AIR VEHICLE, PROCEDURE AND SYSTEM FOR INSPECTION OF WIND TURBIN BLADES IN MOTION (Machine-translatio

专利摘要:
Air vehicle for the inspection of wind turbine blades in motion that comprises at least one altitude sensor; an array of distance sensors configured to emit at least one first detection signal in a horizontal direction, at least one second detection signal in a direction turned vertically with respect to the first detection signal in the same vertical plane, and at least one third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane; a photographic camera, and a processing unit configured to perform an image capture with the photographic camera, receive data from the altitude sensor and the array of distance sensors, perform calculations, generate data from such calculations, and execute flight instructions . (Machine-translation by Google Translate, not legally binding)
公开号:ES2796964A1
申请号:ES201930476
申请日:2019-05-29
公开日:2020-11-30
发明作者:Rodriguez José Antonio Riveiro
申请人:Imfuture Integral Man Future Renewables S L；
IPC主号:

专利说明:

[0002] AIR VEHICLE, PROCEDURE AND SYSTEM FOR THE INSPECTION OF BLADES
[0006] The present invention is related to techniques for the inspection of wind turbine blades, particularly those inspection techniques that make it possible to determine the structural state of the blades when they are attached to the wind turbine rotors and the wind turbine is in operation.
[0010] Renewable energies are an alternative energy source called "green" because they are respectful with the environment. Among these renewable energy sources, one of the cleanest is wind energy, based on converting the energy from the natural movement of air into another type of energy that can be used in other areas.
[0012] The transformation of energy from the natural movement of air into other forms of energy has been done since ancient times, although, thanks to technological advances, better ways to take advantage of the movement of air have been implemented. As a consequence of these better ways of using the kinetic energy of the air, wind turbines or wind turbines have been created, which transform the movement of some blades or propellers of the air wind turbine into mechanical energy of the shaft and at the same time transform said mechanical energy from axis in electrical energy, which can be accumulated or distributed directly to the electrical distribution network. Depending on the amount of electrical energy to be generated, two or more wind turbines are installed, giving rise to wind farms made up of a certain number of wind turbines or wind turbines, where the electric energy generated by said wind farms is capable of supplying at least partially a town or city.
[0014] Wind turbines or wind turbines are devices or generators of large dimensions, in which the blades or propellers, generally configured as elongated elements, are those that receive the "impact or effort" of the wind in the conversion to shaft mechanical energy, therefore During their useful life, the blades or propellers must be inspected to guarantee their structural stability and prevent failures that may have important consequences at the performance level in energy transformation, as well as at the infrastructure and economic level.
[0016] Procedures for the inspection of wind turbines, and in particular blades or propellers, have already been provided for in the state of the art, as seen in document ES 2 665 564, which discloses a procedure for the optical exploration of a wind power plant for inspection purposes using an aircraft, in particular a manned or unmanned rotary wing aircraft, in which at least one camera is installed, wherein the wind power plant comprises several blades rotor, whose surface is scanned within the framework of the procedure, where the scan is performed optically and comprises the following procedural steps: aligning a first rotor blade in a vertical position, then scanning a first side of the first in flight rotor blade in vertical direction, then scan a second side of the first rotor blade in vertical direction in flight, then align a second pa the rotor blade in a vertical position and then scan a first side of the second rotor blade in the vertical direction in flight, then scan a second side of the second rotor blade in the vertical direction in flight.
[0018] Despite the fact that the procedure disclosed in the referenced Spanish patent allows the optical inspection of the rotor blades from a ship, its main drawback is that the rotor blades must stop and be fixed stationary in the vertical position one by one. so they can be inspected. These stages of stopping and vertical alignment of a blade, then moving and then stopping again to align the next blade is time consuming, laborious and also does not allow the normal operation of the inspected wind turbine, which translates into energy and economic losses.
[0020] Another blade inspection procedure is disclosed in patent ES 2462 145, in which a method is disclosed for checking the structural state of wind farms in the form of wind turbines with several rotor blades, the method being characterized by the registration of each of the wind turbines that make up the wind farm from a helicopter, in such a way that both the wind farm, the rotor blades or parts of them are individually scanned by one or more cameras installed in the helicopter, and that the data certain are saved and subsequently sent for evaluation by means of a software unit for processing or standardization of the same in relation to any damage detected; where the disclosed method includes a stage in the blade scanning process, the recording device or the rotor blades of the wind turbine are in motion.
[0022] Regarding this Spanish patent, it is noted that although the disclosed method contemplates the possibility that the blades are in motion, the method requires the use of a helicopter in which the cameras of a scanner are installed, where the helicopter is approaches the wind turbine blades for inspection. A helicopter is a large manned vehicle that requires highly qualified personnel for its operation, so the costs of carrying out this inspection method are high due to the mere presence of said vehicle, with important limitations related to the mandatory presence of a pilot for the helicopter to move the latter in the proper directions to inspect the blades. This method has a significant human component and high implementation costs.
[0024] Therefore, it becomes evident the need to provide a device and / or procedure that allows inspecting and determining the structural state of the blades of a wind turbine without the need to stop the wind turbine, maintaining its normal operation, and without the need to have vehicles that represent high operating costs.
[0028] To solve the need found, the present invention provides an aerial vehicle for the inspection of wind turbine blades in motion that at least comprises an altitude sensor; an array of distance sensors configured to emit at least one first detection signal in a horizontal direction, at least one second detection signal in a direction turned vertically with respect to the first detection signal in the same vertical plane, and at least one third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane; a photographic camera, and a processing unit configured to perform an image capture with the photographic camera, receive data from the altitude sensor and the array of distance sensors, perform calculations, generate data from such calculations, and execute flight instructions .
[0030] In other embodiments, the distance sensor array comprises a first central sensor configured to output the first detection signal in the horizontal direction, at least one second sensor configured to output the second detection signal in the direction vertically turned with respect to the first detection signal in the same vertical plane, and at least one third sensor configured to emit the third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane.
[0032] In other alternative embodiments of the air vehicle, the second detection signal in the direction turned vertically with respect to the first detection signal in the same vertical plane is turned between 5 and 30 degrees, and the third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane is rotated between 30 and 60 degrees.
[0034] In alternative embodiments the array of distance sensors comprises a fourth sensor, the third sensor being configured to emit the third detection signal in the direction turned horizontally with respect to the first detection signal in the same horizontal plane, and the fourth sensor being configured to emit a fourth detection signal turned horizontally with respect to the first detection signal in the same horizontal plane, where the horizontal turn of said fourth detection signal is in the opposite direction to that of the third detection signal.
[0036] In other alternative embodiments of the air vehicle, the third and fourth detection signals in the directions turned horizontally with respect to the first detection signal in the same horizontal plane are each turned between 30 and 60 degrees with respect to said first signal of detection.
[0038] In other embodiments, the array of distance sensors comprises a fifth sensor, the second sensor being configured to emit a detection signal in the direction turned vertically with respect to the first detection signal in the same vertical plane, and the fifth sensor being configured to emit a fifth detection signal turned vertically with respect to the first detection signal in the same vertical plane, where the direction vertically turned of said fourth fifth detection is in the opposite direction to that of the second detection signal.
[0040] In other alternative embodiments the second signal and the fifth detection signal in the vertically turned directions relative to the first detection signal therein vertical plane are turned between 5 and 30 degrees with respect to said first detection signal.
[0042] In alternative embodiments the altitude sensor is a barometric sensor, the sensors in the array of distance sensors are laser type sensors.
[0044] In other embodiments of the air vehicle the processing unit is an Arduino board.
[0046] In preferred embodiments, the aerial vehicle is an unmanned aerial vehicle, such as a drone.
[0048] In other alternative embodiments of the invention the air vehicle comprises a storage unit configured to store the data generated by the processing unit.
[0050] In alternative embodiments, the air vehicle comprises a communication means configured to transmit the data generated by the processing unit to a ground control station and / or to an external database.
[0052] The invention also comprises a procedure for inspecting wind turbine blades in motion comprising the steps:
[0054] - frontally having an aerial vehicle for the inspection of wind turbine blades in motion as described in previous lines in the frontal proximity of the base of the wind turbine to be inspected;
[0055] - detecting the pole of the wind turbine by moving and / or rotating the aerial vehicle about itself until the array of distance sensors detects said pole;
[0056] - detecting at least one blade of the wind turbine by detecting the passage of said blade by vertically moving the aerial vehicle until the array of sensors detects the passage of the blade and registers it;
[0057] - calculating the angular velocity of the blades by means of the processing unit, in static or in motion of the vehicle, from the record of the passage of at least one blade with respect to the array of distance sensors and storing the calculated angular velocity;
[0058] - detect the main axis of rotation of the wind turbine by detecting a predefined reduction in the angular velocity of the blades compared to the calculated one in the previous step, setting the detected axis of rotation as a reference point and storing said reference point;
[0059] - aligning the sensor array with respect to the main axis of rotation and with respect to the horizontal direction and / or the vertical direction by moving and / or rotating the vehicle on itself based on the detection of at least one blade and / or the detection of the main axis of rotation by said array of sensors; and
[0060] - obtaining a succession of images of at least one blade and of at least a part of the profile of said blade, by means of the photographic camera, at different points of a linear path followed by said vehicle from the reference point.
[0062] Alternatively, in the step of detecting the pole of the wind turbine by moving and / or rotating the aerial vehicle about itself until the array of distance sensors detects said pole, the detection of the pole is carried out by means of, at least, the first detection signal emitted in the horizontal direction and / or by means of the second detection signal emitted in the direction turned vertically with respect to the first detection signal in the same vertical plane.
[0064] In other alternative embodiments, the step of detecting at least one blade of the wind turbine by detecting the passage of at least one blade by vertically moving the aerial vehicle until the array of distance sensors detects the passage of the blade and registers it comprises detecting of the blade through at least the first detection signal emitted in the horizontal direction and / or by means of the second detection signal emitted in the direction turned vertically with respect to the first detection signal in the same vertical plane, record the blade pitch, stop the movement of the vehicle, and continue detecting and recording the pitch of each of the total of the wind turbine blades.
[0066] In other embodiments, the step of detecting the main rotation axis of the wind turbine by detecting a predefined reduction in the angular velocity of the blades compared to the calculated one, the reduction in angular velocity is detected while the vehicle is in motion.
[0068] Alternatively, the step of aligning the sensor array with respect to the main axis of rotation and with respect to the horizontal direction and / or the vertical direction by moving and / or rotating said vehicle about itself based on detecting at least one blade and /wave detection of the main axis of rotation by said arrangement of sensors comprises the following sub-stages:
[0070] - move the vehicle a predetermined distance from the reference point until obtaining readings of the angular velocity of the blades by the array of distance sensors; - from the first detection signal emitted in the horizontal direction and / or from at least the third detection signal emitted in the direction turned horizontally with respect to the first detection signal in the same horizontal plane, detect the distance a to minus one blade and calculating, by the processing unit, a perpendicular alignment distance measurable by the first detection signal;
[0071] - from the first detection signal and / or from the second detection signal in the direction turned vertically with respect to the first detection signal in the same vertical plane, detect the distance to the blade and calculate, by the unit of processing, a distance of vertical misalignment measurable by the first detection signal with respect to the reference point;
[0072] - rotating the vehicle until the distance measured by the first detection signal corresponds to the calculated perpendicular alignment distance;
[0073] - moving the vehicle laterally until the vertical misalignment distance measured by the first detection signal is zero; and
[0074] - move the vehicle vertically to the reference position.
[0076] In other alternative embodiments, the step of obtaining a succession of images of at least one blade and of at least a part of the profile of said blade, by means of the photographic camera, at different points of a path followed by said vehicle from the point of reference, comprises the following substages:
[0078] - obtaining a succession of ordered images of at least one blade, by means of the photographic camera, at different points of the progressive linear path followed by said vehicle from the reference point;
[0079] - return the vehicle to a position at the same height as the reference point in which the detection of the angular velocity of the blades is maintained;
[0080] - moving the vehicle laterally a predetermined distance and making it rotate on itself in the horizontal plane at a predetermined angle with respect to the main axis of rotation and repeating the step of obtaining a succession of ordered images of at least one blade, by means of the photographic camera, at different points of a progressive linear path followed by said vehicle from the reference point;
[0081] - return the vehicle to a position at approximately the same height as the reference point in which the detection of the angular velocity of the blades is maintained; and - repeating all the previous steps until the vehicle lateral displacement and the rotation on itself bring it back to the reference point.
[0083] In alternative embodiments, the method further comprises a step of transmitting the data of the angular velocity, of the reference point and the succession of captured images to external storage and processing means.
[0084] In other alternative embodiments of the method, the ground control station comprises video recording means arranged in front of the wind turbine configured to capture a video of the wind turbine blades, a central processing unit connectable in data communication with the recording means of video and configured to, from the captured video, recognize at least one blade of the wind turbine, detect a yaw position of the wind turbine rotor and calculate the angular velocity of the blades based on said recognition of at least one blade, and generate recognition data, rotor yaw position and angular velocity, and a storage unit connectable in data communication with the central processing unit and configured to store at least the blade recognition data and blade data. angular velocity.
[0086] Alternatively, the method includes the step of comparing the blade detection and angular velocity data generated by the central processing unit of the ground control station with the blade detection and angular velocity data generated by the processing unit. of the aerial vehicle.
[0088] In other alternative embodiments of the method, the yaw position of the wind turbine rotor recognized by the central processing unit of the ground control station is sent to the air vehicle so that the air vehicle processing unit includes within the calculations of the stage of detecting at least one blade.
[0090] The invention also contemplates the introduction of a non-transitory computer-readable medium installed in an air vehicle as described so far, said medium that stores instructions that, when processed by a processing unit provided in said air vehicle, make said unit of Processing Implement the method of inspection of wind turbines in motion described as described in previous lines.
[0091] In another embodiment, the invention discloses a system for the inspection of wind turbine blades in motion characterized in that it at least comprises:
[0093] - an aerial vehicle designed to be arranged in the frontal proximity of the base of the wind turbine, where the aerial vehicle at least comprises:
[0094] - an altitude sensor connected in data communication with a processing unit;
[0095] - an array of distance sensors connected in data communication with the processing unit, said array of sensors being configured to emit a series of distance detection signals;
[0096] - a photographic camera connected in data communication with the processing unit and configured to take a series of images of at least one blade of the wind turbine;
[0097] where the processing unit is configured to calculate the altitude of the aerial vehicle based on the detection of the altitude sensor, and configured to, based on the detections of the sensor array, at least detect the pole, detect at least one blade, detect the wind turbine rotor, calculate the angular velocity of the wind turbine blades and execute flight instructions of the air vehicle for the taking of the series of images by the photographic camera of the detected blade, and generate data from all the detections; and
[0098] - communication means connected in data communication with the processing unit and configured to transmit the data generated by the processing unit;
[0100] - a ground control station comprising at least:
[0101] - video recording means arranged in front of the wind turbine, configured to capture a video of the wind turbine blades;
[0102] - a central processing unit connectable in data communication with the video recording means and configured to recognize at least one wind turbine blade from the captured video, detect a yaw position of the wind turbine rotor and calculate the angular velocity of the blades based on said recognition of at least one blade, and generating data for blade recognition, rotor yaw position, and angular velocity;
[0103] - communication means in data communication with the central processing unit and configured to transmit to the air vehicle the data generated by the central processing unit and / or configured to receive the data generated by the air vehicle processing unit
[0104] - a storage unit connectable in data communication with the central processing unit and configured to store at least the blade recognition data and the angular velocity data.
[0106] where the central processing unit of the control station is further configured to compare the blade detection data and the angular velocity generated by the same with the angular velocity and blade detection data generated by the vehicle processing unit aerial.
[0108] In alternative embodiments of the system, the sensor array is configured to emit at least one first detection signal in a horizontal direction, at least one second detection signal in a direction turned vertically with respect to the first detection signal in the same vertical plane, and at least one third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane
[0110] In other alternative embodiments of the system the array of distance sensors comprises a first central sensor configured to emit the first detection signal in the horizontal direction, at least one second sensor configured to emit the second detection signal in the direction turned vertically with respect to to the first detection signal in the same vertical plane, and at least one third sensor configured to emit the third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane.
[0112] In alternative embodiments of the system the second detection signal in the direction turned vertically with respect to the first detection signal in the same vertical plane is turned between 5 and 30 degrees, and the third detection signal turned horizontally with respect to the first signal The detection sensor in the same horizontal plane is rotated between 30 and 60 degrees.
[0113] In other alternative embodiments of the system, the distance sensor arrangement comprises a fourth sensor, the third sensor being configured to emit the third detection signal in the direction turned horizontally with respect to the first detection signal in the same horizontal plane, and being the fourth sensor configured to emit a fourth detection signal turned horizontally with respect to the first detection signal in the same horizontal plane, where the horizontal turn of said fourth detection signal is in the opposite direction to that of the third detection signal.
[0115] In alternative embodiments of the system the third and fourth detection signals in the directions turned horizontally with respect to the first detection signal in the same horizontal plane are each turned between 30 and 60 degrees with respect to said first detection signal.
[0117] In other alternative embodiments of the system, the distance sensor arrangement comprises a fifth sensor, the second sensor being configured to emit a detection signal in the direction turned vertically with respect to the first detection signal in the same vertical plane, and the fifth sensor configured to emit a fifth detection signal turned vertically with respect to the first detection signal in the same vertical plane, where the direction turned vertically of said fourth fifth detection is in the opposite direction to that of the second detection signal.
[0119] In alternative embodiments of the system the second signal and the fifth detection signal in the directions turned vertically with respect to the first detection signal in the same vertical plane are turned between 5 and 30 degrees with respect to said first detection signal.
[0121] The main advantage of the invention is that it is possible to determine the structural state of the blades when they are in motion in the normal operation of the wind turbine, so that in the disclosed inspection method the inspected wind turbine (s) can continue to operate, optimizing the inspection work.
[0123] Another notable advantage is the possibility of using an unmanned aerial vehicle, such as a drone, in the inspection of the blades, so that the costs associated with the inspection are considerably reduced. Also, the drone can be programmed according to a series of instructions so that it is capable of autonomously executing the blade inspection procedure.
[0125] Another advantage of the invention is that the sensor array is capable of detecting the main rotation axis or rotor of the wind turbine and aligning itself with respect to it, so that the aerial vehicle can also be aligned with respect to said axis. These alignments allow the blades to be detected more efficiently and, consequently, to take the necessary photographs for the inspection.
[0127] Another advantage of the invention is that by providing for the incorporation of a ground control station capable of detecting the blades, their angular velocity, and the yaw of the rotor, the air vehicle exchanges detection data with the control stations. so that the aerial vehicle can adjust its flight to prevent collisions with the wind turbine blades when the yaw movement of the rotor occurs, in addition, said data exchange allows keeping the most reliable data for better precision in taking photos and inspection in general.
[0131] The foregoing and other advantages and characteristics will be more fully understood from the following detailed description of some embodiments with reference to the attached drawings, which are to be considered as illustrative and not limiting, in which:
[0133] - Fig. 1 is a perspective view in which the moving wind turbine inspection vehicle is observed, arranged in front of a wind turbine.
[0134] - Fig. 2 is a view of a preferred embodiment of the sensor arrangement attached to an air vehicle.
[0138] Numerous specific details are set forth in the following detailed description in the form of examples to provide a thorough understanding of the relevant teachings. However, it will be apparent to those skilled in the art that the present teachings can be practiced without such details.
[0139] According to as seen in figure 1, in one embodiment, the present invention provides an aerial vehicle (1) for the inspection of blades (P) of wind turbines (2) where, preferably, said wind turbines (2) can be found in operation, that is, the blades (P) have been rotated so that, when said blades (P) are inspected, the wind turbine (2) can continue to capture wind energy.
[0141] The aerial vehicle (1) is, in the preferred embodiment, an unmanned vehicle, that is, a vehicle of the type that can be operated remotely from a control station, or a mobile device, or a control unit operated by qualified personnel, or the vehicle can be provided with control means integrated therein through which, following a series of stored instructions, it can be self-piloting or self-driving.
[0143] In the preferred embodiment, the air vehicle (1) is a drone. The choice of a drone as an aerial vehicle (1) has an important advantage compared to the state of the art given the portability of this type of aerial vehicle, since they have a low acquisition cost and are easily operable and / or programmable to carry out the required flight paths.
[0145] As seen in figures 1 and 2, an altitude sensor (3) can be attached or provided on the aerial vehicle (1) in a releasable or permanent way, where this altitude sensor (3) as its name indicates, is configured to detect the altitude at which the aerial vehicle is during the flight (1), where this altitude data can be used, as will be explained in later lines to determine the position of the rotor or the main rotation axis of the wind turbine, determine the length of the blades, as well as a vertical path followed by the aerial vehicle (1) during the inspection of the blades (P). In the preferred embodiment the altitude sensor (3) is a barometric sensor
[0147] An array of distance sensors (4) is provided on the aerial vehicle (1) and is configured to emit at least a first detection signal (S1) in a horizontal direction, at least a second detection signal (S2) in a direction turned vertically with respect to the first detection signal (S1) in the same vertical plane, and at least one third detection signal (S3) turned horizontally with respect to the first detection signal (S1) in the same horizontal plane.
[0149] As seen in figure 1, the XYZ coordinate axes have been used to define the planes, where the horizontal plane is the one defined by the axes XY, where the horizontal direction is the direction of the X axis, the vertical plane that defined by the XZ axes, where the vertical direction is the direction of the Z axis, and a transverse plane is that defined by the YZ axes, where the lateral direction is the direction of the Y axis.
[0151] As can be seen in figure 2, the distance sensor arrangement (4) comprises at least a first central sensor (41), a second sensor (42) and a third sensor (43), where said first central sensor (41) is configured to emit the first detection signal (S1), the second sensor (42) is configured to emit the second detection signal (S2), and the third sensor (43) is configured to emit the third detection signal (S3 ).
[0153] In preferred embodiments, the sensor array (4) comprises a fourth sensor (44) configured to output a fourth detection signal (S4) that is horizontally rotated with respect to the first detection signal (S1) in a steering direction that it is contrary to that of the detection signal (S3) emitted by the third sensor (43) in the same horizontal plane; and also comprises a fifth sensor (45) configured to emit a fifth detection signal (S5) that is turned vertically with respect to the first detection signal (S1) in a direction of turn that is opposite to that of the detection signal. (S2) emitted by the second sensor (42) in the same vertical plane.
[0155] In this embodiment, the array of sensors (4) is coupled to the aerial vehicle (1) in such a way that the sensors (41) (42) (43) (44) (45) and therefore the signal emitted by them is such that the detection signal (S1) is oriented in the horizontal direction perpendicular to the frontispiece of the aerial vehicle (1), the detection signal (S2) is oriented upwards, turned in the vertical plane, the detection signal ( S5) is oriented downward, tacked in the vertical plane contrary to the detection of turn of the detection signal (S2), the detection signal (S3) is oriented to the right, tacked in the horizontal plane with respect to the frontispiece of the aerial vehicle (1), and the detection signal (S4) is oriented to the left, turned in the horizontal plane with respect to the frontispiece of the aerial vehicle (1).
[0157] The second detection signal (S2) and fifth detection signal (S5) are turned vertically with respect to the first detection signal (S1) in the same vertical plane between 5 and 30 degrees, while the third detection signal ( S3) and the fourth detection signal (S4) are turned horizontally with respect to the first detection signal (S1) in the same horizontal plane between 30 and 60 degrees.
[0158] Preferably the sensors (41) (42) (43) (44) (45) of the array of distance sensors (4) are laser-type sensors, although this should not be taken as limiting, since other types of distance sensors are They are within the scope of the invention, provided that their detection frequency is adequate to carry out the tasks of detecting the state of the wind turbine blades.
[0160] From the array of distance sensors (4), as will be described in detail later, it is possible to send detection signals that, based on the position of the aerial vehicle, can detect the presence of different parts of the wind turbine (2) as They are the pole, the blades (P), the rotor or main axis of rotation, where these detection signals can be subsequently processed to identify which part of the wind turbine (2) it is.
[0162] On the other hand, and according to what is taught in Figures 1 and 2, a photographic camera (5) is provided in the aerial vehicle (1) in a fixed or releasable way, in such a way that, with the photographic camera, they can be captured different images of the blades (P) for inspection.
[0164] In other embodiments of the invention, it is possible to have a thermographic camera (not shown) in the aerial vehicle (1) to take thermographic shots of the blades (P) which, together with the images captured by the photographic camera (5), allows to determine the state of said blades (P) during the inspection.
[0166] As can be seen in Figures 1 and 2, the invention comprises a processing unit (6) provided in the air vehicle (1) configured for, also based on the signals, detection of the array of sensors (4) and the sensor data altitude (3), execute a series of processing, calculations and data generation that are translated into flight instructions to direct the aerial vehicle (1) in the inspection of the blades (P), and to operate the photographic camera (5 ) in the capture of images of the blades (P).
[0168] In the processing unit (6), and in order for the aerial vehicle (1) to be autonomous in flight, that is to say a self-piloted vehicle, this self-piloting capacity is based on a series of instructions stored in a storage unit (7 ) provided in the air vehicle (1), where the storage unit (7) is in data communication with the processing unit (6), the latter being able to access the instructions and / or store data based on the detections, processing and calculations performed.
[0169] In addition to the above, the air vehicle (1) comprises communication means (8) that are connected in data communication with the processing unit (6) and / or with the storage unit (7), these means being communication devices configured to transmit to the outside, for example towards an external database or a remote storage unit, the data generated by the processing unit (6) and / or the data stored in the storage unit (7) and / or receive data sent from an external source to the air vehicle (1). Essentially, the communication means (8) allow the exchange of data with the air vehicle (1), which is suitable in the inspection of the blades (P), as will be described later.
[0171] In preferred embodiments, these communication means (8) are of the wireless type following the Wi-Fi protocol, Bluetooth, or any known radio frequency technology that allows data exchange.
[0173] These communication means (8) also allow, for example, the aerial vehicle to receive instructions from a ground control command for emergency situations, approaches to the wind turbine, etc., in which a qualified operator pilots the aerial vehicle ( 1) by means of said control knob.
[0175] As has been said in previous lines, from the detection signals sent and captured by the altitude sensor (3) and especially by the signals sent and captured by the array of distance sensors (4) it is possible that, the unit processing (6) following the instructions provided in the storage unit (7), an inspection procedure for the blades (P) of wind turbines (2) is deployed.
[0177] A first stage of the blade inspection process consists of arranging the aerial vehicle (1), as has been described so far, in the frontal proximity of the wind turbine (2). The objective of this stage is for the aerial vehicle (1) to be in a position close to the wind turbine (2) such that its parts can be detected by means of the distance sensor arrangement (4).
[0179] The procedure continues with the detection of the pole (21) of the wind turbine (2), where this detection is carried out by moving or rotating the aerial vehicle (1) on itself until the array of distance sensors (4) detects said pole (twenty-one). In particular for being able to detect the pole (21) the first detection signal (S1) emitted by the first central sensor (41) detects the pole (21) when by the rotation or movement of the aerial vehicle (1) it captures a signal that, being analyzed by The processing unit (6) is within a predetermined range indicative that the detected object is the post (21). Preferably, together with the first detection signal (S1), the second detection signal (S2) emitted by the second sensor (42) and / or the fifth detection signal (S5) emitted by the fifth sensor (45) is used. , so that, in addition to detecting the post (21), the vertical line thereof was also detected, due to the verticality resulting from the vertically turned position of said second (42) and fifth (45) sensors with respect to the first sensor central (41), so that once this vertical line is found, the aerial vehicle (41) can ascend parallel to it to carry out the subsequent stages of the procedure. As for the first detection signal (S1), the signals captured from the second detection signal (S2) and / or the fifth detection signal (S5) must be within a predetermined range for the detection unit to processing (6) determine that it is the post (21) and determine its vertical line.
[0181] With respect to the predetermined range referred to, this is a distance that an object is expected to be found by the sensor array. For example, in the field of the art it is known that a separation distance of 20 meters between the aerial vehicle (1) and the wind turbine blades (2) is a safe operating distance to carry out the inspection procedure, Therefore, it would be expected that the distances detected by the sensors (41) (42) (43) (44) (45) of the array of distance sensors (4) are within the range of 20 meters, a little more than 20 meters in the case of the post (21).
[0183] Once the pole (21) has been detected, the next step in the procedure is to detect at least one blade (P) of the wind turbine (2), which is achieved by making the aerial vehicle (21) ascend following the vertical of the pole (21 ) until the array of distance sensors (4), by the signals emitted, detects the passage of at least one blade (P). This is that if, for example, the first detection signal (S1) or the second detection signal (S2) receive detections from a distance of 21 meters, because at that distance the pole (21) is found, suddenly on the ascent they detect a signal at 20 meters, which is a distance range in which you would expect to find the blades (P). This new detected distance signal is registered by the processing unit (6) which determines the presence of the detected blade (P).
[0184] Within the procedure for the detection of the blades (P) this is carried out by means of the first detection signal (S1) emitted by the first central sensor (41) and / or by means of the second detection signal (S2) emitted by the second sensor (42), where when the passage of at least one blade (P) is registered, the processing unit (6) generates the arrest of the vertical upward movement of the aerial vehicle (1), and continues to detect and record the passage of each of the total blades (P) of the wind turbine. Since wind turbines generally have three blades, the aerial vehicle (1) remains stationary until all three blades are detected.
[0186] Having detected at least one blade (P), preferably all three blades, then the angular velocity of the blades (P) is calculated. This detection can be carried out with the aerial vehicle (1) stopped or in motion, recording the time that elapses between the detections of the blades. This calculation of the angular velocity is carried out by the processing unit (6) and can be measured and calculated continuously while the aerial vehicle is moving vertically.
[0188] With at least one blade (P) detected and angular velocity calculated, the next stage of the procedure consists of detecting the rotor or the main axis of rotation (22) for which, and given that the angular velocity can be measured continuously, at As the aerial vehicle (1) ascends, the array of distance sensors (4) by the emitted detection signals, captures a sudden decrease in angular velocity, which is indicative that it is near the main axis of rotation ( 22). When the calculated angular velocity is zero or very close to this value, the processing unit (6) determines that the main axis of rotation (22) has been found and sets this detection point as a reference point and stores it in the storage unit (7). This reference point is at a height detected by the altitude sensor (3), which is also determined by the processing unit (6) and stored in the storage means (7).
[0190] Once the axis of rotation (22) has been found, the aerial vehicle (1) is aligned with respect to the plane of rotation of the blades, or what is better, the array of distance sensors (4) is aligned with respect to the main axis of rotation (22) and with respect to the horizontal direction and / or the vertical direction so that the distances detected by the sensor array are within a predetermined range.
[0192] In order to align the array of distance sensors (4), the aerial vehicle (1) first moves a predetermined distance from the reference point until obtaining readings of the angular velocity of the blades by the array of distance sensors (4). Preferably the vehicle moves vertically upward until the second detection signal (S2) and / or the first detection signal (S1) detect the passage of at least one blade, at this point the vehicle can be stopped. Then, from the first detection signal (S1) and / or from at least the third detection signal (S3) emitted in the direction turned horizontally with respect to the first detection signal (S1), the distance is detected to the blade and a perpendicular alignment distance measurable by the first detection signal (S1) is calculated by the processing unit (6). Then, from the first detection signal (S1) and / or from the second detection signal (S2), the distance to the blade is detected and a misalignment distance is calculated by the processing unit (6). vertical measurable by the first detection signal (S1) with respect to the reference point. Then, and based on the calculated perpendicular alignment distance, the aerial vehicle is rotated until the distance measured by the first detection signal (S1) corresponds to the calculated perpendicular alignment distance. Once this is done, the vehicle is moved laterally until the vertical misalignment distance measured by the first detection signal (S1) is zero; and with the array of distance sensors (4) aligned, the aerial vehicle is moved vertically to the reference position.
[0194] The alignment of the aerial vehicle (1) is suitable for the next stage in which, with the photographic camera (5) a succession of images of at least one blade and of at least the front part of the blade are taken. To be able to take this photo taking, from the reference point, the aerial vehicle moves vertically taking photos at different points, preferably at three points that conveniently overlap, where the vertical movement is controlled by detection through the array of sensors. distance (4) which, for example, when the signal detected by the first detection signal (S1) goes outside the predetermined range and the fifth detection signal (S5) is within the predetermined range is an indication that it has been reached the end of the blade, whereby the processing unit (6) commands the vehicle to return to the reference point.
[0196] Given that the three blades have been detected, preferably in this movement three photos are taken at each point of the trajectory of each of the three blades.
[0198] Once the aerial vehicle has returned to the reference point, we proceed to obtain more photographs of other parts of the profile of the blade by moving the aerial vehicle laterally. (1) a predetermined distance and rotating it on itself in the horizontal plane a predetermined angle with respect to the main axis of rotation (22) and repeating the vertical ascent in which three photos of the three blades are taken at different points. Each time the end of the blade has been reached, the aerial vehicle (1) is returned to near the reference point where the detection of the angular velocity of the blades is maintained; and all of the above is repeated until the lateral displacement of the aerial vehicle (1) and the rotation on itself place it again in front of the reference point. This means that the aerial vehicle rotates completely around the wind turbine to also take photos of the back of the blade profile.
[0200] The images taken, as well as the data for detecting the blades, the angular velocity, the reference point are transmitted to external storage and processing means, and / or to a ground control station, and / or to a database.
[0202] In particular, the invention can incorporate a ground control station (9) in which video recording means arranged in front of the wind turbine (2) configured to capture a video of the blades (P) of the wind turbine (2) are provided. ), a central processing unit connectable in data communication with the video recording means and configured to, from the captured video, recognize at least one blade (P) of the wind turbine, detect a yaw position of the wind turbine rotor and calculating the angular velocity of the blades based on said recognition of at least one blade (P), and generating recognition data, of the yaw position of the rotor and of the angular velocity, and a storage unit connectable in data communication with the central processing unit and configured to store at least the blade recognition data and the angular velocity data.
[0204] Since the ground control station (9) generates its own blade detection data, blade angular velocity, and rotor yaw position, it is possible to compare blade detection data and angular velocity with the angular velocity and detection data of the blades generated by the processing unit (6) of the aerial vehicle (1). This is to improve the accuracy of the location of said vehicle for taking the photos. Therefore, if when comparing the data, those of the ground control station (9) can be more reliable, and in case of a significant discrepancy, the data is taken from said ground control station (9)
[0205] Furthermore, the yaw position of the wind turbine rotor recognized by the central processing unit of the ground control station can be sent to the aerial vehicle (1) so that the aerial vehicle processing unit (6) includes it within the calculations of the stage of detection of the blades to avoid collisions with them.
[0207] Possible realizations of the aerial vehicle for the inspection of wind turbine blades in motion are listed below:
[0209] 1. Air vehicle for the inspection of wind turbine blades in motion characterized in that it comprises at least:
[0211] - an altitude sensor;
[0212] - an array of distance sensors configured to emit at least one first detection signal in a horizontal direction, at least one second detection signal in a direction turned vertically with respect to the first detection signal in the same vertical plane, and at least a third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane;
[0213] - a camera, and
[0214] - a processing unit configured to perform an image capture with the photographic camera, receive data from the altitude sensor and the array of distance sensors, perform calculations, generate data from such calculations and execute flight instructions.
[0216] 2. Air vehicle according to the previous embodiment where the array of distance sensors comprises a first central sensor configured to emit the first detection signal in the horizontal direction, at least one second sensor configured to emit the second detection signal in the tacked direction vertically with respect to the first detection signal in the same vertical plane, and at least one third sensor configured to emit the third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane.
[0218] 3. Air vehicle according to any of the previous embodiments where the second detection signal in the direction turned vertically with respect to the first detection signal in the same vertical plane is turned between 5 and 30 degrees, and the third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane is turned between 30 and 60 degrees.
[0220] 4. Air vehicle according to embodiments 2 or 3, wherein the array of distance sensors comprises a fourth sensor, the third sensor being configured to emit the third detection signal in the direction turned horizontally with respect to the first detection signal in a same horizontal plane, and the fourth sensor being configured to emit a fourth detection signal turned horizontally with respect to the first detection signal in the same horizontal plane, where the horizontal turn of said fourth detection signal is in the opposite direction to that of the third detection signal.
[0222] 5. Air vehicle according to embodiment 4, where the third and fourth detection signals in the directions turned horizontally with respect to the first detection signal in the same horizontal plane are each turned between 30 and 60 degrees with respect to said first detection signal.
[0224] 6. Air vehicle according to the previous embodiment where the array of distance sensors comprises a fifth sensor, the second sensor being configured to emit a detection signal in the direction turned vertically with respect to the first detection signal in the same vertical plane, and the fifth sensor being configured to emit a fifth detection signal turned vertically with respect to the first detection signal in the same vertical plane, where the direction vertically turned of said fourth fifth detection signal is in the opposite direction to that of the second detection signal. detection.
[0226] 7. Air vehicle according to embodiment 6, where the second signal and the fifth detection signal in the directions turned vertically with respect to the first detection signal in the same vertical plane are turned between 5 and 30 degrees with respect to said first signal detection.
[0228] 8. Air vehicle according to any of the previous embodiments where the altitude sensor is a barometric sensor.
[0230] 9. Air vehicle according to any of the embodiments 2 to 7 where the sensors of the array of distance sensors are laser type sensors.
[0231] 10. Air vehicle according to any of the previous embodiments where the processing unit is an Arduino board.
[0233] 11. Air vehicle according to any of the previous embodiments where the air vehicle is an unmanned aerial vehicle.
[0235] 12. Air vehicle according to any of the previous embodiments comprising a storage unit configured to store the data generated by the processing unit.
[0237] 13. Air vehicle according to any of the previous embodiments comprising communication means configured to transmit the data generated by the processing unit to a ground control station and / or to an external database.
[0239] Possible accomplishments of the moving wind turbine blade inspection procedure are listed below:
[0241] 14. Inspection procedure for wind turbine blades in motion characterized in that it comprises the stages:
[0243] - frontally arranging an aerial vehicle for the inspection of wind turbine blades in motion as described in claims 1 to 13 in the frontal proximity of the base of the wind turbine to be inspected;
[0244] - detecting the pole of the wind turbine by moving and / or rotating the aerial vehicle about itself until the array of distance sensors detects said pole; - detecting at least one blade of the wind turbine by detecting the passage of said blade by vertically moving the aerial vehicle until the array of sensors detects the passage of the blade and registers it;
[0245] - calculating the angular velocity of the blades by means of the processing unit, in static or in motion of the vehicle, from the record of the passage of at least one blade with respect to the array of distance sensors and storing the calculated angular velocity;
[0246] - detecting the main axis of rotation of the wind turbine by detecting a predefined reduction in the angular velocity of the blades compared to that calculated in the previous step, setting the axis of rotation detected as a reference point and storing said reference point;
[0247] - aligning the sensor array with respect to the main axis of rotation and with respect to the horizontal direction and / or the vertical direction by moving and / or rotating the vehicle on itself based on the detection of at least one blade and / or the detection of the main axis of rotation by said array of sensors; and
[0248] - obtaining a succession of images of at least one blade and of at least a part of the profile of said blade, by means of the photographic camera, at different points of a linear path followed by said vehicle from the reference point.
[0250] 15. Procedure according to embodiment 14 where, in the stage of detecting the wind turbine pole by moving and / or rotating the aerial vehicle on itself until the array of distance sensors detects said pole, the pole detection is carried out by means of of at least the first detection signal emitted in the horizontal direction and / or by means of the second detection signal emitted in the direction turned vertically relative to the first detection signal in the same vertical plane.
[0252] 16. Procedure according to any of embodiments 14 or 15 where the step of detecting at least one blade of the wind turbine by detecting the passage of at least one blade vertically moving the aerial vehicle until the array of distance sensors detects the passage of the blade and registers it comprises detecting the blade through at least the first detection signal emitted in the horizontal direction and / or by means of the second detection signal emitted in the direction turned vertically with respect to the first detection signal. detection in the same vertical plane, record the blade pitch, stop the movement of the vehicle, and continue to detect and record the pitch of each of the total of the wind turbine blades.
[0254] 17. Procedure according to any of the embodiments 14 to 16 where, the step of detecting the main axis of rotation of the wind turbine by detecting a predefined reduction in the angular speed of the blades compared to the calculated one, the reduction in angular speed it is detected while the vehicle is in motion.
[0256] 18. Procedure according to any of the embodiments 14 to 17 where the step of aligning the sensor array with respect to the main axis of rotation and with respect to the horizontal direction and / or the vertical direction by moving and / or rotating said about itself Vehicle based on the detection of at least one blade and / or the detection of the main axis of rotation by said arrangement of sensors comprises the following sub-stages:
[0258] - move the vehicle a predetermined distance from the reference point until obtaining readings of the angular velocity of the blades by the array of distance sensors;
[0259] - from the first detection signal emitted in the horizontal direction and / or from at least the third detection signal emitted in the direction turned horizontally with respect to the first detection signal in the same horizontal plane, detect the distance a to minus one blade and calculating, by the processing unit, a perpendicular alignment distance measurable by the first detection signal;
[0260] - from the first detection signal and / or from the second detection signal in the direction turned vertically with respect to the first detection signal in the same vertical plane, detect the distance to the blade and calculate, by the unit of processing, a distance of vertical misalignment measurable by the first detection signal with respect to the reference point;
[0261] - rotating the vehicle until the distance measured by the first detection signal corresponds to the calculated perpendicular alignment distance; - moving the vehicle laterally until the vertical misalignment distance measured by the first detection signal is zero; and - vertically moving the vehicle to the reference position.
[0263] 19. Procedure according to any of embodiments 14 to 18, wherein the step of obtaining a succession of images of at least one blade and of at least a part of the profile of said blade, by means of the photographic camera, at different points of a trajectory followed by said vehicle from the reference point, includes the following substages:
[0265] - obtaining a succession of ordered images of at least one blade, by means of the photographic camera, at different points of the progressive linear path followed by said vehicle from the reference point;
[0266] - return the vehicle to a position at the same height as the reference point in which the detection of the angular velocity of the blades is maintained;
[0267] - moving the vehicle laterally a predetermined distance and making it rotate on itself in the horizontal plane at a predetermined angle with respect to the main axis of rotation and repeating the step of obtaining a succession of ordered images of at least one blade, by means of the photographic camera at different points of a progressive linear path followed by said vehicle from the reference point;
[0268] - return the vehicle to a position at approximately the same height as the reference point in which the detection of the angular velocity of the blades is maintained; and
[0269] - repeat all the previous steps until the vehicle lateral displacement and the rotation on itself bring it back to the reference point.
[0271] 20. Method according to any of the previous embodiments, further comprising a step of transmitting the data for detecting the blade, the angular velocity, the reference point and the succession of images captured to external storage and processing means, and / or to the ground control station, and / or to the database.
[0273] 21. Procedure according to embodiment 20 where the ground control station comprises video recording means arranged in front of the wind turbine configured to capture a video of the wind turbine blades, a central processing unit connectable in data communication with the means of video recording and configured to, from the captured video, recognize at least one wind turbine blade, detect a yaw position of the wind turbine rotor and calculate the angular velocity of the blades based on said recognition of at least one blade, and generating recognition data, rotor yaw position and angular velocity, and a pluggable storage unit in data communication with the central processing unit and configured to store at least the blade recognition data and data of the angular velocity.
[0275] 22. Procedure according to embodiment 21 that includes the step of comparing the blade detection data and the angular velocity generated by the central processing unit of the ground control station with the blade angular velocity and detection data generated by the air vehicle processing unit.
[0276] 23. Procedure according to embodiments 21 or 22 where the yaw position of the wind turbine rotor recognized by the central processing unit of the ground control station is sent to the air vehicle so that the air vehicle processing unit includes within the calculations of the detection stage of at least one blade.
[0278] Possible embodiments of the non-transient computer-readable medium installed in an air vehicle are listed below:
[0280] 24. Non-transitory computer-readable medium installed in an air vehicle as described in any of the embodiments from 1 to 13, said medium characterized in that it stores instructions that, when processed by a processing unit provided in said air vehicle, cause said processing unit to implement the inspection method of wind turbines in motion described according to any of the embodiments from 14 to 23.
[0282] Possible realizations of the system for the inspection of wind turbine blades in motion are listed below:
[0284] 25. System for the inspection of wind turbine blades in motion characterized by at least comprising:
[0286] - an aerial vehicle designed to be arranged in the frontal proximity of the base of the wind turbine, where the aerial vehicle at least comprises:
[0287] - an altitude sensor connected in data communication with a processing unit;
[0288] - an array of distance sensors connected in data communication with the processing unit, said array of sensors being configured to emit a series of distance detection signals;
[0289] - a photographic camera connected in data communication with the processing unit and configured to take a series of images of at least one blade of the wind turbine;
[0291] where the processing unit is configured to calculate the altitude of the aerial vehicle based on the detection of the altitude sensor, and configured to, based on the detections of the sensor array, at least detect the pole, detect at least one blade, detect the wind turbine rotor, calculating the angular velocity of the wind turbine blades and executing the flight instructions of the air vehicle for the taking of the series of images by the photographic camera of the detected blade, and generating data from all the detections; and
[0292] - communication means connected in data communication with the processing unit and configured to transmit the data generated by the processing unit;
[0294] - a ground control station comprising at least:
[0295] - video recording means arranged in front of the wind turbine, configured to capture a video of the wind turbine blades;
[0296] - a central processing unit connectable in data communication with the video recording means and configured to recognize at least one wind turbine blade from the captured video, detect a yaw position of the wind turbine rotor and calculate the angular velocity of the blades based on said recognition of at least one blade, and generating recognition data of the blade, of the yaw position of the rotor and of the angular velocity;
[0297] - communication means in data communication with the central processing unit and configured to transmit to the air vehicle the data generated by the central processing unit and / or configured to receive the data generated by the air vehicle processing unit
[0298] - a storage unit connectable in data communication with the central processing unit and configured to store at least the blade recognition data and the angular velocity data.
[0300] where the central processing unit of the control station is further configured to compare the blade detection data and the angular velocity generated by the same with the angular velocity and blade detection data generated by the vehicle processing unit aerial.
[0302] 26. System according to the previous embodiment where the sensor arrangement is configured to emit at least one first detection signal in a horizontal direction, at least a second detection signal in a direction turned vertically with respect to the first detection signal in the same vertical plane, and at least one third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane
[0304] 27. System according to embodiment 26 where the array of distance sensors comprises a first central sensor configured to emit the first detection signal in the horizontal direction, at least one second sensor configured to emit the second detection signal in the vertically turned direction with with respect to the first detection signal in the same vertical plane, and at least one third sensor configured to emit the third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane.
[0306] 28. System according to any of the embodiments 26 or 27 where the second detection signal in the direction turned vertically relative to the first detection signal in the same vertical plane is turned between 5 and 30 degrees, and the third detection signal turned vertically horizontally with respect to the first detection signal in the same horizontal plane is rotated between 30 and 60 degrees.
[0308] 29. System according to embodiments 27 or 28, where the array of distance sensors comprises a fourth sensor, the third sensor being configured to emit the third detection signal in the direction turned horizontally with respect to the first detection signal in the same horizontal plane, and the fourth sensor being configured to emit a fourth detection signal turned horizontally with respect to the first detection signal in the same horizontal plane, where the horizontal turn of said fourth detection signal is in the opposite direction to that of the third detection signal.
[0310] 30. System according to embodiment 29, where the third and fourth detection signals in the directions turned horizontally with respect to the first detection signal in the same horizontal plane are each turned between 30 and 60 degrees with respect to said first signal detection.
[0312] 31. System according to the previous embodiment where the array of distance sensors comprises a fifth sensor, the second sensor being configured to emit a detection signal in the direction turned vertically with respect to the first detection signal in the same vertical plane, and the fifth sensor being configured to emit a fifth detection signal turned vertically with respect to the first detection signal in the same vertical plane, where the direction turned vertically of said fourth fifth detection signal is in the opposite direction to that of the second detection signal.
[0314] 32. System according to embodiment 31, where the second signal and the fifth detection signal in the directions turned vertically with respect to the first detection signal in the same vertical plane are turned between 5 and 30 degrees with respect to said first signal of detection.
[0316] 33. System according to any one of embodiments 25 to 32 where the altitude sensor is a barometric sensor.
[0318] 34. System according to any of the embodiments 27 to 32 where the sensors of the array of distance sensors are laser type sensors.
[0320] 35. System according to any one of embodiments 25 to 34 where the processing unit is an Arduino board.
[0322] 36. System according to any one of embodiments 25 to 35 where the aerial vehicle is an unmanned aerial vehicle.

权利要求:
Claims (36)
[1]
1. Air vehicle for the inspection of wind turbine blades in motion characterized in that it comprises at least:
- an altitude sensor;
- an array of distance sensors configured to emit at least one first detection signal in a horizontal direction, at least one second detection signal in a direction turned vertically with respect to the first detection signal in the same vertical plane, and at least a third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane;
- a camera, and
- a processing unit configured to perform an image capture with the photographic camera, receive data from the altitude sensor and the array of distance sensors, perform calculations, generate data from such calculations and execute flight instructions.
[2]
2. Air vehicle according to the preceding claim, wherein the array of distance sensors comprises a first central sensor configured to emit the first detection signal in the horizontal direction, at least one second sensor configured to emit the second detection signal in the tacked direction. vertically with respect to the first detection signal in the same vertical plane, and at least one third sensor configured to emit the third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane.
[3]
3. Air vehicle according to any of the preceding claims, wherein the second detection signal in the direction turned vertically with respect to the first detection signal in the same vertical plane is turned between 5 and 30 degrees, and the third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane it is rotated between 30 and 60 degrees.
[4]
4. Air vehicle according to claims 2 or 3, wherein the distance sensor arrangement comprises a fourth sensor, the third sensor being configured to emit the third detection signal in the direction turned horizontally with respect to the first detection signal in a same horizontal plane, and with the fourth sensor configured to emit a fourth detection signal turned horizontally with respect to the first detection signal in the same horizontal plane, where the horizontal turn of said fourth detection signal is in the opposite direction to that of the third detection signal.
[5]
5. Air vehicle according to claim 4, wherein the third and fourth detection signals in the directions turned horizontally with respect to the first detection signal in the same horizontal plane are each turned between 30 and 60 degrees with respect to said first detection signal.
[6]
Air vehicle according to the preceding claim, wherein the array of distance sensors comprises a fifth sensor, the second sensor being configured to emit a detection signal in the direction turned vertically with respect to the first detection signal in the same vertical plane, and the fifth sensor being configured to emit a fifth detection signal turned vertically with respect to the first detection signal in the same vertical plane, where the direction vertically turned of said fourth fifth detection signal is in the opposite direction to that of the second detection signal. detection.
[7]
Air vehicle according to claim 6, wherein the second signal and the fifth detection signal in the directions turned vertically with respect to the first detection signal in the same vertical plane are turned between 5 and 30 degrees with respect to said first signal detection.
[8]
8. Air vehicle according to any of the preceding claims, wherein the altitude sensor is a barometric sensor.
[9]
9. Air vehicle according to any of claims 2 to 7, wherein the sensors of the array of distance sensors are laser-type sensors.
[10]
10. Air vehicle according to any of the preceding claims, wherein the processing unit is an Arduino board.
[11]
11. Air vehicle according to any of the preceding claims, wherein the air vehicle is an unmanned aerial vehicle.
[12]
Air vehicle according to any of the preceding claims, comprising a storage unit configured to store the data generated by the processing unit.
[13]
Air vehicle according to any of the preceding claims, comprising communication means configured to transmit the data generated by the processing unit to a ground control station and / or to an external database.
[14]
14. Inspection procedure for wind turbine blades in motion characterized in that it comprises the stages:
- frontally arranging an aerial vehicle for the inspection of wind turbine blades in motion as described in claims 1 to 13 in the frontal proximity of the base of the wind turbine to be inspected;
- detecting the pole of the wind turbine by moving and / or rotating the aerial vehicle about itself until the array of distance sensors detects said pole; - detecting at least one blade of the wind turbine by detecting the passage of said blade by vertically moving the aerial vehicle until the array of sensors detects the passage of the blade and registers it;
- calculating the angular velocity of the blades by means of the processing unit, in static or in motion of the vehicle, from the record of the passage of at least one blade with respect to the array of distance sensors and storing the calculated angular velocity;
- detecting the main axis of rotation of the wind turbine by detecting a predefined reduction in the angular velocity of the blades compared to that calculated in the previous step, setting the axis of rotation detected as a reference point and storing said reference point;
- aligning the sensor array with respect to the main axis of rotation and with respect to the horizontal direction and / or the vertical direction by moving and / or rotating the vehicle on itself based on the detection of at least one blade and / or the detection of the main axis of rotation by said array of sensors; and
- obtaining a succession of images of at least one blade and of at least a part of the profile of said blade, by means of the photographic camera, at different points of a linear path followed by said vehicle from the reference point.
[15]
15. Method according to claim 14 wherein, in the step of detecting the pole of the wind turbine by moving and / or rotating the aerial vehicle on itself until the array of distance sensors detects said pole, the detection of the pole is carried out by means of of at least the first detection signal emitted in the horizontal direction and / or by means of the second detection signal emitted in the direction turned vertically relative to the first detection signal in the same vertical plane.
[16]
16. Method according to any of claims 14 or 15, wherein the step of detecting at least one blade of the wind turbine by detecting the passage of at least one blade vertically moving the aerial vehicle until the array of distance sensors detects the passage of the blade and registers it comprises detecting the blade through at least the first detection signal emitted in the horizontal direction and / or by means of the second detection signal emitted in the direction turned vertically with respect to the first detection signal. detection in the same vertical plane, record the blade pitch, stop the movement of the vehicle, and continue to detect and record the pitch of each of the total of the wind turbine blades.
[17]
17. Method according to any of claims 14 to 16, wherein the step of detecting the main rotation axis of the wind turbine by detecting a predefined reduction in the angular speed of the blades compared to the calculated one, the reduction in angular speed it is detected while the vehicle is in motion.
[18]
18. Method according to any of claims 14 to 17, wherein the step of aligning the sensor array with respect to the main axis of rotation and with respect to the horizontal direction and / or the vertical direction by moving and / or rotating said vehicle about itself Based on the detection of at least one blade and / or the detection of the main axis of rotation by said arrangement of sensors, it comprises the following sub-stages:
- move the vehicle a predetermined distance from the reference point until obtaining readings of the angular velocity of the blades by the array of distance sensors;
- from the first detection signal emitted in the horizontal direction and / or from at least the third detection signal emitted in the direction turned horizontally with respect to the first detection signal in the same horizontal plane detecting the distance to at least one blade and calculating, by the processing unit, a perpendicular alignment distance measurable by the first detection signal;
- from the first detection signal and / or from the second detection signal in the direction turned vertically with respect to the first detection signal in the same vertical plane, detect the distance to the blade and calculate, by the unit of processing, a distance of vertical misalignment measurable by the first detection signal with respect to the reference point;
- rotating the vehicle until the distance measured by the first detection signal corresponds to the calculated perpendicular alignment distance; - moving the vehicle laterally until the vertical misalignment distance measured by the first detection signal is zero; and - vertically moving the vehicle to the reference position.
[19]
19. Method according to any of claims 14 to 18, wherein the step of obtaining a succession of images of at least one blade and of at least part of the profile of said blade, by means of the photographic camera, at different points of a trajectory followed by said vehicle from the reference point, includes the following substages:
- obtaining a succession of ordered images of at least one blade, by means of the photographic camera, at different points of the progressive linear path followed by said vehicle from the reference point;
- return the vehicle to a position at the same height as the reference point in which the detection of the angular velocity of the blades is maintained;
- moving the vehicle laterally a predetermined distance and making it rotate on itself in the horizontal plane at a predetermined angle with respect to the main axis of rotation and repeating the step of obtaining a succession of ordered images of at least one blade, by means of the photographic camera, at different points of a progressive linear path followed by said vehicle from the reference point;
- return the vehicle to a position at approximately the same height as the reference point in which the detection of the angular velocity of the blades is maintained; and
- repeat all the previous steps until the vehicle lateral displacement and the rotation on itself bring it back to the reference point.
[20]
20. Method according to any of the preceding claims, further comprising a step of transmitting the data for detecting the blade, the angular velocity, the reference point and the succession of captured images towards external storage and processing means, and / or to the ground control station, and / or to the database.
[21]
21. Method according to claim 20, wherein the ground control station comprises video recording means arranged in front of the wind turbine configured to capture a video of the wind turbine blades, a central processing unit connectable in data communication with the means of video recording and configured to, from the captured video, recognize at least one wind turbine blade, detect a yaw position of the wind turbine rotor and calculate the angular velocity of the blades based on said recognition of at least one blade, and generating recognition data, rotor yaw position and angular velocity, and a pluggable storage unit in data communication with the central processing unit and configured to store at least the blade recognition data and data of the angular velocity.
[22]
Method according to claim 21 that includes the step of comparing the blade detection data and the angular velocity generated by the central processing unit of the ground control station with the blade angular velocity and detection data generated by the air vehicle processing unit.
[23]
23. Method according to claims 21 or 22 where the yaw position of the wind turbine rotor recognized by the central processing unit of the ground control station is sent to the air vehicle so that the air vehicle processing unit includes within the calculations of the detection stage of at least one blade.
[24]
24. Non-transitory computer-readable medium installed in an air vehicle as described in any of claims 1 to 13, said medium characterized in that it stores instructions that, when processed by a processing unit provided in said air vehicle, cause said processing unit to implement the inspection method for wind turbines in motion described according to any of claims 14 to 23.
[25]
25. System for the inspection of wind turbine blades in motion characterized by at least comprising:
- an aerial vehicle designed to be arranged in the frontal proximity of the base of the wind turbine, where the aerial vehicle at least comprises:
- an altitude sensor connected in data communication with a processing unit;
- an array of distance sensors connected in data communication with the processing unit, said array of sensors being configured to emit a series of distance detection signals;
- a photographic camera connected in data communication with the processing unit and configured to take a series of images of at least one blade of the wind turbine;
where the processing unit is configured to calculate the altitude of the aerial vehicle based on the detection of the altitude sensor, and configured to, based on the detections of the sensor array, at least detect the pole, detect at least one blade, detect the wind turbine rotor, calculate the angular velocity of the wind turbine blades and execute flight instructions of the air vehicle for the taking of the series of images by the photographic camera of the detected blade, and generate data from all the detections; and
- communication means connected in data communication with the processing unit and configured to transmit the data generated by the processing unit;
- a ground control station comprising at least:
- video recording means arranged in front of the wind turbine, configured to capture a video of the wind turbine blades;
- a central processing unit connectable in data communication with the video recording means and configured to recognize at least one wind turbine blade from the captured video, detect a yaw position of the wind turbine rotor and calculate the angular velocity of the blades based on said recognition of at least one blade, and generating recognition data of the blade, of the yaw position of the rotor and of the angular velocity;
- communication means in data communication with the central processing unit and configured to transmit to the air vehicle the data generated by the central processing unit and / or configured to receive the data generated by the air vehicle processing unit
- a storage unit connectable in data communication with the central processing unit and configured to store at least the blade recognition data and the angular velocity data.
where the central processing unit of the control station is further configured to compare the blade detection data and the angular velocity generated by the same with the angular velocity and blade detection data generated by the vehicle processing unit aerial.
[26]
26. System according to the preceding claim, wherein the sensor arrangement is configured to emit at least one first detection signal in a horizontal direction, at least one second detection signal in a direction turned vertically with respect to the first detection signal in the same plane. vertical, and at least one third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane
[27]
27. System according to claim 26, wherein the distance sensor arrangement comprises a first central sensor configured to emit the first detection signal in the horizontal direction, at least one second sensor configured to emit the second detection signal in the vertically turned direction with with respect to the first detection signal in the same vertical plane, and at least one third sensor configured to emit the third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane.
[28]
28. System according to any of claims 26 or 27 wherein the second detection signal in the direction turned vertically with respect to the first detection signal in the same vertical plane is turned between 5 and 30 degrees, and the third detection signal turned horizontally with respect to the first detection signal in the same horizontal plane is rotated between 30 and 60 degrees.
[29]
29. System according to claims 27 or 28, wherein the array of distance sensors comprises a fourth sensor, the third sensor being configured to emit the third detection signal in the direction turned horizontally with respect to the first detection signal in the same horizontal plane, and the fourth sensor being configured to emit a fourth detection signal turned horizontally with respect to the first detection signal in the same horizontal plane, where the horizontal turn of said fourth detection signal is in the opposite direction to that of the third detection signal.
[30]
30. System according to claim 29, wherein the third and fourth detection signals in the directions turned horizontally with respect to the first detection signal in the same horizontal plane are each turned between 30 and 60 degrees with respect to said first signal detection.
[31]
31. System according to the preceding claim, wherein the array of distance sensors comprises a fifth sensor, the second sensor being configured to emit a detection signal in the direction turned vertically with respect to the first detection signal in the same vertical plane, and the fifth sensor being configured to emit a fifth detection signal turned vertically with respect to the first detection signal in the same vertical plane, where the direction vertically turned of said fourth fifth detection is in the opposite direction to that of the second detection signal .
[32]
32. System according to claim 31, wherein the second signal and the fifth detection signal in the directions turned vertically with respect to the first detection signal in the same vertical plane are turned between 5 and 30 degrees with respect to said first signal of detection.
[33]
33. System according to any of claims 25 to 32 wherein the altitude sensor is a barometric sensor.
[34]
34. System according to any of claims 27 to 32, wherein the sensors of the distance sensor array are laser-type sensors.
[35]
35. System according to any of claims 25 to 34 wherein the processing unit is an Arduino board.
[36]
36. System according to any one of embodiments 25 to 35 where the aerial vehicle is an unmanned aerial vehicle.

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公开号 | 公开日

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ES201930476A|ES2796964B2|2019-05-29|2019-05-29|AIR VEHICLE, PROCEDURE AND SYSTEM FOR INSPECTION OF WIND TURBIN BLADES IN MOTION|ES201930476A| ES2796964B2|2019-05-29|2019-05-29|AIR VEHICLE, PROCEDURE AND SYSTEM FOR INSPECTION OF WIND TURBIN BLADES IN MOTION|