Wind-turbine maintenance device

A wind turbine blade maintenance device, comprising:

• a base configured to be removably attached to a tower of a wind turbine and configured to displace in a vertical direction along a length of the tower;
• a telescopic arm, mechanically coupled to the base, disposed in a horizontal direction relative to the vertical direction, wherein the telescopic arm is configured to provide a selectable and dynamic displacement of a distal end of the telescopic arm relative to a vertical axis of the tower, wherein, when the maintenance device is not in use, the telescopic arm is configured to collapse along the horizontal direction and rotate towards the vertical direction and away from the horizontal direction;
• and
• a maintenance arm, mechanically coupled to or proximate to the distal end of the telescopic arm, wherein the maintenance arm comprises one or more sensors, one or more maintenance devices or both that are configured to perform maintenance on a given blade of the wind turbine;
• and
• wherein the telescopic arm comprises one or more electric turbines configured to provide a lateral force in a lateral direction, which is perpendicular to a plane defined by the vertical direction and the horizontal direction;
• the maintenance device is configured to provide a feedback loop that dynamically adjusts the lateral force provided by the one or more electric turbines based at least in part on a measurement, wherein the measurement comprises:
• displacement of the telescopic arm in the lateral direction;
• wave-induced motion;
• a wind speed;
• or a wind direction;
• and
• adjusting the lateral force comprises changing a magnitude of the lateral force or a direction of the lateral force.