Abstract: A method for planning cleaning operations for an autonomous cleaning vehicle at a facility, includes one or more flexible resources. A facility resource scheduling system and a cleaning scheduling system are provided. The facility resource scheduling system defines constraints for operation of the flexible resources of the facility, and schedules operation of the flexible resources subject to the defined constraints. The cleaning scheduling system defines constraints for operation of the autonomous cleaning vehicle, and schedules operation of the autonomous cleaning vehicle subject to the defined constraints.

Abstract: The invention provides an autonomous surface treatment vehicle, e.g. a floor cleaner, with an autonomy system navigating according to a map, a scanning sensor to detect a position of an obstacle within a scanning zone and generate a detection signal. A safety system is arranged to generate a safety stop in case the detection signal indicates an obstacle within a safety zone. The safety system can enter a special mode of operation, e.g. upon request from the autonomy system, where a special safety zone selection algorithm selects the safety zone e.g. from a special set of pre-determined safety zones. Especially, such special mode can provide safety zones with a relaxed speed limit in combination with a restricted direction limit, so as to provide a faster driving near a wall or similar known obstacle.

Abstract: A method for evaluating performance of an operator of a service vehicle, such as a cleaning vehicle, is disclosed. While the operator operates the service vehicle, sensor readings related to the operation of the service vehicle are collected, by means of one or more sensors of the service vehicle. The collected sensor readings are compared to a set of predefined corresponding sensor values reflecting operation of the service vehicle, and performance of the operator is evaluated based on the comparison.

Abstract: An apparatus for monitoring an ambient environment of a wind turbine is described. The apparatus comprises a cooling system comprising first and second heat exchangers, and a fluid circuit arranged to enable coolant to flow between the first and second heat exchangers. The apparatus further comprises a processor configured to: monitor one or more operational parameters of the cooling system; determine an efficiency of the cooling system based on the monitored one or more operational parameters; and calculate a liquid water content of the ambient environment based on the measured efficiency of the cooling system.

Abstract: A method of operating a robot performing a task when receiving instructions to discontinue the task and perform an additional task. Having performed the additional task, the robot will revert to the position of performing the first task and continue the first task.

Abstract: A robot and a method of controlling the robot wherein the robot has a service schedule including a number of tasks. The robot receiving or deriving updated information and re-ordering a number of the tasks not yet performed in accordance with timing information in accordance with which the tasks must be completed.

Abstract: A method of controlling a robot having a service schedule includes a number of tasks, where the robot does not complete a task. The robot will output information relating to the task it was not completed in accordance with its parameters and may output information relating to a reason why it was not completed. A task may not be completed if the robot is prevented from performing the task or when the robot did not perform the task within set parameters. The robot will then perform other tasks in the service schedule and output information as to which task(s) was/were note completed in accordance with its/their parameters.

Abstract: The invention provides an autonomous surface treatment vehicle, e.g. a floor cleaner, with an autonomy system navigating according to a map, a scanning sensor to detect a position of an obstacle within a scanning zone and generate a detection signal. A safety system is arranged to generate a safety stop in case the detection signal indicates an obstacle within a safety zone. The safety system can enter a special mode of operation, e.g. upon request from the autonomy system, where a special safety zone selection algorithm selects the safety zone e.g. from a special set of pre-determined safety zones. Especially, such special mode can provide safety zones with a relaxed speed limit in combination with a restricted direction limit, so as to provide a faster driving near a wall or similar known obstacle.

Abstract: According to an embodiment of the present invention there is provided an apparatus for controlling a sub-system of a wind turbine. The apparatus comprises a cooling system comprising first and second heat exchangers, and a fluid circuit arranged to enable a coolant to flow between the first and second heat exchangers; and a processor. The processor is configured to: monitor one or more operational parameters of the cooling system; determine an icing risk based on the one or more operational parameters; and generate a control signal for output to the wind turbine sub-system in dependence on the determined icing risk.

Abstract: An apparatus and a method for disinfecting a room, where a 3D rendering of the room is used for determining a plurality of positions from which surfaces of the room may be irradiated and where the number of shadows is minimized. A report may be output describing which surfaces are irradiated and with what dose.

Abstract: According to an embodiment of the present invention there is provided an apparatus for monitoring an ambient environment of a wind turbine. The apparatus comprises a cooling system comprising first and second heat exchangers, and a fluid circuit arranged to enable coolant to flow between the first and second heat exchangers. The apparatus further comprises a processor configured to: monitor one or more operational parameters of the cooling system; measure an efficiency of the cooling system based on the monitored one or more operational parameters; and calculate a liquid water content of the ambient environment based on the measured efficiency of the cooling system.

Abstract: A method for controlling a wind turbine is disclosed, the wind turbine comprising a set of wind turbine blades (1), each wind turbine blade (1) being provided with at least one air deflector (2) being movable between an activated position in which it protrudes from a surface of the wind turbine blade (1) and a de-activated position. The occurrence of an event causing a change in operational conditions is registered, and a new operating state for the wind turbine is determined, the new operating state meeting requirements of the changed operational conditions. The air deflectors (2) of the wind turbine blades (1) and pitch angles of the wind turbines blades (1) are controlled in order to reach the new operating state for the wind turbine, and in such a manner that the control of the pitch angles of the wind turbine blades (1) is performed while taking information regarding the control of the air deflectors (2) into account.

Abstract: The present disclosure relates to a control system for a wind turbine that is configured to: obtain a 3-dimensional image of at least a portion of a wind turbine blade; recognise a target feature of the wind turbine blade in the obtained image and identify the position of the target feature; and monitor the state of the wind turbine blade and/or control operation of at least one blade in dependence on the identified position of the feature.

Abstract: The present disclosure relates to a system for determining at least one blade state parameter of a wind turbine blade, wherein the system is configured to: obtain blade data relating to the wind turbine blade from a sensor system associated with the wind turbine blade; compare at least one reference model of at least a portion of the wind turbine blade with the blade data; identify a reference model in dependence on the comparison; and determine at least one blade state parameter in dependence on the identified reference model. The blade data may take the form of an image, for example a 3-dimensional measurement such as a point cloud representing at least a portion of the blade.

Abstract: According to an embodiment of the present invention there is provided an apparatus for controlling a sub-system of a wind turbine. The apparatus comprises a cooling system comprising first and second heat exchangers, and a fluid circuit arranged to enable a coolant to flow between the first and second heat exchangers; and a processor. The processor is configured to: monitor one or more operational parameters of the cooling system; determine an icing risk based on the one or more operational parameters; and generate a control signal for output to the wind turbine sub-system in dependence on the determined icing risk.

Abstract: The present invention relates to a valve having a control function and a method for controlling a valve in a fluid conduit in order to adapt flow rates and/or differential pressure rates. The valve comprises a fluid inlet and a fluid outlet and a valve closing member located inside a valve body. The valve closing member is operationally connected to a variable volume chamber, which is adapted to extract energy from the fluid in order to provide either an opening or a closing displacement of the valve closing member such that the degree of opening of the valve can be changed. The supply of fluid to and from the variable volume chambers may be regulated by electronically controlled valves.

Abstract: A valve having a balancing function for a fluid distribution system. A valve closing member is movable between a closed position and a fully opened position. An actuation device is provided for changing the position of the valve closing member. A control unit is provided and includes an electronic memory adapted to receive and store an opening limitation value, the opening limitation value being representative of a selected intermediate position between the closed position and the fully opened position of the valve closing member, wherein the control unit controls the actuation device to limit the movement of the valve closing member to positions from the closed position to the selected intermediate position. Also, a valve system and to a method of operating a valve.

Abstract: A method for controlling a wind turbine is disclosed, the wind turbine comprising a set of wind turbine blades (1), each wind turbine blade (1) being provided with at least one air deflector (2) being movable between an activated position in which it protrudes from a surface of the wind turbine blade (1) and a de-activated position. The occurrence of an event causing a change in operational conditions is registered, and a new operating state for the wind turbine is determined, the new operating state meeting requirements of the changed operational conditions. The air deflectors (2) of the wind turbine blades (1) and pitch angles of the wind turbines blades (1) are controlled in order to reach the new operating state for the wind turbine, and in such a manner that the control of the pitch angles of the wind turbine blades (1) is performed while taking information regarding the control of the air deflectors (2) into account.

Abstract: An expansion valve (1) comprising an inlet opening (2) and a distributor (4) being arranged to distribute fluid medium received from the inlet opening to at least two parallel flow paths (3). At least two outlet openings (3) are adapted to deliver fluid in an at least partially gaseous state, and each outlet opening is fluidly connected to one of the parallel flow paths. A first valve part (7) and a second valve part (5) are arranged movably relative to each other in such a manner that the mutual position of the first valve part and the second valve part determines the opening degree of the expansion valve. Since the distributor (4) forms part of the expansion valve, it distributes the fluid medium to the parallel flow paths prior to or during expansion of the fluid medium, i.e. while the fluid medium is in a substantially liquid state. This makes it easier to control the distribution of fluid medium to the parallel flow paths in a uniform manner.

Abstract: The present disclosure relates to a system for determining at least one blade state parameter of a wind turbine blade, wherein the system is configured to: obtain blade data relating to the wind turbine blade from a sensor system associated with the wind turbine blade; compare at least one reference model of at least a portion of the wind turbine blade with the blade data; identify a reference model in dependence on the comparison; and determine at least one blade state parameter in dependence on the identified reference model. The blade data may take the form of an image, for example a 3-dimensional measurement such as a point cloud representing at least a portion of the blade.