阅读说明：本技术 用于风力设备检查工具的检查工具控制装置 (Inspection tool control device for wind power equipment inspection tool ) 是由 约翰内斯·罗森 于 2018-01-05 设计创作，主要内容包括：用于风力设备(4)的检查工具(6)的检查工具控制装置(2),其具有设置用于与风力设备(4)的风力设备控制装置通信的设备接口(2a),设置用于与检查工具(6)通信的工具接口(2b)。如果处理器(2c)根据通过设备接口(2a)接收的风力设备(4)的设备参数创建用于检查工具(6)的控制信息并将该控制信息通过工具接口(2b)输出,则实现了自动化的使用计划。如果处理器(2c)根据通过工具接口(2b)接收的检查工具(6)的工具参数创建用于风力设备(4)的控制信息并将该控制信息通过设备接口(2a)输出,则实现了进一步改善的使用计划和使用控制。(An inspection tool control device (2) for an inspection tool (6) of a wind power installation (4) has an installation interface (2a) provided for communication with the wind power installation control device of the wind power installation (4), and a tool interface (2b) provided for communication with the inspection tool (6). An automated usage planning is achieved if the processor (2c) creates control information for the inspection tool (6) from the device parameters of the wind power installation (4) received via the device interface (2a) and outputs the control information via the tool interface (2 b). Further improved usage planning and usage control is achieved if the processor (2c) creates control information for the wind power installation (4) from the tool parameters of the inspection tool (6) received via the tool interface (2b) and outputs the control information via the installation interface (2 a).)

1. An inspection tool control device for an inspection tool of a wind power installation, comprising

-providing a device interface for communication with a wind power installation control of a wind power installation, and

-providing a tool interface for communicating with an inspection tool,

it is characterized in that the preparation method is characterized in that,

the processor creates control information for the inspection tool from the device parameters of the wind power installation received via the device interface and outputs the control information via the tool interface.

2. The inspection tool control device according to claim 1,

it is characterized in that the preparation method is characterized in that,

the device interface is provided for receiving device parameters of a wind power plant or a wind power plant and

-the processor creating the control information at least in dependence of the device parameter.

3. Inspection tool control device according to one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

-the tool interface is arranged for receiving operational parameters of an inspection tool and

-said processor creating said control information at least as a function of said operating parameters.

4. Inspection tool control device according to one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

-the inspection tool control means are arranged for receiving environmental data and

-said processor creating said control information at least from environmental data.

5. Inspection tool control device according to one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

the processor is provided for outputting a device parameter for the wind power installation via the device interface, wherein the device parameter is in particular related to environmental data and/or operating parameters.

6. Inspection tool control device according to one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

the inspection vehicle is a drone, in particular a multi-rotor aircraft or a hovercraft VTOL aircraft with wings or a tracker fixed or pivotably fixed on the wind power installation.

7. Inspection tool control device according to one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

-the device parameter comprises geographical information of the wind power plant, and/or the operating parameter comprises geographical information of an inspection tool, and the processor creates the control information at least from the geographical information.

8. Inspection tool control device according to one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

-the processor is arranged for receiving real-time data via the device interface and/or the tool interface.

9. Inspection tool control device according to one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

the control data comprise, in particular, a flight path plan and/or a flight time.

10. Inspection tool with communication means provided for bidirectional communication with an inspection tool control device, in particular according to one of the preceding claims, wherein

-the communication means receive control information from the inspection tool control means and move along the wind power installation according to the control information.

11. The inspection tool according to claim 10, wherein,

it is characterized in that the preparation method is characterized in that,

-providing a sensor, and the sensor is capable of pointing in the direction of the wind power installation according to the control information.

12. An inspection tool according to claim 10 or 11,

it is characterized in that the preparation method is characterized in that,

-the triggering time point of the sensor of the imaging and/or other shooting parameters are related to the control information.

13. An inspection tool according to any preceding claim,

it is characterized in that the preparation method is characterized in that,

the positioning of the inspection tool relative to the wind power installation is carried out by the control information and/or by optical markings on the wind power installation.

14. An inspection tool according to any preceding claim,

it is characterized in that the preparation method is characterized in that,

-determining the imaging sensor settings from information about the relative position of the inspection tool and the wind power installation and/or other environmental data.

15. Method for operating an inspection tool control device of an inspection tool of a wind power installation, comprising

Exchanging device parameters of the wind power installation with the wind power installation control device, and

-exchanging control information with the examination tool,

it is characterized in that the preparation method is characterized in that,

-creating and outputting control information for an inspection tool based on said device parameters and/or environmental parameters, and/or

-creating and outputting control information for the wind power plant based on the inspection tool parameters and/or the environmental parameters.

Technical Field

The invention relates to an inspection tool control device for an inspection tool of a wind power installation, to an inspection tool for a wind power installation and to a method for operating an inspection tool control device.

Background

During operation of the wind power installation, in particular in offshore areas, damage may occur, in particular on the rotor blades of the wind power installation. In order to be able to detect such damage at an early stage, monitoring by means of drones has hitherto been used in addition to manual monitoring. In manual monitoring, the wind power installation is switched off, and the technician climbs the wind power installation or shoots the rotor blades with the aid of a telescope and a camera. This is problematic in offshore installations, since calm sea conditions are necessary for personnel to climb, and the positioning solution of the telescope or camera, and thus the visual axis, is limited.

Flying inspection platforms, such as drones, offer a number of advantages over manual inspection, particularly due to their greater freedom and speed of movement in space. However, flying inspection platforms typically must be manually controlled. The inspection is usually performed in calm weather, that is, at a low wind speed. In the case of strong winds, this often affects the quality of the image acquisition and reduces the flight time or causes interruptions in the examination.

The flight to the wind power plant is usually performed manually, wherein usually no images can be taken due to environmental conditions. In particular, when too strong or too weak a contrast exists between the sky and the rotor blade surface, or when the sun is in a poor state (for example, in the case of backlighting), or when clouds or fog are present, it may not be possible to take a picture of sufficient quality. Therefore, the quality of the shot is heavily dependent on the level of personal knowledge and ability of the operator controlling the inspection platform.

In each case, the wind power installation is switched off during the examination period. The inspection of wind power installations while they are in operation requires a high level of operator effort on the flying inspection platform. It is necessary to keep the inspection platform at the correct distance from the wind power installation at all times and to obtain the triggering time point of the camera, for example, as optimally as possible. It is also possible for each operator to operate only one flying inspection platform, which makes the personnel involved in the inspection of the wind power installation significant.

Disclosure of Invention

The aim of the invention is therefore to optimize the recording quality and the possible service time of the wind power installation for the purpose of checking it.

This object is achieved by an inspection tool control device according to claim 1 and an inspection tool according to claim 10 and a method according to claim 15.

According to the invention, it is proposed that the communication with the device control and the communication with the inspection tool can be carried out, in particular, from a central location. The central position, the inspection tool control, can also be understood as a console or a control tower. The inspection tool control need not necessarily be completely centered. They can also be distributed decentrally on fixed and/or mobile units, such as wind power plants, ships, substations, inspection tools themselves.

The device parameters of the wind power installation can be received via the device interface. Such a device parameter may be, for example, azimuth angle, hub angle, pitch angle, rotor blade geometry, wind turbine geometry, CAD data of the wind turbine, rotational speed of the hub and/or positioning of the wind turbine in a wind power plant (Windpark). According to the invention, the inspection tool can be controlled by means of the device parameters, wherein control information (control data) for the inspection tool is created from the device parameters and output via the tool interface. The inspection tool control device can also control the operation of the wind power installation and/or coordinate the operation of the inspection tool with the operation of the wind power installation.

The control information for the inspection tool can be, in particular, the flight path, the target coordinates, the flight time, the orientation information, operating information for the sensors, distance information, etc. The control information for the wind power installation can be, in particular, its azimuth angle, hub angle or pitch angle.

Further device parameters and control information and/or operating parameters which can likewise all be used for the device according to the invention are specified below.

By means of the method according to the invention, it is achieved that a specific damage can be classified as optimally as possible to a wind power installation, in particular a rotor blade. For this purpose, the possibly damaged regions detected in the course of the examination are evaluated in virtually real time. In this case, the control information can automatically set the position of the inspection tool, in particular, relative to the wind turbine, and thus create a targeted lighting situation that can classify the potential damage as optimally as possible.

According to the invention, the control information is such that the inspection tool is preferably operated on the windward side of the wind turbine or the respective rotor blade. For this purpose, the position and control of the inspection tool relative to the wind turbine on the flight path are calculated, wherein the flight path is contained in the control information. By identifying the device location and the wind direction and by calculating the flight path accordingly, it can be ensured that the inspection tool is located on the windward side of the wind turbine. This ensures that the inspection tool is subjected to only relatively low eddy currents. By suitably controlling the inspection tool, the rotor blade can be inspected, in particular along two blade edges, namely a leading blade edge and a trailing blade edge.

By automatically or semi-automatically controlling the flight time and/or the flight path (flight path) according to the control information, the flight time and/or the flight path (flight path) can be optimized and/or the human input can be minimized.

By means of the control information, it is achieved that at least one, preferably all, rotor blades of at least one device are inspected by means of the inspection tool in one inspection process. For this purpose, the flight path and/or the flight time required for the inspection of one or more rotor blades of one or more devices is calculated with the aid of the control information.

By automatically changing the system parameters (via the control information for the wind power plant), it is achieved that the wind power plant is optimally oriented for the inspection process. An optimally directed wind power installation achieves a minimization of the flight time for the inspection of one or more rotor blades and thus an increase of the number of inspections per inspection process, in particular per flight. In particular, the device parameters of the wind power installation can be set such that the wind power installation has a relative orientation to the direction of the sun and/or the wind direction, so that the sensors (in particular the camera) arranged on the examination tool have an optimized recording behavior. The wind power installation can be stationary, idle or operating normally. The rotor blades of the wind power installation can be brought into a feathered state in particular.

The control information makes it possible not only to adapt the flight path to the actual effective boundary conditions, in particular the actual effective device parameters, but also to plan the refueling/charging station. The flight path is calculated in such a way that the flight time is optimally used, and the inspection tool is moved to the refueling/charging station at the end of the flight time, so that it is charged there for the next inspection operation.

According to the invention, the device interface is suitable for communication with a wind power installation control device of the wind power installation. The device parameters of the wind power installation can be fed to the control device of the inspection device according to the invention via the device interface. The device parameters (as control information) can also be output for the wind power installation via the installation interface. The plant parameter may for example be a wind turbine parameter such as azimuth angle, pitch angle, rotor angle and/or angular velocity of the rotor hub, etc.

The device parameters may be read manually or through a data interface. In particular to a SCADA system. The device interface and the tool interface can be a wired interface or a wireless interface, in particular a radio frequency data interface (telemetry), a WLAN interface or a bluetooth interface.

If the data connection fails or the device parameters fail, the determination of the azimuth angle, pitch angle and/or rotor angle can be made by an inspection tool. This can be done, for example, by optical or other markers, in particular reflectors. The rotor blade can also be encoded optically or in another way, and the automatic alignment of the inspection tool to the rotor blade can thus be carried out, for example, by means of imaging methods, for example, stereoscopy by means of other positioning aids (sonar, radar, laser scanner, optical flow, etc.). The markers may be arranged on the rotor blade, the hub, the nacelle and/or the tower, respectively. The markers or reflectors can be analyzed by imaging methods. The device parameters thus obtained may be entered into the device interface.

The control information allows the flight path or the inspection path of the inspection tool to be set. It has proven advantageous to have an inspection path section parallel to the rotor rotation plane, in particular in a straight line intersecting the hub center point. The inspection tool obtains information about how it can be moved parallel to the rotor rotation plane by means of the control information.

The control information may in particular comprise information that the inspection tool is moved parallel to the rotor rotation plane along the rotor radius or rotor diameter. In particular, the displacement can take place along the entire diameter, i.e. from blade tip to blade tip. Thus, in the case where the rotor is rotated and light is incident accordingly, the flight path section of each device can be limited to the rotor length. However, in order to photograph the front and back of the rotor blade, the camera head must be alternately directed obliquely upward and then obliquely downward along a radius at each photographing position. Alternatively, the inspection tool may have two shooting sensors whose optical axes are at an angle to each other. Here, the suction side or pressure side of a blade and the pressure side or suction side of an adjacent blade complementary thereto are photographed, respectively.

The inspection tool can thus remain in one position during one or more revolutions of the rotor and thus inspect each individual rotor blade edge while the rotor is rotating. By shifting the position, a new area of the blade edge can be checked. In the first half of the diameter, that is to say, for example, in the first circular section, the inspection tool can inspect one or both blade edges and the blade surface of one or more rotor blades on the pressure side. If the inspection tool is moved to the other side, i.e. the other half diameter or another circular section, the inspection tool can inspect the respective other rotor blade surface (suction side) and the blade edge from the respective other side. The flight path extends in particular offset from the line of the rotor diameter. Depending on the local orientation of the rotor blade surface which facilitates the filming, the filming may be performed at different hub angles at different positions along the rotor radius, respectively, wherein the filming unit and the filming parameters (e.g. scaling) may be updated accordingly.

The movement of the inspection tool may be along a plane parallel to the plane of rotation of the rotor. In the first half of the diameter, the first blade side is inspected from this plane, and the opposite blade side can be inspected from the same plane on the other half-plane. This flight path makes it possible to check the two blade sides from the viewing plane on the windward side with as low a path as possible.

The control information may also contain information about the examination time. In particular, it can be determined at what time the inspection tool inspects the wind power installation. The time may be related to, for example, weather forecasts as well as electricity price forecasts. The usage plan can thus be completed with the aid of the control information, so that the check is performed at times when the electricity prices are below the lower threshold. Since the check is preferably not carried out when the wind power installation is operating at full load, but for example when the wind power installation is idling, a reduction in the yield results when the wind speed exceeds the switch-on speed, since less power can be supplied than can be supplied. The reduction in revenue can be reduced by coupling the inspection investment with the development of electricity prices.

Wind power installations usually have their own communication means, such as fiber optic connections, WLANs, mobile radios/directional radios. By means of which a bidirectional or unidirectional communication with the examination tool is achieved. In the flight path along different wind power installations, a switchover between different communication infrastructures is effected. It is thus achieved that the inspection tool communicates along the flight path by means of different communication means of different wind power installations. In this case, the switching can take place in a coordinated manner as a function of location and/or time. The communication devices arranged in each case on the wind power installation can therefore overcome the range limitation, since the communication can be taken over by the other communication device of the other wind power installation in each case. The communication path also enables, in particular, the exchange of control information, system parameters, operating parameters, sensor data and other information. In this case, coverage gaps can also occur between the individual wind turbines (as in the case of a WLAN). This can be bridged by autonomous flight until the next wind energy installation is flown into the WLAN coverage area. Redundant data transfer may also be achieved by utilizing different communication tools/communication technologies.

According to one embodiment, a device interface for receiving device parameters of a wind power installation is provided. It is also proposed that the processor creates the control information at least in dependence on the device parameter.

Advantageously, the light situation, for example the strip light situation, can be determined beforehand during the examination. This can be achieved in particular if knowledge of the installation parameters, in particular the azimuth angle, the pitch angle and/or the rotor angle, is available in advance or the installation parameters can be set accordingly. It may also be advantageous to recognize the geometry of the rotor blades, the nacelle or the entire wind power installation. The respective positioning of the inspection tool can be determined by means of information about the actual orientation of the rotor blade surface at a point of the rotor blade, for example in cooperation with the position of the sun or the relative position of the sun and its orientation and light intensity. The sensors of the inspection tool, such as the pointing direction of the camera, and other shooting parameters (e.g. focal length, exposure time, aperture, etc.) can also be implemented according to device parameters.

An artificial light source can also be provided on the device, the position, orientation and light intensity of which can be adjusted. Such artificial light sources can also be controlled by means of device parameters. The device parameters may also be used to create control information. The inspection tool is positioned relative to the wind power installation by means of the control information, so that the best possible inspection based on the sensors is achieved. The light source may also be emitted by other platforms (stationary, mobile, flying or floating). Here, the device parameters can also be used for positioning or movement of the further platform in addition to the pointing direction of the light source. Likewise, coordinated movement/pointing of the light source and the inspection tool and its sensors may be performed. Thus, when the artificial light source is directed as required, a suitable weather range can be used also in darkness or dusk, thereby expanding the choice of inspection time points that limit the loss of revenue.

If the plant parameters are known, the respective position of the rotor blade, for example at a particular time, may also be determined. If the rotor blade position is known at a particular time, a record of the sensor arranged on the inspection tool may be assigned to each rotor blade. Thus, for example, each shot can be assigned to a respective rotor blade.

If a time stamp is set for the shot of the sensor, the time stamp can be compared with the device parameters. In this case, for example, time-stamped rotor blade positions and thus the recordings can be assigned to the rotor blades. Thus, the correspondence of each shot to the respective rotor blade can also be performed afterwards.

The device parameters may be different depending on whether the device is operating or not. In particular, the geometry of the rotor blade may be different in the loaded state than in the unloaded state. In addition to identifying the geometry in the unloaded state as a plant parameter, the geometry in the loaded state may also be provided as a plant parameter. In this case, blade prestress and/or blade passage as a function of rotor angle and pitch angle in the unloaded state as well as in the (partially) loaded state can be provided as a device parameter. The deflection of the rotor blades from the hub to the rotor blade tips, in particular during rotation of the rotor, can be provided as a machine parameter.

These data can be used in particular in real time for the determination of the distance. The device parameters may be obtained in particular from a CMS system of the wind power installation, in particular for a rotor blade. Since the rotor blade bends under load, the distance of the inspection tool from the rotor blade and/or the arrangement of the image sensors must be adapted to the load situation if necessary. This is preferably done by means of device parameters from which the control information is created.

According to one embodiment, the tool interface is configured to receive operating parameters of the inspection tool, and the processor creates the control information based on at least the operating parameters. This makes it possible to adjust the control information, for example, as a function of the actual operating parameters. The operating parameter can also be, for example, the energy store state of the inspection tool and can, for example, plan the use of the inspection tool in accordance therewith. The transfer of the operating parameters may be performed, for example, starting from a console or a wind power plant monitoring. The control tower also allows for the transmission of operating parameters to the inspection tool and, if necessary, the reception of operating parameters and/or sensor data.

Especially under varying environmental conditions, it may be necessary to have the control information automatically matched thereto. Especially varying environmental conditions may lead to unpredictable inspection tool operating conditions. The operating state may be analyzed. New control information must be sent to the inspection tool when necessary.

According to one embodiment, it is proposed that the examination tool control device is arranged for receiving environment data and that the processor creates the control information at least on the basis of the environment data.

First, the usage plan may be weather-related, for example. By analyzing environmental data, in particular weather data, it is achieved that the usage plan is weather-dependent, in particular the usage time is defined in terms of weather.

The environmental data may be, inter alia, sun position, sun altitude, radiation intensity, cloud information, wind direction, wind intensity, vortex information, gust intensity, temperature, precipitation and/or visibility, etc. Environmental data can have an impact on time-of-flight planning as well as on distance-of-flight planning. The control information can be calculated by means of the environment data.

The control information can be determined, for example, by means of usual weather values, such as wind intensity, wind direction, wind speed, gust intensity and/or cloud cover, and information about the time of day from which the solar altitude can be calculated. In particular, the use plan can be implemented and/or integrated into the production plan and the operating plan of the wind power plant or the entire wind power plant. For example, the planning of the use may be done at a time when no wind is forecasted, in which case the wind power plant is not operating anyway. On the other hand, the planning of use may also be performed as follows, checking only to wind speeds below a threshold.

The use of the planning of use in relation to the environmental data enables the wind power installation, in particular the rotor blades, to be checked in an extended range of suitable weather. In particular, the examination time can be shortened, since the use plan is also particularly dependent on the lighting situation and a sufficiently good recording quality can be ensured thereby. This promotes a minimum of plant downtime.

The environmental data may be provided, for example, manually or through a data interface, in particular from a SCADA system, in particular wired or wirelessly.

The wind direction can be determined in particular by means of the environmental data. This makes it possible to set the flight path plan such that the inspection tool is operated on the windward side of the operating device. By operating the device in operation on the windward side, eddy currents on the inspection tool can be avoided or reduced. The operation of the inspection tool on the windward side of the operating device may mean operation on the pressure side.

The look direction of the sensor may also be set by knowing the wind direction and hence the positioning of the inspection tool relative to the rotor. In particular, the inspection device can be driven counter to the wind direction, so that its position is fixed relative to the wind power installation. The sensor position, in particular the camera position, can then be directed obliquely to the rear and/or downward or upward. Also a recording with more than one sensor, for example two sensors, for example two cameras, is possible. The sensors may also be distributed over two inspection tools.

According to one embodiment, not only the control information but also the device parameters are influenced in dependence on the environmental data. The azimuth angle and/or pitch angle of the wind power installation can thus be adjusted, for example, as a function of environmental data, in particular the wind direction, the wind intensity, the vortex intensity and/or the solar altitude. The adjustment can preferably be carried out within a set and/or permitted range.

By orienting the wind power installation according to the environmental data, a corresponding alignment with the light source, for example the sun, can be carried out. Thereby enabling adjustment of device parameters in dependence of environmental data. Control information may also be determined based on the adjusted device parameters and environmental data. Thus, for example, the mileage of the inspection tool may be adjusted to move relative to the wind power installation, thereby optimizing the illumination of the rotor blade, in particular the blade edge and/or the blade surface. Further, under the condition that the light intensity is known, for example, the exposure time of the camera can be adjusted. Furthermore, for example, the zoom or camera angle or autofocus can also be adjusted in the control information if the distance to the wind turbine is known.

It is likewise proposed that the environmental data be measured not only at the wind power installation, but also, for example, at a measuring device located remotely from the wind power installation, for example, a wind power measuring mast, a buoy-based or pod-based LIDAR measurement in the vicinity of the wind power installation to be examined. Such transmission of environmental data may be performed, for example, by WLAN, UHF, VHF, mobile radio, directional radio, and the like. Relaying (Relaying) of data between different wind power installations is also possible, so that weather data are transferred from wind power installation to wind power installation, so that the target wind power installation can be reached and analyzed there. Such information can also be transmitted via fiber optic cables between the wind power installation and the steering tower.

In particular, environmental data of a wind power installation arranged upstream of the wind power installation to be examined can be used. In particular, gust information can be used to change the actual control information, for example to be able to react to an approaching gust.

According to one embodiment, it is proposed that the processor is provided for outputting the device parameters for the wind power installation via the device interface. The device parameters may be related to environmental data and/or operating parameters, among other things.

In this case, in particular the positioning of the wind power installation, in particular the azimuth angle and/or the pitch angle, with respect to the wind direction and the solar altitude is significant. Based on the adjusted device parameter, the flight path can be adjusted such that it extends along the wind power installation with the defined parameter to be adjusted. The sun can be located, for example, on the side facing away from the sensor recording direction. An optimal illumination for the examination can then be achieved by means of a light source inside a hemisphere that is arched behind the sensor plane. The positioning of the inspection tool can also be controlled in order to avoid shadows being cast on the wind power installation or the rotor blade.

The viewing angle of the camera may be such that it points away from the position of the sun. The wind power installation can be rotated into this position by adjusting the azimuth angle thereof, so that the inspection tool is located essentially between the light source and the at least one rotor blade. Preferably, the inspection tool is located between the light source and the wind power installation. Positioning just between the light source and the rotor blade is strictly undesirable due to the drop shadow. Specifically, the light source should be located within a hemisphere with an infinite radius, the axis of symmetry of which is the direct connection of the image sensor to the blade surface to be imaged. It is thus achieved that the azimuth angle and, if necessary, the pitch angle are first adjusted as a function of environmental data, for example the sun altitude and/or the wind direction, so that the inspection tool, when positioned as described above, is also located on the windward side of the respective rotor blade. This promotes optimal shooting conditions while at the same time low eddy currents.

According to one embodiment, the inspection tool is an unmanned aerial vehicle, in particular a single-rotor aircraft (monocope) or a multi-rotor aircraft (Multicopter). The inspection tool may also be a VTOL aerial vehicle that can take off vertically and be levitated with wings for generating lift. Finally, the inspection device can be a tracker fixed to the wind power installation or to a pivotable arm. In this case, for example, an arm which is arranged so as to be pivotable on the nacelle or the tower may be provided, on the end of which the gimbal tracker is arranged. A sensor, in particular a camera, can be arranged on the gimbal. By means of the pendulum ability about at least two axes, the tracker is therefore well suited for the best possible utilization of the lighting situation on the wind power installation at the time of its respective run-out.

By analyzing the wind direction and the air flow speed of the wind, the aircraft can be positioned in the wind, so that a static levitation flight is achieved by the air flow to the wings. This reduces power consumption as lift is achieved at least in part by the blowing wind.

It is also recognized that the VToL aircraft may be equipped differently depending on wind speed or other weather conditions. It is therefore also proposed that wings of different sizes and/or different profiles can be used depending on the inspection task and the environmental conditions. It is also recognized that it is meaningful to utilize the lift generated by the wind only when the wind speed is above the lowest limit speed. An aircraft can also be used without wings if the environmental data show that there is not a strong enough wind or a long enough changeover section with corresponding relative airflow of the wings is provided. It is also possible to choose between single-rotor/multi-rotor aircraft and VTol aircraft in the use plan depending on the environmental conditions. In this case, the selection can be carried out automatically with the aid of arithmetic.

The use of wings may also be advantageous when the aircraft is being moved from a first wind power installation to a second wind power installation. The flight path planning can also be such that, in particular, the wind flowing between the wind power installations during the transition supports the flight characteristics and, in particular, provides sufficient lift. Thus, a reduction of the drive energy storage and the rotor can be performed. In addition, longer flight times can also be achieved.

According to a further embodiment, it is proposed that the device parameter comprises geographical information of the wind power installation and/or the operating parameter comprises geographical information of the inspection tool, and the processor creates the control information at least on the basis of the geographical information.

By using the geographical information of the wind power installation and of the inspection device, which can be provided to the processor as installation parameters and/or operating parameters, the processor can adapt the control information to the actual position of the inspection device, respectively. Unlike the case where only distance sensors are used, the distance of the inspection tool with respect to the wind power installation does not have to be permanently measured and corrected. It should be mentioned here that the combination of a distance sensor with geographical information can be advantageous. Given the knowledge of the geographical information, the respective region of the rotor blade surface or each point of the rotor surface can be determined, for example, from the geographical reference system of the device location, and the position and orientation of the rotor blade in space, for example, from the geometry of the 3D CAD data. If the azimuth angle, pitch angle and/or rotor angle are also known, the points on the rotor blade surface or their position in space can be determined with a sufficiently high accuracy. If the position of the inspection tool in space is known, the distance between the point/area to be measured on the surface of the rotor blade and the inspection tool can thus be calculated. This distance information can be used to calculate the flight path and to orient and shoot parameterization.

Apart from using the geographical information, a distance sensor can of course also be provided on the inspection tool alternatively or in superposition. The distance of the inspection tool relative to the wind power installation or the rotor blade can be set by means of the distance sensor. By combining the distance sensors with the geographical information, redundant collision avoidance measures are achieved. Furthermore, dynamic geo-fencing (Geofencing) can be performed, wherein for example the distance of the inspection tool from the rotor blade is always not allowed to fall below a minimum value.

The dynamic geofence may be related to device data, particularly to azimuth and/or pitch angles. If the device data changes, it may be necessary to have the position of the aircraft relative to the wind power installation likewise change. The position of the inspection tool can thus be determined and transmitted to the inspection tool by using the device data, in particular the pitch angle and the azimuth angle, in association with the control information.

GPS signals can be used for determining the position in space or differential GPS signals can also be used for more accurate determination, for example in the field of RTK measurements. Furthermore, the Glonass (Glonass) signal, the beidou signal, or the Galileo (Galileo) signal may be used as well for determining the geographical information.

By identifying the position of the inspection tool and the position of the rotor blade, in particular at each point in time, the activation time of the sensor can be synchronized with the passage of the rotor blade within the field of view of the sensor. If the rotational speed of the hub and/or the hub angle are known, the position of the rotor blade can be determined at each point in time. If the position of the examination tool is also known, as well as the orientation of the sensor, in particular its field of view, the recording window of the sensor can be determined. The rotor blade to be examined should be located in this recording window at the triggering time. It is possible to calculate when this is the case, so that the triggering can be synchronized with the passage of the rotor blade through the recording window.

Furthermore, it is possible to calculate using other information, for example environmental data, in particular the lighting situation. From this, the required distance of the inspection tool from the rotor blade under inspection can be determined and written into the flight path plan. A predefined quality criterion, for example a predefined maximum resolution, may be determined. To obtain this quality criterion, the scaling factor and/or the exposure time may be influenced/adjusted, for example. The calculation of the position of the inspection tool based on the quality criteria may be performed in the inspection tool control device or may be performed on-line within the inspection tool itself.

Instead of or in addition to the distance sensor and/or the geographical information, an optical sensor in the inspection tool may also detect a reference on the rotor blade. In particular, the reference can be determined by laser projections on the rotor blades and corresponding reflectors, for example, for the activation times of the sensors.

In addition to determining the position by means of the above-described method, the position can also be determined, for example, on the basis of information about a wireless network, for example a WLAN network or a GSM network. The position information can also be derived here, even if it is not accurate.

According to one embodiment, it is proposed that the processor is provided for receiving real-time data via the device interface and/or the tool interface. This makes it possible to adapt the control information, in particular for the sensors, as a function of the actual installation data and the operating data. The synchronization of the sensor recording time point with the passage of the rotor blade past the sensor recording window can be carried out, for example, on the basis of the device data transmitted in real time to the inspection tool.

The operating information and the sensor information can also be transmitted from the examination tool to the wind power installation in real time via wireless communication, for example a WLAN. In particular, data can be streamed in real time. The analysis can be performed in almost real time with the aid of the received data. The data may also be further conducted to the center. Communication may also be performed wirelessly or by wire, in particular using fiber optic cables.

As already mentioned, with the aid of the control device for the inspection tool according to the invention, the travel distance and the time of flight can be calculated, which can also be understood as a usage plan. The calculation can be performed automatically, based on device data, operating data and/or environmental data, among other things.

By calculating the flight path, it is possible to set the system data beforehand as well, in particular, the azimuth angle, the rotor angle and/or the pitch angle of the wind power installation as a function of the flight path and the flight time, for example. Furthermore, the adjustment is also dependent on environmental data, in particular the sun height, wind direction or wind intensity, for example. The flight path length can be reduced and/or the flight time of each device can be kept as low as possible by a previously calculated flight path length taking into account the actual and/or future environmental data, device data and/or operating data.

During the planning of the flight path, the lighting situation can be taken into account. The angle of incidence of the light source, for example sunlight, on the surface of the rotor blade can be calculated beforehand. From which the time of flight (e.g. time of day) as well as the azimuth and/or pitch angle can be adjusted. Furthermore, the flight path can be adjusted so that, in particular, the inspection device is positioned during the recording in such a way that an optimal illumination situation is achieved with respect to the light source and the wind power installation. Even small surface irregularities, such as micro-cracks, can be photographically or photometrically captured, especially in the case of strip light, where the angle of incidence of the light is oblique from the rear or side.

It is also possible to determine beforehand the orientation of the inspection tool or the direction of view of the sensor towards the rotor blade. It is thus possible to record picture recording angles relative to the longitudinal axis of the blade or relative to the chord of the blade profile in the flight path plan, so that the set range of picture recording angles is maintained. In addition, the device orientation can also be determined according to the device parameters and output as device data.

In the course of the flight planning, it can be automatically determined in which spatial region the inspection tool can be positioned relative to the rotor blade. In particular, the height of the inspection tool, the position of the inspection tool and/or the horizontal distance parallel and/or perpendicular to the rotor axis can be determined for an optimal recording of the respective region of the rotor blade.

The position on the leeward side of the rotor blade can also be calculated, wherein no impermissible effects are caused on the flight stability or the picture quality. This can be achieved, for example, by calculating vortices which can be correlated in particular with the wind direction relative to the azimuth angle of the wind power installation. Here, in particular the shielding of the tower or the base may be critical. By adjusting the pitch angle of the rotor blades, it is possible to perform a recording also from the lee side of the individual rotor blades as a function of the wind speed, the gust intensity and the vortex intensity. In particular, the rotor speed and/or the pitch angle can be adjusted in order to minimize the occurring eddy currents and thus to maximize the spatial and temporal use of the inspection tool.

Environmental information, in particular turbulence, of wind turbines located far from the wind turbine actually to be examined can also be taken into account in the flight path planning. In order to reduce eddy currents, the individual wind turbines can be operated with reduced power in the direction of the wind, starting from the point of use of the inspection device. Thus, the turbulence on the leeward side of these reduced power wind power installations is expected to be lower. Such a control of the power reduction can be carried out automatically based on modeled or measured empirical values. The settings of the wind power installation on the windward side can thus be changed, for example, on the basis of real-time data of the inspection tool, for example, strong vibrations or position changes caused by eddy currents, or on the basis of measurements with the aid of eddy current meters, lidar or the like.

Network coverage via a radio network can also be taken into account in the flight planning. Spatial and/or temporal coverage of wireless signal transmission sections within the range of the wind power plant, for example WLAN, mobile radio, UHF, VHF, etc., can be taken into account for flight route planning. Here, the effective range and the shadowing effect of fixed and moving structures can be taken into account.

Future states of the wind power installation due to weather, maintenance or operational constraints can also be taken into account for the time-of-flight planning. In particular, the check can be carried out particularly simply when maintenance is to be carried out anyway, which can be critical for the calculation of the time-of-flight plan.

Another aspect is an inspection tool according to claim 10. The inspection tool automatically supplies control information, which may contain, in particular, the time of flight and the flight path plan, via an inspection tool control device.

According to one embodiment, at least one sensor, preferably an imaging sensor, can be arranged on the inspection tool. The orientation of the sensor can be carried out as a function of the control information, so that the sensor can be aligned, in particular, in the direction of the wind power installation.

The sensor may in particular be a photographic sensor, but other sensors may also be used, such as infrared sensors, laser sensors, lidar or radio radar sensors, terahertz sensors (Teraherzsensor), roentgen ray sensors, ultrasonic sensors (where contact between the sensor and the rotor blade may be required) and other passive and/or active sensors for contactless inspection, in particular for contactless measurement of reflected radiation (for example also for displaced speckle interferometry).

The sensor data may be processed and encoded within the inspection tool in near real time.

The data acquired by the sensors can also be analyzed photographically, photometrically or photogrammetrically. The analysis of the photogrammetry of the blade geometry can be performed by using dimensional information or reference points or reflectors on the rotor blade.

Artificial light sources may be used under conditions used in the dark or in low sunlight. The pointing direction of the light source can be calculated by combining the pitch angle of the shooting time and the corresponding hub angle, so that the optimal illumination performance is obtained. Additional illumination sources may also be made to emit radiation at wavelengths outside the visible range. The additional illumination sources may be ground based or as such, flying. Additional illumination sources may also be arranged on the inspection tool itself or used as a separate platform, in particular a drone. The flight path and/or the flight time can also be synchronized between the additional lighting device and the inspection tool.

As described above, control information for the sensor may also be present in the control information. In particular, the trigger time point, exposure time, aperture, sensor orientation, focal length of the imaging sensor can be correlated with the control information.

The positioning of the inspection tool relative to the wind power installation can also be done by means of control information. Furthermore, the self-sufficient positioning of the inspection tool can be done on the basis of optical markings on the wind power installation itself. Combinations of these two orientations are also possible.

In particular, the distance of the inspection tool or its sensor from the rotor blade to be inspected can be critical for the adjustment of the sensor. Especially for focus adjustment of the sensor, the distance information may be critical. The autofocus of the camera can be assisted, for example, by means of information about the relative distance between the inspection tool and the wind power installation. The search range for camera autofocus can be limited as much as possible by informing the autofocus of the distance information in advance and only focusing it in a very narrow search area.

Another aspect is a method of operating an inspection tool according to claim 15.

In the course planning, a plurality of wind turbines can be checked one after the other. By optimizing the flight path, in particular as a function of the environmental data, the inspection tool can be moved from the first device under inspection to the second device under inspection. In this case, the flight path planning is preferably carried out such that the height changes of the inspection tool are reduced as much as possible, since this results in lower power consumption and thus in longer flight times.

A float may also be provided for the inspection tool. In particular, the cavity that would be present anyway in the interior of the aircraft can be made watertight, so that it constitutes a float. The inspection tool is prevented from sinking when inspecting offshore equipment by the float in the event of sea damage. The float may in particular also be a wing of the aircraft, if present. Other structures may also be designed as a watertight chamber so that it acts as a floating body.

The inspection tool has means for wireless communication. In particular for receiving control information and for transmitting operating data and sensor data. The operational data may include sensor data. It is also possible to have one inspection tool act as a carrier and/or relay for data transfer of another inspection tool. Direct data transfer between the inspection tool and fixed or mobile communication structures is also possible. The mobile communication structure may be, for example, an automobile, a boat, or a manned or unmanned aircraft.

In the course planning, it is possible to take account of which relay stations and wireless communication links are available, so that the course is planned as far as possible along the flight path in which the communication links are implemented.

In order to achieve as little downtime as possible, it is proposed that the inspection tool be chargeable at as many locally stationary structures as possible. The positioning of the charging station and the temporary parking of the inspection tool at the charging station during the inspection process can be taken into account in the flight path planning. Such charging stations may be built on land and offshore fixed or mobile structures.

By considering actual and/or forecasted environmental data in real time, the control information can be adapted to the changing environmental data. It may be necessary to drop the inspection tool, especially in rapidly changing weather conditions. For this purpose, an onshore or offshore landing structure is provided. The flight path planning may also be such that the distance to the landing structure is not higher than a maximum.

The range of focal length, exposure time, etc. may also be adjusted according to environmental conditions (especially the illumination intensity and the "wobble, Wackler" of the inspection tool, i.e. the differential change in position and orientation in all three spatial directions/around all axes).

Depending on the determined parameter ranges, a plausibility check or quality check can be carried out directly after the recording on the basis of the actual recording data, and the recording can be refuted under unacceptable conditions (for example, too high an acceleration for the adjusted exposure time).

For adjusting the exposure time, for example, the maximum expected speed and/or the angular speed of the point to be recorded relative to the center of the recording sensor can be used. This can be derived, for example, from the rotational speed of the rotor blade and the recorded average or maximum acceleration of the inspection tool caused by the superimposed eddy currents.

The inspection tool may be equipped with one or more sensors. The sensors may also be replaced so that the examination is performed first with the aid of the first sensor and then with the aid of the second sensor.

Drawings

This and other aspects are further elucidated below on the basis of the drawings showing embodiments. Shown in the drawings are:

FIG. 1 schematically illustrates a system having an inspection tool control and an inspection tool;

FIG. 2 shows a schematic view of a wind power installation with an inspection tool;

FIG. 3 shows a schematic view of the flight path of the inspection tool along the wind power installation;

FIG. 4 illustrates a schematic view of the positioning of an inspection tool at a rotor blade;

fig. 5 shows a schematic view of a flight path planning within a wind power plant.

Detailed Description

Fig. 1 shows an examination tool control device 2 with a device interface 2a as well as a tool interface 2b and a processor 2 c. Of course, the illustration in fig. 1 is very simplified and the inspection tool control device may contain other elements, such as a memory and other components required for calculating the flight path and the flight time. The examination tool control device 2 can be operated by means of a software product which is at least partially executed according to the method of the invention. The inspection tool control device may also be implemented completely or partially on the aircraft of the inspection tool.

Fig. 1 also shows a wind power installation 4 and an inspection tool 6.

Instead of the wind turbine 4, a SCADA system of the wind turbine 4 or of a wind power plant (Windpark) can also be used.

The inspection tool 6 may be configured in particular as a drone, for example a multi-rotor aircraft (Multicopter) or a VToL VTOL with fixed or movable wings.

Fig. 1 shows that a device interface 2a is provided for wireless communication with a wind power installation 4. Of course, wired communication is also possible, or communication consisting of wireless communication and wired communication is also possible.

Fig. 1 also shows that the tool interface 2b establishes a wireless communication with the examination tool 6. The communication may also be at least partially wired. The communication between the tool interface 2b and the inspection tool 6 can also be performed through a relay station.

Device data are exchanged bidirectionally via the device interface 2a, in particular between the inspection tool control 2 and the wind power installation 4. Both real-time data and also predictive data of the wind power installation 4 can be transmitted to the inspection tool control 2. In order to influence the operation of the wind turbine 4, the device parameters may also be transmitted by the test instrument control device 2 to the wind turbine 4 via the device interface 2 a. This makes it possible to influence the wind power installation during operation, in particular the installation parameters, such as the pitch angle, the azimuth angle and/or the like.

Control information is transmitted from the inspection tool control device 2 to the inspection tool 6 through the tool interface 2 b. The control information may be, in particular, a flight path, a flight time, sensor control information, distance information, geographic information (for example also position information which may define a minimum distance or serve as a location for other fixed or mobile structures), or the like. The inspection tool 6 can input operation data into the inspection tool control device 2 via the tool interface 2 b. The operating data are, in particular, real-time data, i.e., the operating data of the inspection tool 6 are transmitted in real time to the inspection tool control device 2.

The data are processed by means of the processor 2c and device parameters and/or control information are created accordingly, which are sent to the wind power installation 4 or to the inspection tool 6.

In addition to the device parameters, control information and operating parameters, environmental data can also be input into the inspection tool control device 2 via an interface, not shown.

The inspection tool control device 2 thus forms a real-time interface between the wind power installation 4 and the inspection tool 6. Thus, both the planning of the use of the inspection tool 6 as a function of the predictions, in particular with regard to weather data, and the real-time control of the wind power installation 4 and of the inspection tool 6 in relation to one another and/or also as a function of environmental data, maintenance and use planning information for the individual wind turbine sites of the wind power plant, energy market data or the like are achieved.

The flight path of the inspection tool 6 is first planned by means of the processor 2 c. The position of the sun and the wind direction are preferably taken into account here. By setting the azimuth angle appropriately, it is achieved that the inspection tool 6 is positioned between the sun on the windward side of the wind power installation 4 and the wind power installation. The respective position of the rotor blade can be transmitted to the inspection tool 6 in real time, so that the inspection tool can be guided on a suitable flight path, or, if the respective rotor blade moves past the field of view of the sensor while the rotor is rotating, a camera or other sensor on the inspection tool 6 can be triggered at a precise point in time.

Fig. 2 shows a possible positioning of the inspection tool 2 relative to the wind power installation 4. Fig. 2 shows the wind power installation 4, its azimuth angle 8 and the pitch angle 10 of its rotor blades 12, which are derived from the actual operating state or can be actively influenced in order to obtain the best possible recording quality.

The inspection tool control device 2 receives environmental data, such as information about the wind direction 14 and the angle of incidence 18 of the sun. The azimuth angle 8 is set according to the wind direction 14 and the incident angle 18. Next, the inspection tool 6 is positioned on the windward side of the rotor blade 12.

The pitch angle 10 of the rotor blades 12 may, for example, be brought into a feathered position (Fahnenoposition) so that the wind power installation is freewheeling. This promotes as low a swirl as possible in the region of the rotor blades 2. The rotor blades 12 can now be inspected individually by means of the inspection tool 6.

Fig. 3 shows an exemplary flight path along the wind turbine 4. The rotor blade circumference 20 is divided into two circular segments 20a, b. The rotor blade 12 rotates about the hub 22 and passes here over two circular sections 20a, b. The azimuth angle 8 is adjusted so that the wind is preferably directed into the view plane. By means of the flight path 24, it is achieved that both all rotor blades 12 and the blade leading edge and the blade trailing edge on the pressure side and/or suction side, respectively, are inspected with the least possible amount of movement of the inspection tool 6.

By a suitable adjustment of the pitch angle 10 and by a suitable orientation of the sensor unit, it is achieved that in the circular section 20a, for example, the suction side of the blade can be checked, and in the circular section 20b, the pressure side of the blade can be checked.

The inspection tool 6 is first moved over the flight path 24 into the circular segment 20 a. The rotor blades rotate and pass through all of the circular section 20 a. With knowledge of the rotational speed of the wind turbine or the hub 22 and thus of the respective position of the rotor blades 12, the inspection tool 6 can, by suitable control, each perform a recording or other sensor inspection of one of the rotor blades 12, in particular of the blade pressure side, at a specific point in time. By identifying the rotor blade position and the position and orientation of the inspection tool or sensor unit, it is achieved that the respectively acquired value corresponds to a rotor blade or its position on the longitudinal axis. After all three rotor blades 12 within the circular section 20a have been inspected, the inspection tool 6 is moved along the flight path 24 into the circular section 20 b. In this case, preferably no height changes are made, which leads to an increase in the flight time.

Next, as in the circular section 20a, each rotor blade 12 is inspected within the circular section 20b, wherein, for example, the blade pressure surface can be inspected by appropriately adjusting the pitch angle 10.

By means of suitable geographical information and the geometric data of the rotor blade 12, it is achieved that the distance 26 between the inspection tool 6 and the rotor blade 12 is taken into account in the flight path planning.

Fig. 4 shows that the inspection tool 6 has a distance 26 from the rotor blade 12. The distance 26 is preferably pre-calculated. In operation, the geographic data of the inspection tool 6 is known. Furthermore, if the geographical data of the wind power installation 4 and thus of the rotor blade 12 are known, the relative distance 26 between the inspection tool 6 and the rotor blade 12 can be determined. The flight path 24 is set to maintain this distance 26.

Sensors 6a, such as a camera and a distance sensor 6b, may be provided on the inspection tool 6.

Markings 12a, for example reflectors, may be provided on the rotor blade 12. By means of the distance sensor 6b, the marking 12a can be read and thus alternatively or in addition the distance 26 of the inspection tool 6 from the rotor blade 12 can be determined.

It should furthermore be recognized that the sensor 6a, for example a camera, has a viewing direction 28 and a viewing angle 30. Both can be adjusted independently of the orientation of the inspection tool and changed continuously along the flight path if necessary. This achieves the most ideal orientation of the sensor for the most energy-efficient flight path within the preset boundary conditions of the recording quality.

The flight path 24 is planned such that the wind direction 14 and the angle of incidence 18 are such that the inspection tool 6 is located on the windward side of the rotor blade 12 and the light source is located on the side of the image sensor plane facing away from the image recording object.

Fig. 5 shows a possible flight path plan, in which a flight path 24 follows a plurality of wind turbines 4 in a wind farm. Depending on the wind direction 14, the inspection tool 6 starts from a launch station 32 (e.g. located at a substation of a wind power plant) and first flies in the direction of the specific wind power installation 4. In this case, the inspection tool 6 is positioned in front of the wind power installation 4, so that the irradiation situation is optimized, as described above. The flight path 24 is then planned taking into account the wind direction 14, so that the next wind power installation 4 can be flown to with the lowest possible energy consumption.

Fig. 5 shows the lower left wind power installation 4. Vortices or vortices 34 are generated by the upper left wind power installation 4, which may affect the inspection of the second wind power installation 4 by the inspection tool 6. Influencing the plant data by online evaluation of operational data, control information, environmental data and plant data is achieved such that eddy currents 34 are minimized.

Also shown in figure 5 are mobile and stationary back-up landings 32a, 32 b. This can be taken into account in the course planning and used in the event of a fault or for intermediate refuelling (charging) if necessary.

Description of the reference numerals

2 inspection tool control device

2a device interface

2b tool interface

2c processor

4 wind power installation

6 inspection tool

6a camera

6b distance sensor

8 azimuth angle

10 pitch angle

12 rotor blade

14 wind direction

18 angle of incidence

20 circumference of

20a, b circular section

22 hub

24 flight path

26 distance

28 direction of vision

30 view angle

32 emission points

34 vortex flow