.
  • the maintenance unit 116 is lowered by feeding the wire 122 by the winding mechanism 126.
  • an appearance inspection is performed by the camera unit 123, and a hammering inspection is performed by the dedicated unit 124 including a hammering inspection device.
  • the sound inspection device of the dedicated unit 124 includes a striking unit that strikes the rotor blade and a sensor that acquires vibration generated in the rotor blade by the striking unit.
  • This sensor may be arranged on the rotor blade, and the vibration generated by the striking unit may be acquired by the rotor blade sensor.
  • Various data obtained by the appearance inspection and the hammering inspection are stored in the storage unit in association with the position data measured by the winding amount measuring mechanism 121 and the moving amount measuring mechanism 127.
  • the maintenance unit 116 may not come into contact with the side surface of the rotor blade 4 at the time of hammering inspection, and the hammering inspection may not be performed. In that case, the rotor blade 4 is rotated around the longitudinal axis so that the maintenance unit 116 contacts the side surface of the rotor blade 4.
  • the wire 122 is further sent out by the winding mechanism 126 to lower the maintenance unit 116 from the inspection position P and move to the next inspection position.
  • Each inspection is similarly performed after the movement, and is continued until the inspection is completed at all positions arranged in the vertical direction shown in FIG.
  • the unmanned airplane 110 is moved in the left-right direction using the moving mechanism 118. Similarly, after moving in the left-right direction, various inspections are performed while moving the maintenance unit 116 in the up-down direction.
  • the entire surface of one side of the rotor blade 4a can be inspected.
  • the entire inspection of the rotor blade 4a is completed.
  • the rotor blade 4b and the rotor blade 4c are sequentially inspected by the same process, whereby all the inspection of the rotor blade 4 is completed.
  • Identifying the position where the inspection data is obtained on the surface of the actual rotor blade is useful for comparing the previous inspection result and accumulating information for observing the progress of the defect.
  • a common reference position is required between the position data associated with the inspection data and the actual design value of the rotor blade. .
  • providing the reference position outside the rotor blade 4 is not preferable because a large error may occur due to the deflection of the rotor blade 4 or aging of the wind power generation equipment.
  • the position data in the vertical direction is obtained by measuring the winding amount of the wire 122 by the winding amount measuring mechanism 121, and the position data in the left and right direction is determined by the moving mechanism by the movement amount measuring mechanism 127. It is obtained by measuring the amount of rotation of 118 tires.
  • the position where the inspection data is obtained can be specified on the actual rotor blade 4.
  • the reference position a reference position in the horizontal direction and the vertical direction is required.
  • a method for obtaining the reference position in the left-right direction will be described. First, when the unmanned airplane 110 is moved in the left-right direction by the above-described maintenance method, angle data of the tilt sensor 128 is acquired at each stop position.
  • FIG. 24 is a diagram showing the relationship between the position where the angle data is acquired by the tilt sensor and the absolute value of the angle data obtained by the tilt sensor in the present embodiment.
  • FIG. 24A is a diagram illustrating the position where the angle data is acquired
  • FIG. 24B is a diagram illustrating the absolute value of the angle data of the tilt sensor at each position in the left-right direction.
  • FIG. 24B there is a position where the absolute value of the obtained angle data is minimum.
  • the absolute value of the angle data is minimum.
  • the movement amount measured by the movement amount measuring mechanism 127 is the length of the ridgeline of the trailing edge 8.
  • the measured position can be associated with the actual position on the trailing edge 8.
  • the point where the angle data is the minimum value is used as the reference position.
  • the position where the value is an extreme value or a feature point calculated from all the angle data may be used as the reference position.
  • each point on the ridge line of the trailing edge 8 is set as the reference position, so that the vertical position data obtained by the winding amount measuring mechanism 121 and the actual vertical direction on the rotor blade are obtained. Can be associated with each other.
  • the actual position on the rotor blade 4 including the position in the left and right direction and the position in the up and down direction can be specified by using the reference position in the left and right direction and the up and down direction obtained by the above method.
  • the position where the inspection data is obtained can be specified on the surface of the rotor blade 4.
  • the reference position is determined based on the shape of the rotor blade, the error can be reduced. Further, since it is not necessary to provide a special structure on the rotor blade for obtaining the reference position, it is not necessary to modify the rotor blade.
  • the rotor blade 4 can be stably maintained.
  • the unmanned airplane 110 holds the rotor blade 4, it is possible to prevent the unmanned airplane 110 from falling during maintenance work.
  • the reference position using the shape of the rotor blade, it is possible to accurately associate the position data associated with the inspection data with the actual position on the rotor blade 4.
  • the unmanned airplane 110 can be used not only for rotor blades but also for various maintenance objects such as bridges and high-rise buildings.
  • the gripping mechanism 117 of the unmanned aerial vehicle 110 is configured to grip a part of a maintenance object such as a bridge.
  • the moving mechanism 118 is configured to be able to travel on the maintenance object.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (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)
  • Automation & Control Theory (AREA)
  • Wind Motors (AREA)

Abstract

L'invention concerne un procédé de maintenance de grande structure et un aéronef téléguidé qui permettent de réduire le temps et les coûts de maintenance d'une grande structure. L'aéronef téléguidé (10) est pourvu : d'une partie de fixation (17) à fixer à un guide (6) d'un objet à maintenir ; d'un fil (18) dont une extrémité est fixée à la partie de fixation (17) ; et d'une unité de maintenance. Le procédé de maintenance de grande structure comprend : une étape consistant à fixer la partie de fixation (17) au guide (6) de l'objet à maintenir (4a) ; une étape consistant à faire atterrir l'aéronef téléguidé (10) sur l'objet à maintenir (4a) avec la partie de fixation (17) fixée au guide (6) ; et une étape consistant à effectuer la maintenance, à l'aide de l'unité de maintenance, de l'objet à maintenir (4a), auquel a été fixée la partie de fixation (17).
PCT/JP2016/087797 2015-12-25 2016-12-19 Procédé de maintenance de grande structure, procédé de maintenance d'installation de production d'énergie éolienne, et aéronef téléguidé WO2017110743A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2015254111A JP2017115787A (ja) 2015-12-25 2015-12-25 風力発電設備のメンテナンス方法および無人飛行機
JP2015-254111 2015-12-25
JP2016-002548 2016-01-08
JP2016002548 2016-01-08
JP2016224278A JP2017125493A (ja) 2016-01-08 2016-11-17 大型構造物のメンテナンス方法および無人飛行機
JP2016-224278 2016-11-17

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WO2019001661A1 (fr) * 2017-06-30 2019-01-03 Vestas Wind Systems A/S Procédé de réduction d'oscillations dans des pales d'éolienne
WO2019001662A1 (fr) * 2017-06-30 2019-01-03 Vestas Wind Systems A/S Système et procédé de positionnement d'éléments d'éolienne
WO2019001664A1 (fr) * 2017-06-30 2019-01-03 Vestas Wind Systems A/S Système et procédé de manutention de composants d'éolienne pour un assemblage desdits composants d'éolienne
EP3540217A1 (fr) * 2018-03-15 2019-09-18 The Boeing Company Appareil et procédés d'entretien de pales d'éolienne
WO2020001714A1 (fr) * 2018-06-25 2020-01-02 Vestas Wind Systems A/S Améliorations se rapportant à la maintenance d'une éolienne
JP7493463B2 (ja) 2018-06-25 2024-05-31 ヴェスタス ウィンド システムズ エー／エス 風力タービン保守に関する改善

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JP2015101991A (ja) * 2013-11-22 2015-06-04 三菱日立パワーシステムズ株式会社 タービンロータの検査方法
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Publication number Priority date Publication date Assignee Title
WO2019001661A1 (fr) * 2017-06-30 2019-01-03 Vestas Wind Systems A/S Procédé de réduction d'oscillations dans des pales d'éolienne
WO2019001662A1 (fr) * 2017-06-30 2019-01-03 Vestas Wind Systems A/S Système et procédé de positionnement d'éléments d'éolienne
WO2019001664A1 (fr) * 2017-06-30 2019-01-03 Vestas Wind Systems A/S Système et procédé de manutention de composants d'éolienne pour un assemblage desdits composants d'éolienne
CN110799749A (zh) * 2017-06-30 2020-02-14 维斯塔斯风力系统有限公司 用于减轻风力涡轮机叶片中的振荡的方法
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WO2020001714A1 (fr) * 2018-06-25 2020-01-02 Vestas Wind Systems A/S Améliorations se rapportant à la maintenance d'une éolienne
CN112313412A (zh) * 2018-06-25 2021-02-02 维斯塔斯风力系统有限公司 与风力涡轮机维护有关的改进
JP2021528593A (ja) * 2018-06-25 2021-10-21 ヴェスタス ウィンド システムズ エー／エス 風力タービン保守に関する改善
JP7493463B2 (ja) 2018-06-25 2024-05-31 ヴェスタス ウィンド システムズ エー／エス 風力タービン保守に関する改善

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