JP2018181235A - Report generator, wind power generation equipment inspection system, program, and method for generating inspection report of wind power generation equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a report generator capable of highly efficiently performing generation work of an inspection report of power generation equipment, a power generation equipment inspection system, a program, and a method for generating an inspection report of the wind power generation equipment.SOLUTION: A wind power generation equipment inspection system 1 includes a report generator 6 that acquires an image captured by a camera 3 attached to an unmanned flight body 2, with a part of wind power generation equipment 4 defined an observation object, acquires flight position information of the unmanned flight body 2, and associates the image with the flight position information. Further, when an image including the observation object such as damage is selected, the report generator acquires the position information of the observation object on the basis of the flight position information associated with the selected image, and generates and outputs an inspection report 75 including at least the image and the position information of the observation object included in the image. This configuration can easily generate the inspection report with which a user can clearly acquire the image and the position of the damage or the like included in the image.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a report preparing device, a wind power generation facility inspection system, a program, and a method of preparing a wind power generation facility inspection report, and more particularly, to a technology for supporting a wind power installation inspection.

  Large-scale wind turbines have a maximum height of over 100 m. As a method of performing an appearance inspection of such a structural part of a wind power generation facility, a method of performing visual inspection with a telescope from the ground (telescope inspection), a method of performing proximity visual inspection by high work using a rope work (rope Work inspection), there was a method (bucket car inspection) etc. to do proximity visual inspection using a high place bucket car. Among these inspection methods, there is an advantage that telescope inspection can be performed easily at any time, but there is a problem that it is difficult to detect fine damage caused to blades of a wind power generation facility and the detection sensitivity of damage is inferior. On the other hand, although ropework inspection and bucket car inspection can be carried out in close proximity, inspection takes time and there is a problem that it can not be carried out because of danger when wind is strong.

  Further, in recent years, a photographing service by an unmanned air vehicle (UAV) has been provided for structural inspection of high-level facilities such as wind power generation facilities, chimneys, and oil refining facilities (Non-Patent Document 1). For example, in Patent Document 1, while taking a picture using a camera attached to an unmanned aerial vehicle, the distance to the inspection object is measured, defects such as peeling and rust are detected, and the width and length of the defects Systems and methods for measuring the size of, etc. are described.

U.S. Patent Application Publication 2012/0262708

"THE WORLD LEADER IN AERIAL INSPECTION AND SURVEY USING UAVS", [online], [search on April 12, 2017], Internet <URL: http://www.thecyberhawk.com/>

  As described above, although there are various inspection methods for wind power generation facilities, the frequency of inspections, inspection methods, inspection standards, and the like differ depending on the business operator. On the other hand, with the rapid spread of wind power generation facilities, it is expected that regular inspections will be required from now on. For this reason, there is a demand for development of a more versatile and versatile inspection system and analysis tool.

  The present invention has been made in view of such problems, and is capable of efficiently performing inspection work of a wind power generation facility and preparation of a maintenance report, a wind power generation facility inspection system, a program, and The purpose is to provide a method for preparing an inspection report of a wind turbine.

  According to a first aspect of the present invention, there is provided an image acquisition means for acquiring an image obtained by photographing a part of a wind power generation facility by an imaging means attached to an unmanned aerial vehicle, and an flight of the unmanned aerial vehicle. A flight position information acquisition means for acquiring information of a position, a data collection means for linking the image and information of the flight position, a selection means for selecting the image including the observation target, and a string for the selected image Based on the information of the attached flight position, the report generation for creating an inspection report including calculation means for obtaining position information of the observation target, and at least the image and the position information of the observation target included in the image A report preparing apparatus comprising: means; and an output means for outputting the inspection report.

  According to the first aspect of the present invention, the imaging means attached to the unmanned aerial vehicle acquires an image captured for observation of a part of the wind power generation facility, and acquires information on the flight position of the unmanned aerial vehicle, When the image including the observation target such as damage is linked with the position information, the position information of the observation target is determined based on the information of the flight position linked to the selected image, and at least the image and the image are included It is possible to provide a report creating apparatus that creates and outputs an inspection report including the position information of the observed object. As a result, it becomes possible to efficiently carry out the work of preparing an inspection report of the wind power generation facility, and it becomes possible to support the analysis work of inspection data.

In the first invention, the computing means calculates distance information from the reference position to the flight position based on the information on the flight position linked to the image and the information on a predetermined reference position. It is desirable to obtain as position information of the observation object.
This makes it possible to easily confirm where the observation target such as damage is from the predetermined reference position.
The image processing apparatus may further include reference image selection means for selecting an image including a region to be a reference of the wind power generation facility, wherein information of the reference position is associated with the flight position linked to the image selected by the reference image selection means. It may be information.

  Further, the data collection means ties the image and the information of the flight position based on the information of the flight time acquired together with the information of the flight position, and the information of the photographing time added to the image. You may leave it. Thereby, the information on the image and the flight position can be suitably linked.

  Assuming that the observation target is damage to the wind power generation facility, damage to the wind power generation facility can be confirmed from the image taken by the photographing means attached to the unmanned air vehicle, and the position of the damage is determined to check the inspection report. It can be described.

  The inspection report may further include damage type determination means for determining the type of damage, and the inspection report may include information on the type of damage. The types of damage include "erosion", "dents", "lightning marks", "cracks", and the like. The inspection report further includes a distance acquisition unit that acquires a distance between the imaging unit and the observation target, and a size calculation unit that calculates the size of the observation target from the distance to the observation target and the image information of the image. The item may further include information on the size of the observation target. A detailed inspection report can be easily created by including analysis information such as the type and size of the damage (observation target site) in the inspection report as described above.

  A second invention comprises: an unmanned air vehicle flying remotely, an imaging means attached to the unmanned air vehicle, and an information terminal for producing an inspection report, the unmanned air vehicle comprising the unmanned flight An image acquisition unit configured to acquire an image obtained by imaging a part of the wind power generation facility by the imaging unit, the flight position information acquiring unit acquiring information of a flight position of the body; Data acquisition means for acquiring information on the flight position of the body and associating the image with the image, selection means for selecting the image including the observation target, and information on the flight position associated with the selected image Outputting the inspection report, calculation means for obtaining position information of the observation target, report generation means for generating an inspection report including at least the image and position information of the observation target included in the image; And output means for a wind power generation equipment inspection system comprising: a.

  According to the second invention, the information terminal acquires an image obtained by photographing a part of the wind power generation facility as an observation target by the photographing means attached to the unmanned air vehicle flying by remote control, and the flight of the unmanned air vehicle The position information is acquired, and the image and the flight position information are linked. When an image including an observation target such as damage is selected in the information terminal, the information terminal obtains position information of the observation target based on the information of the flight position linked to the selected image, and includes at least the image and the image. Create and output an inspection report including the position information of the observed object. Accordingly, it is possible to provide an inspection system of the wind power generation facility capable of taking an image for observing a part of the wind power generation facility and efficiently performing an inspection report preparation operation using the image. It becomes possible to carry out the analysis work of wind power plant inspection and inspection data smoothly and easily.

  In a third aspect of the present invention, an image acquisition means for acquiring an image obtained by photographing a computer as part of a wind power generation facility by an imaging means attached to the unmanned aerial vehicle, and information on the flight position of the unmanned aerial vehicle Flight position information acquisition means, data collection means for linking the image and information of the flight position, selection means for selecting the image including the observation target, information of the flight position linked to the selected image And calculating means for obtaining position information of the observation target, report generation means for generating an inspection report including at least the image and position information of the observation target included in the image, and an output for outputting the inspection report It is a program for functioning as a means.

  According to the third invention, it is possible to cause a computer to function as the report creation device of the first invention.

  A fourth invention is a method of preparing an inspection report of a wind power generation facility, comprising: an image acquiring step of acquiring an image obtained by photographing a part of the wind power generation facility by an imaging means attached to the unmanned aerial vehicle; A flight position information acquisition step of acquiring information of the flight position of the unmanned aerial vehicle, a data collection step of linking the image and information of the flight position, and a selection step of selecting the image including the observation target. An inspection step of calculating position information of the observation target based on information of the flight position linked to the selected image, an inspection report including at least the image and the position information of the observation target included in the image A method of preparing an inspection report of a wind power generation facility, comprising: preparing a document; and an output step of outputting the inspection report. .

  According to the fourth aspect of the present invention, the imaging means attached to the unmanned aerial vehicle acquires an image captured for observation of a part of the wind power generation facility, and acquires information on the flight position of the unmanned aerial vehicle, When the image including the observation target such as damage is linked with the position information, the position information of the observation target is determined based on the information of the flight position linked to the selected image, and at least the image and the image are included It is possible to create and output an inspection report including the position information of the observed object. As a result, it becomes possible to efficiently carry out the work of preparing an inspection report of the wind power generation facility, and it becomes possible to support the analysis work of inspection data.

  In the fourth invention, the wind power generation facility includes a nacelle and a plurality of blades connected to the nacelle and disposed so as to be rotatable about a predetermined axis, and the blade is provided before the image acquisition step. The image capturing step includes the step of rotating the unmanned aerial vehicle from one end of the blade to the other end, and the image captured during the flight. It is desirable to obtain Thus, it is possible to provide a method for preparing a wind power plant inspection report suitable for blade inspection.

  Furthermore, it is preferable that the predetermined direction be a vertical vertical direction, and information of the flight position in the vertical vertical direction of the unmanned aerial vehicle be acquired in the flight position information acquisition step. This facilitates flight control of the unmanned air vehicle, and makes it easy to obtain information on the flight position. It is possible to provide a more efficient method of preparing an inspection report of a wind power facility.

  According to the present invention, it is possible to provide a report preparation device, a wind power generation facility inspection system, a program, and a method of preparing a wind power installation inspection report, capable of efficiently performing inspection work of a wind power generation facility inspection report.

Overall configuration of wind power plant inspection system 1 Functional configuration of report generator 6 Internal configuration of the computer that functions as the report generator 6 Diagram showing the overall flow of equipment inspection using wind power equipment inspection system 1 Example of inspection profile 71 set for inspection Example of procedure A of blade inspection Example of procedure B of blade inspection Example of procedure C of blade inspection Example of a photo taken by inspection Flowchart explaining the detailed flow of data collection processing An example of collected data 73 linking photos and flight position information Flow chart explaining the detailed flow of inspection report preparation processing Example of reference position (route) An example of an inspection report 75 created by the report creation device 6 Example of damage table 77 Example of inspection report 76

  Hereinafter, preferred embodiments of the present invention will be described in detail based on the drawings.

  FIG. 1 is a diagram showing an entire configuration of a wind power installation inspection system 1 according to the present invention. As shown in FIG. 1, the wind power installation inspection system 1 is a report for creating an inspection report, an unmanned air vehicle 2 flying by remote control, a camera (shooting means) 3 attached to the unmanned air vehicle 2, And a creation device 6. Further, it is desirable that the wind power installation inspection system 1 includes a storage server 7 that stores collected data, created inspection report, and the like. The storage server 7 is communicably connected to the report creation device 6. Generally, the work of preparing an inspection report is performed at an office or the like apart from the installation place of the wind power generation facility 4. Therefore, in addition to the report preparation device 6 disposed in the office, a photographing person terminal 5 such as a tablet may be further provided as an information terminal used by the photographing person at the inspection site.

  The unmanned air vehicle 2 is an aircraft called a UAV (Unmanned aerial vehicle), a drone or the like, and a person does not board and flies by remote control of a pilot on the ground. The pilot causes the unmanned air vehicle 2 to fly by operating a remote controller (not shown). The unmanned air vehicle 2 used in the present invention mounts the camera 3. The unmanned air vehicle 2 also includes a flight path recording unit that records a flight path during flight. The flight path is data in which information on the flight position of the unmanned air vehicle 2 (hereinafter referred to as "flight position information") and time information are linked, and the storage device or recording medium of the unmanned air vehicle 2 as flight record data Is recorded in The flight position information is information of latitude, longitude, and altitude, and is measured by a GPS (Global Positioning System) receiver or the like provided in the unmanned air vehicle 2.

  Moreover, in order to prevent a collision with the inspection object, it is desirable to mount a collision avoidance sensor or the like on the unmanned air vehicle 2. As described above, the unmanned air vehicle 2 is flight-controlled by remote control, but as its flight control system, the distance between the unmanned air vehicle 2 and the structure detected by the collision avoidance sensor is calculated to check even under strong wind environment It is preferable to have a function to control to perform sufficiently close flight so that a photograph capable of observing the damage of the inspection object can be taken while taking a necessary separation distance so as not to collide with the object.

  The camera 3 is a digital camera that captures an image of the wind power generation facility 4 to be checked. It is desirable for the camera 3 to use a telephoto lens capable of obtaining a sufficient magnification capable of detecting a flaw in the unit of millimeter. It is also desirable that the camera 3 have a resolution high enough to allow identification of flaws in millimeters, and that it can capture digital images with a sufficiently large number of pixels. Further, since the depth of focus becomes shallower as the zoom magnification of the telephoto lens of the camera 3 becomes higher, it is desirable to incorporate an autofocus function capable of accurately focusing on the observation target. The image data taken by the camera 3 is stored in the storage unit of the camera 3 or a recording medium (memory card) or the like, or sequentially transmitted to the person in charge terminal 5 on the ground in real time. When an image is stored in a recording medium (memory card) or the like, the stored image data is collectively transferred to the photographing person in charge terminal 5 after the inspection is completed. The image captured by the camera 2 may be a still image or a moving image.

  The wind power generation facility 4 is a structure having a tower, a nacelle, and a plurality of blades, and is an inspection target of the wind power installation inspection system 1 of the present invention. The blade is connected to the nacelle and is disposed rotatably about a predetermined axis. The inspection method of the wind power generation facility 4 will be described later (see FIGS. 6 to 8).

  The photographing person in charge terminal 5 is an information terminal (computer) such as a tablet used at the site of inspection. The photographing person in charge terminal 5 acquires a preset inspection profile 71, flight control of the unmanned air vehicle 2 according to the inspection profile 71, and photographing control of the camera 3, acquisition of image data from the camera 3, report preparation device Processing such as transfer of image data to 6 is performed. The transfer of the image data from the imaging person in charge terminal 5 to the report preparation device 6 may be data transfer via a recording medium, or data transfer by wired or wireless communication.

  An information terminal (computer) which prepares an inspection report 75 of the wind power generation facility 4 by acquiring the image taken by the camera 3 and the flight record (flight position information etc.) of the unmanned air vehicle 2 It is. The function and configuration of the report creation device 6 will be described later (see FIGS. 2 and 3).

  The storage server 7 is communicably connected to the report creation device 6, and stores data collected by the report creation device 6, data of the created inspection report, and the like. The storage server 7 includes an inspection profile 71 which is setting information of inspection, image data captured by inspection, collected data 73 linking image data and flight position information, etc., data of the inspection report 75 created, etc. It is memorized.

FIG. 2 is a block diagram showing a functional configuration of the report creation device 6.
As shown in FIG. 2, the report creation device 6 outputs a flight record acquisition unit 61, an image acquisition unit 62, a data collection unit 63, an image selection unit 64, an observation target position calculation unit 65, a report creation unit 66, and an output. A unit 67 is provided.

  The flight record acquisition unit 61 acquires flight record data recorded by the flight path recording unit of the unmanned air vehicle 2. Also, flight position information (latitude, longitude, altitude) is acquired from the acquired flight record data. Time information is added to the flight position information. That is, the flight record acquisition unit 61 acquires, from the unmanned air vehicle 2, information on which position the unmanned air vehicle 2 is flying at which time.

  The image acquisition unit 62 acquires image data captured by the camera 3 attached to the unmanned air vehicle 2. To the image data, time information (shooting time) at the time of shooting is added. The image acquisition unit 62 assigns identification information (image ID) such as a file name and an ID to the acquired image, and stores the identification information in the storage server 7 or the storage unit 12. In addition, when a moving image is acquired as image data, identification information (image ID) such as a file name and an ID is added to an image of each frame with each frame of the moving image as one image. Further, it is assumed that the photographing timing of the image of the camera 3 is remotely controlled by the photographing person terminal 5 on the ground.

  The data collection unit 63 generates collection data 73 in which the image acquired by the image acquisition unit 62 (an image of each frame in the case of a moving image) and the flight position information acquired by the flight record acquisition unit 61 are linked. It is stored in the storage server 7 or the storage unit 12. The data collecting unit 63 links the image ID of the image to the flight position information based on the time information acquired together with the flight position information and the shooting time information added to the image. The collected data 73 will be described later (see FIG. 11).

  The image selection unit 64 selects an image including an observation target from the images (the images acquired by the image acquisition unit 62) included in the collected data 73. The observation target is, for example, damage to the wind turbine 4 (including defects, abnormalities, and the like). The selection of the image may be performed manually by the person in charge of inspection report preparation while visually confirming each image, or may be automatically performed by the control unit 11 of the report generation device 6. When manually selecting an image, the control unit 11 of the report preparation device 6 displays a list of a plurality of images acquired by the image acquisition unit 62 on the display unit 16 and receives a selection operation via the input unit 15 . When the control unit 11 of the report creation device 6 automatically selects an image, the control unit 11 of the report creation device 6 detects damage from the image information of the selected image. Damage detection can be performed, for example, by machine learning and pattern classification using multiple images including damage as learning data. The image in which the damage is detected is the calculation target of the observation target position (damage position) in the observation target position calculation unit 65, and it is determined at which position on the blade the damage is.

  Further, in order to set a reference position for calculating the observation target position, a reference image selection unit may be provided. The reference image selection unit selects an image including a part serving as a reference of the wind power generation facility 4 from the images (the images acquired by the image acquisition unit 62) included in the collected data 73. The part serving as the reference is a part that is used as a reference (origin) on the coordinates when obtaining the position information of the observation target, and is, for example, the end of the blade in the case of a blade inspection. As described above, the selection of images may be performed manually by the person in charge of inspection report preparation while visually confirming each image, or may be automatically performed by the control unit 11 of the report generation device 6. Good. When the control unit 11 of the report creation device 6 automatically selects an image including a region serving as a reference, the control unit 11 of the report creation device 6 selects a region serving as a reference from the image information of the selected image (for example, blade inspection If this is the case, the process of detecting the end of the blade is executed. The detection of the reference part can be performed, for example, by machine learning and pattern classification using a large number of images including the reference part as learning data. In addition, when the position information of the part (reference position) which becomes a reference is known by measurement etc. beforehand, selection of the image by a reference image selection part is unnecessary.

  The observation target position calculation unit 65 obtains position information on the observation target (hereinafter referred to as “observation target position”) based on the flight position information linked to the image selected by the image selection unit 64. In the present embodiment, the position to be observed is the distance from the position (hereinafter referred to as “reference position” or “route”) to the damage (observation target) from the position (hereinafter referred to as “distance from the route”) Also referred to as The observation target position calculation unit 65 calculates the distance from the reference position (route) to the flight position based on the flight position information linked to the image and the information of the reference position (route), and the observation target position ( Calculated as distance from the route). The reference position (route) is position information measured in advance and stored in the storage unit 12, or a flight position linked to an image including a region serving as a reference of the wind power generation facility 4 selected by the reference image selection unit. It is information. For example, in the case of a blade inspection, the reference portion is the end of the blade. The positional information on the end of the blade, which is the reference part, differs depending on the inspection method (inspection procedures A to C described later), and therefore, it is necessary to measure each of the inspection methods. On the other hand, when the position information of the reference position is to be flight position information linked to the image selected by the reference image selection unit, it is not necessary to measure in advance.

  The report creation unit 66 creates an inspection report 75 including at least the image and the observation target position (the distance from the route) of the image. Details of inspection report preparation will be described later (see FIGS. 12 to 16).

  The output unit 67 outputs the created inspection report 75. The output includes, for example, display on the display unit 16, storage on the storage server 7 or the storage unit 12, printing on a paper medium from the printer 9, transmission via the communication control unit 17, and the like.

  FIG. 3 is a view showing an example of the configuration of a computer that is made to function as the report creation device 6. As shown in FIG. 3, the report creation device 6 includes a control unit 11, a storage unit 12, a media input / output unit 13, a peripheral device I / F unit 14, an input unit 15, a display unit 16, a communication control unit 17 and the like. It is connected and configured via the bus 18. The printer 9 and other peripheral devices are connected to the peripheral device I / F unit 14. When the computer is made to function as the report writing device 6, the control unit 11 of the computer is realized by executing a program in which the processes shown in FIG. 4, FIG. 10, and FIG. 12 are described.

  The control unit 11 is configured of a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and the like. The CPU calls a program stored in the storage unit 12, the ROM, the recording medium, etc. to a work memory area on the RAM and executes it, and drives and controls each unit connected via the bus 18. The ROM permanently holds a computer boot program, a program such as a BIOS, data, and the like. The RAM temporarily holds loaded programs and data, and includes a work area used by the control unit 11 to perform various processes. The control unit 11 functions as each means of the report writing device 6 by reading and executing the program.

  The storage unit 12 is, for example, a storage device such as a hard disk drive. The storage unit 12 stores a program executed by the control unit 11, data necessary for program execution, an operating system, and the like. These program codes are read by the control unit 11 as necessary, transferred to the RAM, read by the CPU, and executed.

  The media input / output unit 13 is a drive device of various recording media such as CD, DVD, MO, etc., and performs data input / output (write / read) to the media.

  The peripheral device I / F (interface) unit 14 is a port for connecting a peripheral device, and transmits / receives data to / from the peripheral device via the peripheral device I / F unit 14. The peripheral device I / F unit 14 is configured by, for example, a USB or the like, and normally has a plurality of peripheral device I / F. The connection form with peripheral devices may be wired or wireless.

The input unit 15 is, for example, an input device such as a touch panel, a keyboard, a pointing device such as a mouse, and a numeric keypad, and outputs input data to the control unit 11.
The display unit 16 includes, for example, a display device such as a liquid crystal panel or a CRT monitor, and a logic circuit (such as a video adapter) for executing display processing in cooperation with the display device. Display information is displayed on a display device. The input unit 15 and the display unit 16 may be a touch panel display in which an input device such as a touch panel is integrally provided on a display screen.

  The communication control unit 17 includes a communication control device, a communication port, and the like, and controls communication with the network 8 and the like. The network 8 includes a LAN (Local Area Network), a Wide Area Network (WAN) communicatively connected in a wider area, or a public communication line such as the Internet, a base station, or the like. The network 8 may be wired or wireless. The report writing apparatus 6 can access a server (not shown) via the network 8 to transmit and receive various programs and data.

  The bus 18 is a path that mediates the exchange of control signals, data signals, and the like between the devices.

  Next, with reference to FIG. 4, the flow of the whole process which the report production | generation apparatus 6 performs is demonstrated. The control unit 11 of the report writing device 6 reads a program and data related to the process shown in FIG. 4 from the storage unit 12 and executes the process based on the program and data.

  The control unit 11 of the report creation device 6 sets the inspection profile 71 (step S101). The inspection profile 71 is setting information related to inspection, and as shown in FIG. 5, the name and place of inspection object, inspection date and time, inspection location (machine number, inspection site, axis number etc.), manufacturer of unmanned air vehicle 2 used. , Model number, inspection supervisor, pilot of the unmanned air vehicle 2, weather, temperature, and other data items. The inspection profile 71 is generated before inspection in the report generation device 6 or the inspection management device (not shown), and is transmitted to the photographing person terminal 5. The data of each data item of the inspection profile 71 is input through the input unit 15 of the report creation device 6 or the inspection management device.

  Fig. 5 shows an example of the inspection profile 71 of the blade inspection of the wind power generation facility 4, where the location "A wind power plant", inspection date "April 1, 2017", the unit "No. 2", axis number "two axes" , Shooting surface "TE", weather "fine", air temperature "10 ° C", airframe maker "○○○" of unmanned air vehicle 2, airframe model number "「 Δ △ ", supervisor" ××× ", pilot Information such as “●●●” is set.

  Next, inspection of the wind turbine 4 is performed (step S102). The inspection is carried out in accordance with the contents set in the inspection profile 71. Here, a method of blade inspection will be described as an example of inspection of the wind turbine 4. The blade inspection includes, for example, a blade inspection procedure A (fixed direction inspection at 0 o'clock) shown in FIG. 6, a blade inspection procedure B (fixed direction inspection at 6 o'clock) shown in FIG. One-stroke check) etc.

  When inspecting the wind power generation facility 4 composed of three blades 41, 42, 43 connected to the nacelle and rotatable around the main shaft 45, in the blade inspection procedure A (fixed direction inspection) shown in FIG. Before this, first, the blade 41 (42, 43) is rotated so that the blade 41 (42, 43) to be inspected always faces in the direction of 0 o'clock (arrow P in FIG. 6). With the blade 41 (42, 43) to be inspected arranged in the 0 o'clock direction, the unmanned air vehicle 2 is brought close to the inspection surface, and the unmanned air vehicle 2 is caused to fly (rise and descend) along the inspection surface An image is taken by the camera 3. This is repeated for each blade 41 (42, 43). There are 4 inspection surfaces: “LE (leading edge)”, “PS (pressure side)”, “SS (suction side)” and “TE (trailing edge)”, but one, two, or It may be an inspection of only three sides. In this blade inspection procedure A, it is hard to be influenced by how it hits the sun or shadows, etc., and the image looks uniform. Moreover, the flight path of the unmanned air vehicle 2 can be unified, and there is an advantage that steering is easy.

  In the blade inspection procedure B (fixed direction inspection · 6 o'clock) shown in Fig. 7, the blade 41 (42, 43) to be inspected must be in the direction of 6 o'clock (arrow Q in Fig. 7) before taking an image. Rotate to face. With the blade 41 (42, 43) to be inspected arranged at 6 o'clock, the unmanned air vehicle 2 is brought close to the inspection surface, and the unmanned air vehicle 2 is caused to fly (rise and descend) along the inspection surface An image is taken by the camera 3. This is repeated for each blade 41 (42, 43). There are "LE", "PS", "SS" and "TE" as described above for the surfaces of each blade 41, 42, 43, but the inspection surface is only one of these, or two or three. It may be any of the four sides. At this time, when the LE surface of the blade 41 is on the front side of the tower 44, the TE surface faces the tower 44, so it is not possible to shoot the unmanned air vehicle 2 toward the TE surface. Alternatively, the TE surface can be taken out so as not to cover the tower 44. In this blade inspection procedure B, it is not easily affected by the weather or shadows, and the appearance of the image becomes uniform. Further, as compared with the blade inspection procedure A, the flight path of the unmanned air vehicle 2 can be set at a low altitude, so that there is an advantage that the operation is easy.

  Further, in the blade inspection procedure C (one-stroke inspection) shown in FIG. 8, with the positions of the blades 41, 42, 43 fixed, the unmanned air vehicle 2 is brought close to each inspection surface of each blade 41, 42, 43, While flying the unmanned air vehicle 2 along the respective blades 41, 42, 43, an image is taken by the camera 3. For example, first check blade 41 in the 0 o'clock direction, then check blade 42 in the 4 o'clock direction, and then check blade 43 in the 8 o'clock direction. There are "LE", "PS", "SS" and "TE" as described above for the surfaces of each blade 41, 42, 43, but the inspection surface is only one of these, or two or three. It may be any of the four sides. In this blade inspection procedure C, since the inspection can be completed with the blade position fixed, there is an advantage that the operation of rotating the blade is unnecessary. The fixed positions of the blades 41, 42, 43 are not limited to the positions of 0 o'clock, 4 o'clock, and 8 o'clock. It may be fixed at an arbitrary position (for example, 2 o'clock, 6 o'clock, 10 o'clock etc.) depending on the position of the shadow, the influence of the wind, and the like.

  In the present embodiment, blade inspection will be described as an example of wind power generation facility inspection, but the present invention is not limited to this, and is also applicable to inspection of other portions of wind power generation facility 4.

  FIG. 9 is a view showing an example of inspection images img_1,..., Img_K,..., Img_N of blades fixed at the 6 o'clock position. In the blade inspection, as shown in FIG. 9, a plurality of images img_1,..., Img_K,..., Img_N are photographed while moving the photographing position (flying position) along the longitudinal direction of the blade. Although FIG. 9 shows an example in which the blade is divided into N sections in the longitudinal direction and one image is taken for each section in order to simplify the description, a plurality of images are taken for each section. You may shoot a moving image. Also, the number of sections is arbitrary.

  A plurality of images img_1,..., Img_K,..., Img_N photographed by the camera 3 of the unmanned air vehicle 2 are sequentially transferred to the person in charge of photographing terminal 5 by wireless communication or the like. Alternatively, it is stored in the storage unit or the recording medium of the camera 3 and transferred to the person in charge of photographing terminal 5 via the recording medium, the communication interface (whether wired or wireless) or the like after the inspection. Information on the photographing time is added to each photographed image data.

  The photographer terminal 5 acquires flight record data of the unmanned air vehicle 2. Flight record data is recorded by linking flight position information and time information. Flight position information is information including latitude, longitude, and altitude. The flight position information can be obtained by a GPS receiver or the like mounted on the unmanned air vehicle 2. In the case of the above-mentioned blade inspection procedure A (fixed direction inspection · 0 o'clock) and blade inspection procedure B (fixed direction inspection · 6 o'clock), the blade to be inspected is arranged to face vertically vertically. In that case, the photographer terminal 5 may obtain information on the flight position in the vertical up-down direction of the unmanned air vehicle 2 as flight record data of the unmanned air vehicle 2.

  After completion of the inspection, the report creation device 6 collects data obtained by the inspection (step S103). In the data collection process of step S103, as shown in the flowchart of FIG. 10, first, the control unit 11 of the report creation device 6 acquires a plurality of images captured by the camera 3 (step S201). Further, the control unit 11 of the report creation device 6 acquires a flight record (flight position information and time information) of the unmanned air vehicle 2 (step S202). As described above, when the photographer terminal 5 collects images and flight record data of the unmanned air vehicle 2, the report creation device 6 stores the images and flight records held by the photographer terminal 5 Data may be acquired via the recording medium or the communication control unit 17. Alternatively, the report creation device 6 may obtain image data and flight records from the camera 3 and the unmanned air vehicle 2 without passing through the photographing terminal 5.

  The report creation device 6 creates the collected data 73 in which the image and the flight position of the unmanned air vehicle 2 are linked based on the time information, and stores it in the storage server 7 or the storage unit 12 (step S203).

FIG. 11 is an example of the collected data 73.
As shown in FIG. 11, the collected data 73 includes a blade number, a blade surface, an image ID, a photographing position (flying position) of an image, photographing time, a distance from a route (observation position), a damage number (damage ID), etc. Have the following data items: The control unit 11 of the report creation device 6 assigns identification information such as an image ID or a file name to each image captured by the camera 3. Further, the control unit 11 determines flight position information at a flight time that matches the shooting time of each image, and associates the information with the image ID. Information on data items “blade number” and “blade surface” of the collected data 73 can be acquired from the inspection profile 71 set in advance.

  Thereafter, when the image including the damage to be observed is selected (step S104 in FIG. 4), the control unit 11 of the report creation device 6 executes an inspection report creation process on the selected image (step S105). ). The selection of the image in step S104 may be manual selection by a person in charge of inspection report preparation who is a user of the report preparation apparatus 6, or may be selection by a damage detection process executed by the report preparation apparatus 6. The control unit 11 assigns a damage ID to the selected image, and records the damage ID in the collected data 73. The damage ID is identification information identifying an individual damage (observation target).

  The specific flow of inspection report preparation processing is shown in FIG. The control unit 11 of the report creation device 6 refers to the collected data 73, and based on the information on the flight position information linked to the image selected in step S105 and the information on the reference position (route), The distance from the route) to the flight position (the distance from the route) is calculated, and is obtained as position information of the damage (observation target position) (step S301). The reference position (route) is, for example, at the position of the end of the blade 41 (42, 43) (the upper end in the example of FIG. 13 and the end on the main shaft 45 side) in the case of blade inspection. is there. The control unit 11 acquires position information of the reference position (route) from the storage unit 12, or the control unit 11 manually or automatically sets the blade 41 (42, 43) from among the images included in the collected data 73. An image including the end portion of) is selected, and flight position information linked to the image is set as a reference position (route). As a result, the longitudinal distance from the end of the blade 41 (42, 43) can be obtained as the position information (observation target position) of the damage. The report creation device 6 stores the obtained position information of the observation target as “the distance from the route (observation target position)” of the collected data 73.

  Next, the control unit 11 of the report creation device 6 calculates the size of the damage (observation target) (step S302). In order to calculate the size of the damage (observation target), it is necessary to provide the unmanned air vehicle 2 with a distance sensor for measuring the distance between the camera 3 and the damage (observation target). As a distance sensor, a stereo camera, an infrared sensor, a laser sensor, an ultrasonic sensor etc. can be used, for example. The control unit 11 of the report creation device 6 measures the size (width, length) of the damage (observation target) from the distance between the camera 3 and the damage (observation target) and the image information of the captured image. Count from The pixel count of the entire image is Nimg, the effective width of the image is Wimg [mm], the camera lens focal length is f [mm], the distance between the camera 3 and the damage (observation target) is D [mm], Assuming that the number is N'img, the size W'obj in the width direction of the damage can be obtained by the following equation (1).

  W'obj = (D / f) * (Wimg / Nimg) * N'img (1)

  The control unit 11 of the report creation device 6 links the calculated size of the damage (observation target) with the damage ID and stores the size in the storage unit 12 or the damage table 77 of the storage server 7 (see FIG. 15).

  Further, the control unit 11 of the report creation device 6 determines the type of damage (observation target) (step S303). The types of damage include "erosion", "dents", "lightning marks", "cracks", and the like. For example, the control unit 11 of the report creation device 6 performs machine learning using a plurality of images as learning data, and obtains the type of damage included in the captured image by classifying the features of the damage pattern.

  The control unit 11 of the report creation device 6 associates the type of the calculated damage (observation target) with the damage ID and stores the result in the storage unit 12 or the damage table 77 of the storage server 7.

  The control unit 11 of the report creation device 6 extracts predetermined items to be posted on the inspection report 75 from the inspection profile 71, the collected data 73, the damage table 77, etc. stored in the storage unit 12 or the storage server 7 (step S304), lay out the information obtained in steps S301 to S304 in the form of an inspection report 75 (step S305).

  FIG. 14 is an output example of the inspection report 75. The inspection report 75 shown in FIG. 14 is provided with an image column 75 b and a detailed information display column 75 a. In the image field 75b, the image selected in step S104 (FIG. 4) is arranged. Detailed information on the image displayed in the image field 75b is displayed in the detailed information display field 75a. The detailed information includes, for example, data items such as "damage ID-image ID", "distance from the route [m]", "damage type", "damage surface", "damaged area", "size", "memo", etc. Is provided.

  The "damage ID-image ID" of the detailed information is identification information generated from the damage ID and the image ID. Damage ID is identification information that identifies an individual damage (observation target), as shown in FIG. The image ID is identification information of the image.

  The “distance from the root [m]” is the distance from the root of the damage (observation target) calculated in the process of step S301 (observation target position). The information of the distance from the route is stored in the collected data 73 as “distance from the route [m] (observation target position)”.

"Damage type" is a determination result by the process of step S303, and the classification name of damage such as "erosion", "dent", "lightning mark", "crack", etc. is displayed.
The "damaged surface" is information on a blade surface that is damaged (observed). By referring to the collected data 73, it is possible to acquire “blade surface” information based on the damage ID or the image ID.

  The "damaged site" displays information about the site where the damage (observation target) is present. For example, it is information on a blade surface (Fiber-Reinforced Plastics (FRP) resin), a receptor, and a part such as a water drain hole. The control unit 11 performs pattern classification of a damaged part by performing machine learning using a large number of damaged images as learning data, and can determine which part the target image is damaged. Alternatively, the person in charge of inspection report creation may observe the image to determine and input the damaged site.

"Size" is the size of the damage calculated by the process of step S302, and information on the width and length of the damage is displayed.
“Notes” displays the findings, special notes, etc. entered by the person who created the inspection report.

  When the inspection report 75 is created by the processing of step S301 to step S305, the report creation device 6 outputs the created inspection report 75 (step S105 in FIG. 4). The method of outputting the inspection report 75 is, for example, display on the display unit 16, storage on the storage server 7 or the storage unit 12, or printing on a paper medium from the printer 9, data via the communication control unit 17. Includes transmission etc.

  As described above, in the wind power installation inspection system 1, the report creation device 6 acquires an image taken close to the wind power installation 4 by the camera 3 attached to the unmanned air vehicle 2, and performs unmanned flight Flight position information is acquired from the flight record data of the body 2, and collected data 73 in which the image and the flight position information are linked is generated. Further, when an image including an observation target such as damage is selected, an observation target position which is position information of damage (observation target) is obtained based on flight position information linked to the selected image, An inspection report 75 including information on the observation target position of the damage (observation target) included in the image is created and output. This makes it possible to easily create an inspection report in which the inspection image and the position of damage etc. included in the inspection image are described, and it is possible to efficiently carry out the inspection report preparation work of the wind power generation facility inspection Become.

  In the above-described embodiment, the blade inspection of the wind turbine 4 is taken as an example and the inspection report 75 of the blade inspection is created. However, the inspection site is not limited to the blade. The present invention is applicable to inspection of each structural part of a tower, a nacelle, and other wind power generation equipment 4.

  In the above-described embodiment, an example is described in which the inspection report is created by finding the position, type, size, etc. of the damage with the appearance damage as an observation target, but the observation target is not limited to the appearance damage. It may be a damage or defect inside the structure or an abnormality. When the damage inside the structure is to be observed, the camera 3 mounted on the unmanned air vehicle 2 is an infrared camera, and an infrared image of the inspection object is taken. For example, when peeling occurs on the FRP resin of the blade or the coated surface of the blade and there is a void inside the blade, a temperature difference with the surrounding normal portion occurs, so that the abnormal portion can be detected in the infrared image. As described above, if an infrared camera is used in combination as the camera 3 attached to the unmanned air vehicle 2, internal abnormalities that can not be confirmed by the visible camera can also be detected and collected as inspection data.

  Further, the output format of the inspection report 75 is not limited to the example shown in FIG. For example, in addition to the inspection report 75 shown in FIG. 14, an inspection report including the damage table 77 shown in FIG. 15 is prepared, or an inspection report including a damage map 76 c using a developed view as shown in FIG. 76 may be created.

  FIG. 15 is a diagram showing an example of a damage table 77 showing detailed information on each damage detected by inspection. As shown in FIG. 15, the damage table 77 is a data table in which the damage ID, the distance from the root of each damage (observed position), the damage type, the damaged surface, the damaged portion, the damage size, and the like are summarized. The control unit 11 of the report creation device 6 extracts the images including the damage from the acquired images, executes the processing of step S301 to step S304 in FIG. 12 on these images, and determines the distance from the route ), The damage size, the damage type, the damage surface, the damage site, etc. are created, and a damage table 77 is created. The created damage table 77 is stored in the storage server 7 or the storage unit 12 and is output together with the inspection report 75. By creating the damage table 77, details of a plurality of damage can be easily confirmed at a glance.

  FIG. 16 is an example of the inspection report 76 including the damage map 76c. The inspection report 76 displays a damage map 76c showing the location of the damage in a map, for example, when the instruction for damage is selected on the damage map 76c, an image 76a and detailed information 76b about the selected damage are displayed. .

  The damage map 76c indicates the position of the damage (observation target) on the blade development view. The blade development is an arrangement of images such as whole images or illustrations of a plurality of faces of the blade with their longitudinal positions aligned. In the example of FIG. 16, a blade development view in which the SS plane and the PS plane are aligned with each other in the longitudinal direction position is shown. The report creation device 6 refers to the distance from the root of the damage table 77 and the like to indicate the position of each damage on the damage map 76 c. In FIG. 15, it is shown that there is damage at the positions of "1" to "8". The image 76a of FIG. 16 is an image of the injury ID "7", and the detailed information 76b is detailed information on the designated injury (injury ID "7"). As described above, by collecting observation targets from a large number of image data and outputting the result as the inspection report 76, it is possible to efficiently check the condition of the wind turbine 4.

  Further, when an image including an observation target such as damage is selected, a part of information of the inspection report 75 may be output. Specifically, for example, in the inspection report 75 shown in FIG. 14, data items such as “damage type” and “damaged area” are not automatically determined and output using machine learning, but in a blank state. The data may be output, and the inspector may visually confirm the image or the real thing and input data in the blank space.

  The preferred embodiments of the report creation device, the wind power generation facility inspection system, the program, and the method of creating an inspection report of the wind power generation facility according to the present invention have been described above with reference to the accompanying drawings. It is not limited to the example which concerns. It is apparent that those skilled in the art can conceive of various modifications or alterations within the scope of the technical idea disclosed in the present application, and of course these also fall within the technical scope of the present invention. It is understood.

1 wind power generation facility inspection system 2 unmanned air vehicle 3 camera 4 wind power generation facility 5 photographing person in charge terminal 6 report preparation device
Reference Signs List 7 storage server 8 network 9 printer 11 control unit 12 storage unit 13 media input / output unit 14 peripheral device I / F unit 15 input unit 16 display unit 17 communication control unit 18 bus 41, 42, 43 blade 44 tower 45 main shaft 61 flight record Acquisition unit 62 Image acquisition unit 63 Data collection unit 64 Image selection unit 65 Observation target position calculation unit 66 Report creation unit 67 Output unit 71 Inspection profile 73 Collecting data 75, 76 Inspection report 76 c Damage map 77 Damage table

Claims (12)

An image acquisition means for acquiring an image obtained by photographing a part of the wind power generation facility by the imaging means attached to the unmanned aerial vehicle;
Flight position information acquisition means for acquiring information of the flight position of the unmanned air vehicle;
Data collection means for associating the image with the information of the flight position;
Selecting means for selecting the image including the observation target;
Operation means for obtaining position information of the observation target based on information of the flight position linked to the selected image;
Report generation means for generating an inspection report including at least the image and position information of the observation target included in the image;
Output means for outputting the inspection report;
A report preparing apparatus comprising: The calculation means calculates distance information from the reference position to the flight position based on the information on the flight position linked to the image and the information on a predetermined reference position, and the position of the observation target The report preparing apparatus according to claim 1, characterized in that it is obtained as information. The image processing apparatus further comprises reference image selection means for selecting an image including a region to be a reference of the wind power generation facility,
3. The report creation apparatus according to claim 2, wherein the information of the reference position is information of the flight position linked to the image selected by the reference image selection means. The data collecting means associates the image with the information of the flight position based on the information of flight time acquired together with the information of the flight position and the information of shooting time added to the image. The report producing apparatus according to any one of claims 1 to 3, wherein   The report creation apparatus according to any one of claims 1 to 4, wherein the observation target is damage to the wind power generation facility. It further comprises damage type determination means for determining the type of the damage,
The report preparing apparatus according to claim 5, wherein the inspection report further includes information on the type of the damage. Distance acquisition means for acquiring the distance between the photographing means and the observation object;
The apparatus further comprises size calculation means for calculating the size of the observation object from the distance to the observation object and the image information of the image,
The report preparation apparatus according to claim 5 or 6, wherein the inspection report further includes information of the size of the observation target. The unmanned air vehicle flying remotely, the photographing means attached to the unmanned air vehicle, and an information terminal for producing an inspection report;
The unmanned air vehicle is
A flight position information acquisition unit that acquires information on the flight position of the unmanned air vehicle;
The information terminal is
An image acquisition unit configured to acquire an image obtained by photographing a part of the wind power generation facility by the imaging unit as an observation target;
Data collection means for acquiring information of the flight position of the unmanned air vehicle and associating the image with the image;
Selecting means for selecting the image including the observation target;
Operation means for obtaining position information of the observation target based on information of a flight position linked to the selected image;
Report generation means for generating an inspection report including at least the image and position information of the observation target included in the image;
Output means for outputting the inspection report;
A wind power plant inspection system comprising: Computer,
An image acquisition means for acquiring an image obtained by photographing a part of the wind power generation facility by an imaging means attached to the unmanned aerial vehicle;
Flight position information acquiring means for acquiring information of the flight position of the unmanned air vehicle;
Data collection means for associating the image with the information of the flight position;
Selecting means for selecting the image including the observation target;
Operation means for obtaining position information of the observation target based on information of a flight position linked to the selected image;
Report preparation means for preparing an inspection report including at least the image and position information of the observation target included in the image;
Output means for outputting the inspection report,
Program to function as. A method of preparing an inspection report of a wind power generation facility,
An image acquisition step of acquiring an image obtained by photographing a part of the wind power generation facility by the photographing means attached to the unmanned aerial vehicle;
A flight position information acquisition step of acquiring information of the flight position of the unmanned air vehicle;
A data collection step of correlating the image with the information of the flight position;
Selecting the image including the observation object;
Calculating the position information of the observation target based on the information of the flight position linked to the selected image;
Creating an inspection report including at least the image and position information of the observation target included in the image;
An output step of outputting the inspection report;
A method of preparing an inspection report of a wind power generation facility, comprising: The wind power generation facility includes a nacelle, and a plurality of blades connected to the nacelle and rotatably disposed about a predetermined axis.
In the previous stage of the image acquisition step, there is a rotation step of rotating the blade so as to point in a predetermined direction,
The image acquisition step causes the unmanned aerial vehicle to fly from one end of the blade to the other end, and acquires the image taken during the flight.
A method of preparing a check report of a wind power installation according to claim 10, characterized in that. The predetermined direction is a vertical direction,
The flight position information acquisition step acquires information of the flight position of the unmanned air vehicle in the vertical and vertical directions.
The method of preparing an inspection report of a wind power generation facility according to claim 11, characterized in that:

Images