JP2009203873A - Flying object detection system, wind turbine generator, and computer program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a flying object detection system that efficiently reduces bird strikes in a wind turbine generator. <P>SOLUTION: The flying object detection system capable of detecting a flying object from an upwind side is composed in the wind turbine generator equipped with a tower erected on the ground, a nacelle fixed to the tower, and a plurality of blades rotatably fixed to the nacelle via a hub. The system includes a photographing means provided in an opposite blade side in the nacelle and using the upwind side as a photographing area, a photographing control means for controlling photographing such that the photographing means can carry out photographing at timing wherein the photographing area is not blocked by rotating blades, a data processing means for carrying out data processing suiting detection of a flying object by using photograph data acquired by the photographing means, a detecting means for detecting a flying object from the processed data processed by the data processing means, and a detection result output means to output a detection result of the detecting means to the wind turbine generator. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a technique for avoiding a situation in which a flying object collides with a blade when there is a flying object (mainly birds) approaching the wind power generator, and a technique related thereto.

In recent years, wind power generators have become larger in order to improve the output per unit. A typical large wind power generator is installed in a tower about 30 to 80 meters in height, and the blade of such a wind power generator is 20 to 50 meters, so the highest level reaches 130 meters from the ground. .
Such a height may reach the flying height of birds (such as raptors) that inhabit the vicinity of the place where the wind power generator is installed, or the height of cruise flight of migratory birds. And it is difficult for the flying birds to see the blade rotating at high speed, or an accident (bird strike) occurs that hits the blade and ends its life.

  As a technique for preventing a bird strike or a collision accident of a flying object, there is a technique disclosed in Patent Document 1.

JP 2006-125265 A

  The wind power generator disclosed in Patent Document 1 includes a flying object detection device that can detect a flying object in front of windward by receiving and transmitting sound waves or electromagnetic waves, and a blade that controls the angle change of the blade including the rotation stop position. Angle control means. When it is determined that the flying object is approaching, the blade angle control means changes the blade to the rotation stop position.

The technique disclosed in Patent Document 1 has the following problems.
First, since the flying object is detected by receiving and transmitting sound waves or electromagnetic waves, the speed of sound is the limit, and the processing speed is slower than the acquisition of image data by a camera or the like.
In addition, when an apparatus for executing transmission / reception of sound waves or electromagnetic waves is adopted, the equipment cost and the operation cost are enormously increased. This is because the emission angle of the ultrasonic wave is limited, and a large number of sound waves or electromagnetic waves need to be transmitted and received. In this case, the control-related system becomes large and maintenance becomes complicated.
Further, when a large number of wind power generators are installed like a wind farm, an area to be explored is widened and a lot of hardware is required.

  The problem to be solved by the present invention is to provide a technology capable of improving the processing speed of exploration without receiving and transmitting sound waves or electromagnetic waves in a wind turbine generator capable of reducing blade damage and bird strike caused by flying objects. It is to be.

An object of the invention described in claims 1 to 6 is to provide a flying object detection system capable of reducing blade damage and bird strike caused by flying objects.
Another object of the present invention is to provide a wind turbine generator capable of reducing blade damage and bird strike caused by flying objects.
Another object of the present invention is to provide a flying object detection or wind power generator control program capable of reducing blade damage and bird strike caused by flying objects.

Means for solving the above-described problems according to the claims are presented with the symbols in the figure in parentheses.
(Claim 1)
The invention according to claim 1 is a tower (13) erected on the ground, a nacelle (11) fixed to the tower (13), and fixed to the nacelle (11) so as to be rotatable via a hub. The present invention relates to a flying object detection system capable of detecting flying objects from the windward in a wind turbine generator (10) having a plurality of blades (12).
That is, the photographing means (20) with the windward provided on the side opposite to the blade (12) in the nacelle (11) as a photographing region, and the photographing means (at the timing at which the rotating blade (12) does not block the photographing region ( 20) a shooting control means for controlling shooting so that shooting can be performed, a data processing means for executing data processing suitable for detection of flying objects using the shooting data acquired by the shooting means (20), and A flying object detection system comprising detection means for detecting a flying object from processing data processed by the data processing means, and detection result output means for outputting a detection result of the detection means to the wind turbine generator (10). .

(Glossary)
The “photographing means” is typically a photographing device that can be easily converted into digital data. When the “C-MOS sensor” is adopted, the exposure time can be controlled more easily than the CCD element, and it is suitable for capturing images of birds having a high flight speed. Also, it is more suitable than a CCD element when natural light is insufficient due to cloudy weather.
With “monochrome photography”, the sensitivity is about 3 times that of a color C-MOS sensor. For example, a monochrome C-MOS sensor that can capture still images at a high speed of 500 fps with low noise and dynamic range can be used for shooting at a shutter speed of about 30 fps in cloudy weather.
The “flying object” includes an object flying in the wind in addition to a creature such as a bird.
The “flying object detection system” is a system that confirms the presence of a flying object based on imaging and image analysis. The wind turbine generator is directed to the windward in order to maximize the power generation efficiency.
The “detection result” is used for operation control of the wind turbine generator. For example, it is used as a trigger for outputting a control signal for changing the blade (12) to the “rotation stop position”.

“Rotation stop position” refers to a position where the blade does not rotate even if it receives wind. Typically, it is a feathering position or a sufficient deceleration of the rotation speed, but assists the brake to stop the blade rotation. In the case of use, the case where the rotation of the blade is stopped with the brake as the main is also included. As a rotation deceleration control means, a pitch controller that changes the pitch angle of the entire blade, and a blade shape and a pitch angle that loses lift, are selected, and the blade tip changes its direction by 90 degrees when stopped to serve as a brake. There is a stall controller.
In addition to the feathering position, the wind power generator is often formed so that a position that reduces the rotational efficiency according to the strong wind can be selected. This is because, if the rotation is completely stopped, it takes time to restart the operation. However, in the case of sufficient deceleration, it is easy to restart the operation, so that the power generation loss can be reduced.

(Function)
When the wind power generator is in operation, the blade (12) faces upwind, and the photographing means (20) also faces upwind. At a timing when the rotating blade (12) does not block the windward shooting area, the shooting control means controls the shooting means (20), and the shooting means (20) takes a picture of the shooting area. The data processing means executes data processing suitable for detecting a flying object using the captured data acquired by the imaging means (20), and the detection means detects the flying object from the processed processing data. The detection result output means outputs the detection result to the wind turbine generator (10).
When the detection means detects a flying object, for example, the blade angle control means in the wind power generator controls to change the blade to the rotation stop position. As a result, the rotation of the blade stops or slows down sufficiently. If the blade is stopped or sufficiently slowed down, the flying bird is easy to see, so the possibility of avoiding it increases. Further, since many blades are formed in a thin shape fixed about three radially from the hub, even if the flying object is a simple object other than a bird, the probability of colliding with the blade can be reduced.
While the probability of flying objects coming from directions other than the windward is very low, since the photographing means always faces the windward, the probability that the flying objects collide with the blade is reasonably reduced. This is because the number of photographing means can be reduced.

(Claim 2)
The invention described in claim 2 is also a tower (13) erected on the ground, a nacelle (11) fixed to the tower (13), and rotatable with respect to the nacelle (11) via a hub. The present invention relates to a flying object detection system capable of detecting flying objects from the windward in a wind turbine generator (10) having a plurality of fixed blades (12). The difference from the flying object detection system according to claim 1 is that the imaging control means according to claim 1 is not provided, but imaging data acquisition means is provided instead.
That is, the nacelle (11) includes a photographing means (20) on the side opposite to the blade (12) on the side opposite to the blade (12), and a blade (12) rotating from a photographed image acquired by the photographing means (20). Shooting data acquisition means for omitting an image that blocks the shooting area, data processing means for performing data processing suitable for detection of flying objects using the shooting data acquired by the shooting data acquisition means, and the data processing means This is a flying object detection system comprising detection means for detecting a flying object from the processed data and detection result output means for outputting the detection result of the detection means to the wind power generator (10).

(Function)
When the wind power generator is in operation, the blade (12) faces upwind, and the photographing means (20) also faces upwind. Then, the photographing means (20) photographs the windward photographing area.
The imaging data acquisition means omits an image in which the rotating blade (12) blocks the imaging area from the captured image acquired by the imaging means (20). The data processing means executes data processing suitable for detecting the flying object using the acquired photographing data, and the detecting means detects the flying object from the processed processing data. The detection result output means outputs the detection result to the wind turbine generator (10).
Since the action of the wind turbine generator that has obtained the output is the same as that of the first aspect, a description thereof will be omitted.

(Claim 3)
The invention according to claim 3 limits the flying object detection system according to claim 1 or claim 2.
That is, the data processing means includes an optical flow process for converting the motion of particles in a plurality of image data into vector display image data that is displayed as a vector.

(Glossary)
“Optical flow processing” is a processing method for determining and measuring where each pixel has moved in the next frame, for example, for an image sequence continuous at a rate of about 30 frames per second. The method of setting a block area consisting of a notice pixel and neighboring pixels that are adjacent to or adjacent to the notice pixel varies from the case of using a constant pixel calculated from experience values etc. Depending on the situation, it may be changed.

(Function)
According to the optical flow process, if there is no flying object, the screen remains white, and if there is something moving like a flying object, the speed field can be displayed. Therefore, the flying object can be detected very easily.

(Claim 4)
Invention of Claim 4 limited the projectile object detection system in any one of Claims 1-3, The said imaging | photography means was equipped with the several imaging device, It is characterized by the above-mentioned. To do.

(Glossary)
The “plurality of photographing devices” have different photographing timings. Also, the shooting area is different. Therefore, it is possible to correct the position of the flying object by correcting and complementing the shooting data obtained by one shooting apparatus with the shooting data of the other shooting apparatus.
Note that the fact that there are a plurality of photographing devices not only means a plurality of one wind power generator, but also means that a plurality of photographing devices are provided by providing one each for two adjacent wind power generators, for example. Including.

(Claim 5)
The invention according to claim 5 limits the flying object detection system according to claim 1, and the imaging control means executes imaging control using a power generation output signal from the wind power generator. It is characterized by that.

(Glossary)
The “power generation output signal” is as follows. That is, since the wind power generator is an AC power source, the output voltage as power generation changes in time series (similar to a sine curve). Since the position of the blade can be determined from the voltage change, it is possible to perform control so that photographing by the photographing means is not performed at the timing when the blade blocks the photographing region.

(Claim 6)
Invention of Claim 6 limited the projectile object detection system of Claim 1, The said imaging | photography control means performs imaging | photography control using the position signal of the blade in a wind power generator, It is characterized by that.
The “blade position signal” can be obtained, for example, by fixing a magnet near the root of the blade and placing a hall element that reacts with the magnet on the nacelle side. Further, if a reflector is fixed to the back surface of the blade and the photographing means is provided with a light emitting means and a light receiving means, a position signal can be obtained.

(Claim 7)
A seventh aspect of the present invention relates to a wind turbine generator equipped with the flying object detection system according to claim 1, wherein the blade controls rotation of the blade according to the detection result of the detection result output means in the flying object detection system. Control means are provided.

(Claim 8)
The invention described in claim 8 relates to a wind power generator equipped with the flying object detection system according to claim 2, wherein the blade controls rotation of the blade according to the detection result of the detection result output means in the flying object detection system. Control means are provided.

(Claim 9)
According to a ninth aspect of the present invention, there is provided a wind turbine generator including a tower erected on the ground, a nacelle fixed to the tower, and a plurality of blades fixed to the nacelle via a hub so as to be rotatable. On the other hand, the present invention relates to a projecting object detection program capable of detecting a projecting object from the windward using an imaging unit having an upwind side provided on the side opposite to the blade in the nacelle.
The program includes an imaging control procedure for controlling imaging so that the imaging means can take an image at a timing when the rotating blade does not block the imaging area, and is provided on the opposite blade side of the nacelle under control by the imaging control procedure. A shooting procedure that is shot by the shooting means having the shooting side as the shooting area, a data processing procedure that executes data processing suitable for detection of flying objects using the shooting data acquired in the shooting procedure, and the data processing A detection procedure for detecting a flying object from the machining data processed by the procedure, and a detection result output procedure for outputting the detection result of the detection procedure to the wind power generator, and causing the computer for controlling the flying object detection system to execute Computer program.

(Claim 10)
The invention according to claim 10 is a wind power generator comprising a tower erected on the ground, a nacelle fixed to the tower, and a plurality of blades fixed to the nacelle via a hub so as to be rotatable. On the other hand, the present invention relates to a projecting object detection program capable of detecting a projecting object from the windward using an imaging unit having an upwind side provided on the side opposite to the blade in the nacelle.
The program includes a photographing procedure for photographing by a photographing means having a windward side provided on the opposite blade side in the nacelle as a photographing region, and an image in which a blade rotating from the photographed image acquired in the photographing procedure blocks the photographing region. From the shooting data acquisition procedure to be omitted, the data processing procedure for performing data processing suitable for detection of flying objects using the shooting data acquired in the shooting data acquisition procedure, and the processing data processed in the data processing procedure A computer program that causes a computer for controlling a flying object detection system to execute a detection procedure for detecting a flying object and a detection result output procedure for outputting a detection result of the detection procedure to a wind turbine generator.

(Claim 11)
The invention according to claim 11 is provided with a tower erected on the ground, a nacelle fixed to the tower, and a plurality of blades fixed to the nacelle via a hub so as to be rotatable. The present invention relates to a computer program for controlling a wind turbine generator equipped with a flying object detection system capable of detecting a flying object.
The program includes an imaging control procedure for controlling imaging so that the imaging means can take an image at a timing when the rotating blade does not block the imaging area, and is provided on the opposite blade side of the nacelle under control by the imaging control procedure. A shooting procedure that is shot by the shooting means having the shooting side as the shooting area, a data processing procedure that executes data processing suitable for detection of flying objects using the shooting data acquired in the shooting procedure, and the data processing A detection procedure for detecting flying objects from the machining data processed by the procedure, a detection result output procedure for outputting the detection result of the detection procedure, and a blade for controlling the rotation of the blade according to the detection result by the detection result output procedure A computer program that causes a control computer of a wind turbine generator to execute a control procedure.

(Claim 12)
The invention described in claim 12 includes a tower erected on the ground, a nacelle fixed to the tower, and a plurality of blades fixed to the nacelle via a hub so as to be rotatable. The present invention relates to a computer program for controlling a wind turbine generator equipped with a flying object detection system capable of detecting a flying object.
The program includes a photographing procedure for photographing by a photographing means having a windward side provided on the opposite blade side in the nacelle as a photographing region, and an image in which a blade rotating from the photographed image acquired in the photographing procedure blocks the photographing region. From the shooting data acquisition procedure to be omitted, the data processing procedure for performing data processing suitable for detection of flying objects using the shooting data acquired in the shooting data acquisition procedure, and the processing data processed in the data processing procedure A wind power generator comprising a detection procedure for detecting flying objects, a detection result output procedure for outputting the detection result of the detection procedure, and a blade control procedure for controlling the rotation of the blade according to the detection result of the detection result output procedure This computer program is to be executed by the control computer.

(Claim 13)
The invention according to claim 13 limits the computer program according to any one of claims 9 to 12.
That is, the data processing procedure includes an optical flow processing procedure for converting the motion of particles in a plurality of image data into vector display image data that is displayed as a vector.

The computer program according to the ninth to thirteenth aspects can be made into a chip and used as a control device for a flying object detection system or a control device for a wind power generator.
It can also be stored in a recording medium and provided. Here, the “recording medium” is a medium that can carry a program that cannot occupy space by itself, such as a flexible disk, a hard disk, a CD-R, an MO (magneto-optical disk), a DVD- R and the like.

Here, according to the inventions described in claims 1 to 6, it is possible to provide a flying object detection system capable of reducing blade damage and bird strike caused by flying objects.
In addition, according to the invention described in claims 7 to 8, it is possible to provide a wind power generator capable of reducing blade breakage and bird strike due to flying objects.
Moreover, according to the invention of Claim 9 thru | or 13, the control program of the flying object detection or wind power generator which can reduce the damage of the blade by a flying object and a bird strike was able to be provided.

Embodiments of the present invention will be described with reference to the drawings.
The drawings used here are FIGS. 1 to 8. FIG. 1 is a conceptual diagram showing the first embodiment, and FIG. 2 is a hardware configuration diagram. FIG. 3 is an explanatory diagram illustrating an example of a shooting control technique. 4 to 7 are hardware configuration diagrams showing other embodiments. FIG. 8 is a flowchart illustrating an example of operation control.

(Figure 1)
FIG. 1 shows the positional relationship between the wind power generator 10 and the photographing means 20.
The wind power generator 10 includes a tower 13 erected on the ground, a nacelle 11 fixed to the tower 13, and three blades 12 fixed to the nacelle 11 through a hub so as to be rotatable. Yes. As shown in FIG. 1A, the photographing means 20 having the photographing area on the windward side is fixed to the side opposite to the blade 12 on the upper surface of the nacelle 11.

  The photographing means 20 has a lens facing forward in order to photograph the windward of the wind power generator 10. Upwind shooting is possible if the position of the blade 12 is in the state of FIG. 1B, but in the state of FIG. 1C, one of the blades 12 blocks the shooting area. In view of this, the photographing control means is provided to perform photographing that is not obstructed by the blade 12.

(Figure 2)
FIG. 2 illustrates a flying object detection system and a wind power generator.
The power generation output signal obtaining means of the wind power generator sends the power generation output signal to the imaging control means of the flying object detection system. The imaging control means that has received the power generation output signal outputs the imaging control signal to the imaging means to control imaging. That is, at the timing when the rotating blade 12 does not block the windward imaging area, the imaging means 20 captures the windward imaging area of the wind power generator. The shooting control will be described later with reference to FIG.

  When the photographing means 20 acquires the photographing data, the photographing data is sent to the data processing means. The data processing means executes data processing suitable for detecting flying objects. Specifically, for example, an optical flow process for converting the motion of particles in a plurality of pieces of image data into vector display image data that is displayed as a vector is executed. For example, with respect to a continuous image sequence at a rate of about 30 frames per second, it is determined and measured where each pixel has moved in the next frame. As a result, if there is something moving like a flying object, the speed field can be displayed.

A detection means detects a flying object from the processed data. If the display of the velocity field is larger than a predetermined size, it is automatically recognized as a flying object. Further, when it is determined that the display vector based on the speed field is directed to the wind turbine generator, the detection result output unit outputs a blade control signal to the blade controller of the wind turbine generator.
For example, the blade 12 is controlled to be changed to the rotation stop position. As a result, the rotation of the blade 12 is stopped or sufficiently decelerated. If the blade 12 is stopped or sufficiently decelerated, the flying bird is easy to visually recognize, so the possibility of avoiding it increases. In addition, since many blades 12 have a slender shape that is fixed radially from the hub, even when a flying object is a simple object other than a bird, the probability of colliding with the blade 12 can be reduced.
While the probability of flying objects flying from directions other than the windward is very low, since the photographing means 20 always faces the windward, the probability that the flying objects collide with the blade 12 is reasonably reduced. This is because the number of the photographing means 20 can be reduced.

(Figure 3)
FIG. 3 shows a state in which the rotational position of the blade 12 is recognized based on the output signal of the generator of the wind power generator, and a trigger signal for controlling the photographing time of the photographing means 20 is output.
Since the wind turbine generator is an AC power source, the output voltage as power generation changes in time series (similar to a sine curve). Since the position of the blade can be determined from the voltage change, a trigger signal is output to the imaging unit so that the imaging unit does not perform imaging when the blade blocks the imaging area. However, since the photographing means has a delay in operation with respect to the trigger signal, it must be a trigger signal in consideration of the delay time.

(Fig. 4)
FIG. 4 shows a second embodiment. Differences from the first embodiment shown in FIG. 2 are as follows.
That is, the first embodiment controls the shooting timing for the shooting means. On the other hand, in the second embodiment, instead of continuously performing image capturing, the flying object detection system includes unnecessary data deleting means for deleting an image where the blade is imaged.
The unnecessary data deletion means receives the power generation output signal from the power generation output signal acquisition means, as in the first embodiment, and specifies unnecessary data for specifying the unnecessary data from the time between the signal data and the shooting data. The business signal is output to the data processing means. Thereby, the same effect as the first embodiment can be obtained.

(Fig. 5)
FIG. 5 shows a third embodiment. Differences from the embodiment shown in FIGS. 2 and 4 are as follows.
That is, in the first and second embodiments, the photographing means is controlled using the power generation output signal from the power generation output signal obtaining means of the wind turbine generator, or unnecessary data is deleted from the data processing means. On the other hand, in the third embodiment, as unnecessary data, the data processing means acquires comparison data or the like from a shooting database in which past shooting data is accumulated, and deletes unnecessary data.
According to this, there is an advantage that data from the wind turbine generator is not required. However, there is a demerit that the calculation process takes time.

  Although the first to third embodiments may be independent of each other, it is also possible to provide an embodiment combining them. For example, a mode in which the first embodiment is used in normal times and the mode is switched to the third embodiment when an abnormality occurs in the wind turbine generator is preferable.

(Fig. 6)
FIG. 6 shows a fourth embodiment. In the fourth embodiment, one wind power generator is provided with two photographing means. That is, the first camera 21 is fixed to the left side of the nacelle 11 and the second camera 22 is fixed to the right side of the nacelle 11 toward the windward side.
By providing the two photographing means 21 and 22 and using the respective photographing data in a composite (stereo) manner, measurement errors such as measurement errors in the direction of wind and flying speed of flying objects can be reduced. .

(Fig. 7)
FIG. 7 shows a fifth embodiment. In the fifth embodiment, two adjacent wind turbine generators are each provided with a photographing unit, and the photographing data of these photographing units is used in combination. Compared with the fourth embodiment, the distance in the plane direction perpendicular to the wind traveling direction can be increased, so that measurement errors in the wind traveling direction can be reduced. In addition, the total number of photographing means in a wind farm in which many wind power generators are installed can be suppressed without reducing the flying object detection capability.

  Although illustration is omitted, an arrival time calculating means for calculating the expected arrival time of the flying object detected by the flying object detection system may be provided. The blade angle control means described above may be controlled so as to change the blade angle to the rotation stop position before reaching the expected arrival time. When the approach of the flying object is detected and the rotation is determined to be stopped, the blade angle control means secures the time necessary for changing the blade angle to stop the rotation of the blade (for example, around 3 seconds).

(Fig. 8)
This will be described in more detail with reference to FIG. FIG. 8 is a flowchart showing an example of control.
The wind power generator generates electricity by receiving wind and rotating the blades. Here, if the flying object detection system does not detect a flying object on the windward, the operation is continued.
Here, it is assumed that a flying object is detected. Then, by continuously searching for flying objects, data relating to flying objects is stored for a predetermined time or compared with the immediately preceding data. When the flying object approaches, the predicted arrival time of the flying object is calculated from the flight speed V and the distance X, and the blade angle control means controls the blade to change to the rotation stop position (feathering). To do. Then, the rotation of the blade is stopped before the predicted arrival time of the flying object.
The control program as described above is incorporated in the blade control device.

  If the blade is stopped, it is easy to see the flying bird, so the possibility of avoiding it increases. In addition, since many blades have a thin shape that is fixed about three radially from the hub, even if the flying object is a simple object other than a bird, the probability of colliding with the blade can be reduced. Since the flying object detection system determines whether or not it has approached, once it has been detected that the flying object has not been approached, there is little possibility of a collision and it is not necessary to stop power generation wastefully.

As a flying object detection system, not only a device that confirms the presence of flying objects based on imaging and optical flow processing, but also a device that confirms the presence of flying objects by oscillating sound waves or electromagnetic waves and capturing the reflected waves, Alternatively, a heat sensing device can be used in combination.
If a heat sensing device is used, it can only detect flying objects that are higher in temperature than the surroundings, such as birds and other creatures. There is an advantage that can be accurately detected.

In addition, since the said projectile detection system has a limited ultrasonic emission angle, it emits to the windward side. For this reason, it is built in the nacelle that faces the windward in conjunction with the anemometer.
When the measured value of the wind speed is greater than or equal to a predetermined value by measuring the anemometer, it is possible to prevent the blade from being damaged due to a gust by controlling the blade angle and the like.

  The present invention has applicability in the manufacturing industry of wind power generators and flying object detection systems, the maintenance business of wind power generators or flying object detection systems, the software development industry for flying object detection systems, and the like.

It is a conceptual diagram which shows 1st embodiment. It is a hardware block diagram which shows 1st embodiment. It is explanatory drawing which shows an example of the method of imaging | photography control. It is a hardware block diagram which shows 2nd embodiment. It is a hardware block diagram which shows 3rd embodiment. It is a hardware block diagram which shows 4th embodiment. It is a hardware block diagram which shows the variation of 4th embodiment. It is a flowchart which shows an example of operation control.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Wind power generator 11 Nacelle 12 Blade 13 Tower 20 Image | photographing means 21 1st camera 22 2nd camera

Claims (13)

Detects flying objects from windward in a wind turbine generator equipped with a tower standing on the ground, a nacelle fixed to the tower, and a plurality of blades fixed to the nacelle via a hub. A possible flying object detection system,
An imaging means having an imaging area on the windward side provided on the opposite blade side in the nacelle,
Photographing control means for controlling photographing so that the photographing means can photograph at a timing at which the rotating blade does not block the photographing region;
Data processing means for performing data processing suitable for detection of flying objects using the shooting data acquired by the shooting means;
Detecting means for detecting flying objects from the processing data processed by the data processing means;
A flying object detection system comprising: detection result output means for outputting a detection result of the detection means to the wind turbine generator. Detects flying objects from windward in a wind turbine generator equipped with a tower standing on the ground, a nacelle fixed to the tower, and a plurality of blades fixed to the nacelle via a hub. A possible flying object detection system,
With a photographing means having the windward photographing area on the opposite blade side of the nacelle,
Shooting data acquisition means for omitting an image in which the rotating blade blocks the shooting area from the shot image acquired by the shooting means;
Data processing means for executing data processing suitable for detection of flying objects using the shooting data acquired by the shooting data acquisition means;
Detecting means for detecting flying objects from the processing data processed by the data processing means;
A flying object detection system comprising: detection result output means for outputting a detection result of the detection means to the wind turbine generator.   3. The flying object detection according to claim 1, wherein the data processing means includes an optical flow process for converting the motion of particles in a plurality of image data into vector display image data in a vector display. system.   4. The flying object detection system according to claim 1, wherein the imaging unit includes a plurality of imaging devices. 5.   The flying object detection system according to claim 1, wherein the imaging control unit performs imaging control using a power generation output signal from a wind power generator.   The flying object detection system according to claim 1, wherein the imaging control unit executes imaging control using a position signal of a blade in the wind power generator. A tower standing on the ground, a nacelle fixed to the tower, and a plurality of blades that are rotatably fixed to the nacelle via a hub, and capable of detecting flying objects from the windward A wind power generator equipped with an object detection system,
A photographing means having a photographing area on the windward side on the opposite blade side of the nacelle;
Photographing control means for controlling photographing so that the photographing means can photograph at a timing at which the rotating blade does not block the photographing region;
Data processing means for performing data processing suitable for detection of flying objects using the shooting data acquired by the shooting means;
Detecting means for detecting flying objects from the processing data processed by the data processing means;
Detection result output means for outputting the detection result of the detection means;
Blade control means for controlling the rotation of the blade according to the detection result of the detection result output means;
A wind power generator characterized by comprising: A tower standing on the ground, a nacelle fixed to the tower, and a plurality of blades that are rotatably fixed to the nacelle via a hub, and capable of detecting flying objects from the windward A wind power generator equipped with an object detection system,
With a photographing means having the windward photographing area on the opposite blade side of the nacelle,
Shooting data acquisition means for omitting an image in which the rotating blade blocks the shooting area from the shot image acquired by the shooting means;
Data processing means for executing data processing suitable for detection of flying objects using the shooting data acquired by the shooting data acquisition means;
Detecting means for detecting flying objects from the processing data processed by the data processing means;
Detection result output means for outputting the detection result of the detection means;
Blade control means for controlling the rotation of the blade according to the detection result of the detection result output means;
A wind power generator characterized by comprising: An anti-blade side of the nacelle with respect to a wind turbine generator comprising a tower erected on the ground, a nacelle fixed to the tower, and a plurality of blades fixed to the nacelle via a hub. A flying object detection program capable of detecting a flying object from the windward using an imaging means having an upwind area as an imaging area,
The program includes a photographing control procedure for controlling photographing so that the photographing means can photograph at a timing when the rotating blade does not block the photographing region;
An imaging procedure in which the imaging means having an imaging area on the windward side provided on the side opposite to the blade in the nacelle under the control by the imaging control procedure,
A data processing procedure for performing data processing suitable for detection of flying objects using the shooting data acquired in the shooting procedure,
A detection procedure for detecting flying objects from the processing data processed by the data processing procedure;
A computer program for causing a control computer of a flying object detection system to execute a detection result output procedure for outputting a detection result of the detection procedure to a wind turbine generator. An anti-blade side of the nacelle with respect to a wind turbine generator comprising a tower erected on the ground, a nacelle fixed to the tower, and a plurality of blades fixed to the nacelle via a hub. A flying object detection program capable of detecting a flying object from the windward using an imaging means having an upwind area as an imaging area,
The program includes a shooting procedure for shooting by a shooting unit having a shooting area on the windward side provided on the opposite blade side in the nacelle,
Shooting data acquisition procedure that omits the image where the rotating blade blocks the shooting area from the shooting image acquired in the shooting procedure;
A data processing procedure for performing data processing suitable for detection of flying objects using the shooting data acquired in the shooting data acquisition procedure,
A detection procedure for detecting flying objects from the processing data processed in the data processing procedure;
A computer program for causing a control computer of a flying object detection system to execute a detection result output procedure for outputting a detection result of the detection procedure to a wind turbine generator. A tower standing on the ground, a nacelle fixed to the tower, and a plurality of blades that are rotatably fixed to the nacelle via a hub, and capable of detecting flying objects from the windward A computer program for controlling a wind turbine generator equipped with an object detection system,
The program includes a photographing control procedure for controlling photographing so that the photographing means can photograph at a timing when the rotating blade does not block the photographing region;
An imaging procedure in which the imaging means having an imaging area on the windward side provided on the side opposite to the blade in the nacelle under the control by the imaging control procedure,
A data processing procedure for performing data processing suitable for detection of flying objects using the shooting data acquired in the shooting procedure,
A detection procedure for detecting flying objects from the processing data processed by the data processing procedure;
A detection result output procedure for outputting the detection result of the detection procedure;
A computer program for causing a control computer of a wind power generator to execute a blade control procedure for controlling rotation of a blade according to a detection result by the detection result output procedure. A tower standing on the ground, a nacelle fixed to the tower, and a plurality of blades that are rotatably fixed to the nacelle via a hub, and capable of detecting flying objects from the windward A computer program for controlling a wind turbine generator equipped with an object detection system,
The program includes a shooting procedure for shooting by a shooting unit having a shooting area on the windward side provided on the opposite blade side in the nacelle,
Shooting data acquisition procedure that omits the image where the rotating blade blocks the shooting area from the shooting image acquired in the shooting procedure;
A data processing procedure for performing data processing suitable for detection of flying objects using the shooting data acquired in the shooting data acquisition procedure,
A detection procedure for detecting flying objects from the processing data processed in the data processing procedure;
A detection result output procedure for outputting the detection result of the detection procedure;
A computer program for causing a control computer of a wind power generator to execute a blade control procedure for controlling rotation of a blade according to a detection result by the detection result output procedure.   The computer program according to any one of claims 9 to 12, wherein the data processing procedure includes an optical flow processing procedure for converting the motion of particles in a plurality of image data into vector display image data in a vector display. .

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