JP7794150B2 - Elevator inspection method and inspection system using flying object - Google Patents

Description

This disclosure relates to an elevator inspection method and inspection system using an aircraft.

Patent Document 1 discloses an example of an elevator monitoring system. In the monitoring system, a drone flying inside the elevator shaft captures images of the elevator car's condition inside the elevator shaft.

Japanese Patent Application Laid-Open No. 2018-193138

Beams within an elevator shaft, or the car and counterweight traveling within the shaft, can become obstacles when flying an aircraft such as a drone that flies through the elevator shaft, as in Patent Document 1. For this reason, when using an aircraft for elevator inspection, advanced automatic or manual aircraft control technology is required to ensure that the aircraft avoids obstacles within the shaft.

This disclosure is directed to solving these problems. This disclosure provides an elevator inspection method and inspection system using an aircraft that does not require advanced piloting skills.

The inspection method according to the present disclosure is a method for inspecting equipment to be inspected using an aircraft capable of hovering in an elevator shaft along which an elevator car travels and having a camera, the inspection method comprising: causing the car carrying the aircraft to travel to a first position; causing the aircraft to hover above the car after the car has stopped at the first position; causing the car to travel back and forth between the first position and a second position below the first position while the aircraft is photographing the equipment to be inspected with the camera while flying at a constant altitude within the elevator shaft; and landing the aircraft on top of the car after the car has stopped at the first position again, wherein the equipment to be inspected is at least one of a rope of the elevator that moves as the car travels, or a sheave of the elevator that is located at the upper end of the elevator shaft and around which the rope of the elevator that moves as the car travels is wound .

The elevator inspection system according to the present disclosure includes a running state acquisition unit that acquires a running state of a car in an elevator shaft, a running command unit that outputs a command signal to run the car, a flight state acquisition unit that acquires a flight state of an aircraft that has an imaging device that images an inspection target device of the elevator and is capable of hovering in the shaft, and a flight command unit that outputs a command signal to fly the aircraft, wherein the running command unit runs the car carrying the aircraft to a first position, and the flight command unit causes the aircraft to hover above the car after the running state acquisition unit acquires information that the car has stopped at the first position, and the running command unit controls the aircraft to hover above the car. After the flight status acquisition unit acquires information about the start of inspection, the flight command unit causes the aircraft to fly at a constant altitude within the elevator shaft so that the photographing device can photograph the equipment to be inspected, while causing the car to travel back and forth between the first position and a second position lower than the first position, and after the running status acquisition unit acquires information about the car stopping again at the first position, the flight command unit causes the aircraft to land on the elevator shaft, and the equipment to be inspected is at least one of the elevator rope that moves as the elevator car moves, or the elevator sheave that is located at the upper end of the elevator shaft and around which the elevator rope that moves as the elevator car moves .

The inspection method or inspection system disclosed herein allows elevator inspections to be performed using an aircraft without requiring advanced piloting skills.

1 is a configuration diagram of an elevator according to a first embodiment. FIG. 1 is a diagram illustrating an example of an elevator inspection method according to the first embodiment. FIG. 1 is a diagram illustrating an example of an elevator inspection method according to the first embodiment. FIG. 1 is a diagram illustrating an example of an elevator inspection method according to the first embodiment. FIG. 1 is a diagram illustrating an example of an elevator inspection method according to the first embodiment. FIG. 1 is a diagram illustrating an example of an elevator inspection method according to the first embodiment. FIG. 1 is a diagram illustrating an example of an elevator inspection method according to the first embodiment. 4 is a flowchart showing an example of the operation of the inspection system according to the first embodiment. 1 is a hardware configuration diagram of a main part of an inspection system according to a first embodiment. FIG. 10 is a configuration diagram of an elevator according to a modified example of the first embodiment.

Modes for implementing the subject matter of the present disclosure will be described with reference to the accompanying drawings. In each drawing, the same or corresponding parts will be assigned the same reference numerals, and redundant explanations will be appropriately simplified or omitted. Note that the subject matter of the present disclosure is not limited to the following embodiments, and any component of the embodiments may be modified or omitted within the scope of the spirit of the present disclosure.

Embodiment 1.
FIG. 1 is a configuration diagram of an elevator 1 according to the first embodiment.

Elevator 1 is applied to a building with multiple floors. A hoistway 2 for elevator 1 is provided in the building. Hoistway 2 is a long space extending vertically across multiple floors. A landing 3 adjacent to hoistway 2 is provided on each floor of the building.

The elevator 1 comprises a hoist 4, a main rope 5, a car 6, a counterweight 7, and a control panel 8.

The hoisting machine 4 is equipped with a drive sheave 9. The drive sheave 9 is an example of a sheave in the elevator 1. The hoisting machine 4 generates a driving force that rotates the drive sheave 9 using a motor (not shown). The hoisting machine 4 is disposed, for example, at the top or bottom of the hoistway 2. Alternatively, if a machine room is provided in the elevator 1, for example, above the hoistway 2, the hoisting machine 4 may be disposed in the machine room.

The main rope 5 is a device that supports the loads of the car 6 and counterweight 7 in the hoistway 2. The main rope 5 is an example of a rope for the elevator 1. The main rope 5 is wound around the drive sheave 9 of the hoisting machine 4. In this example, the main rope 5 is wound around a deflector sheave 10 located near the drive sheave 9. The deflector sheave 10 is an example of a sheave for the elevator 1. The main rope 5 supports the load of the car 6 on one side of the drive sheave 9. The main rope 5 supports the load of the counterweight 7 on the other side of the drive sheave 9. One of the portions of the main rope 5 that support the load of the car 6 and the load of the counterweight 7 is an example of the first portion. The other of the portions of the main rope 5 that support the load of the car 6 and the load of the counterweight 7 is an example of the second portion. The main rope 5 moves so that either the first or second portion is wound up as the drive sheave 9 rotates.

The car 6 is a device that travels up and down the hoistway 2 to transport passengers and other people between multiple floors of a building. The counterweight 7 is a device that balances the loads acting on both sides of the drive sheave 9 between the car 6 and itself. The car 6 and counterweight 7 travel up and down the hoistway 2 in opposite directions, linked to the main rope 5 that is moved by the drive sheave 9 of the hoisting machine 4.

The control panel 8 is a device that controls the operation of the elevator 1. Control of the operation of the elevator 1 by the control panel 8 includes, for example, the running of the car 6. The control panel 8 is located, for example, at the top or bottom of the hoistway 2. Alternatively, if a machine room is provided, the control panel 8 may be located in the machine room.

An inspection system 11 is applied to the elevator 1. The inspection system 11 may be an internal system included in the elevator 1, or an external system applied to the elevator 1. The inspection system 11 is a system that performs inspections of the elevator 1's hoistway 2. The inspection system 11 includes an air vehicle 12, an inspection device 13, and a data server 14.

The air vehicle 12 is, for example, a drone capable of unmanned flight by remote control or automatic piloting. The air vehicle 12 flies, for example, by a mechanism such as a quadcopter or other multicopter. The air vehicle 12 is configured to be capable of hovering flight. Hovering flight is flight in which the air vehicle maintains a fixed position in the air. The air vehicle 12 is configured to be able to fly within the elevator shaft 2. When the air vehicle 12 hoveres within the elevator shaft 2, it maintains a fixed position in the air while maintaining its altitude within the elevator shaft 2. The air vehicle 12 is equipped with a camera 15. The camera 15 is a device that captures still images or moving images. The camera 15 is, for example, a camera. The air vehicle 12 may be equipped with multiple camera devices 15. The air vehicle 12 may also be equipped with a mechanism for changing the orientation of the camera device 15. In this example, the air vehicle 12 is brought into a building to which the elevator 1 is applied by a maintenance worker or the like during inspection of the elevator 1.

For example, the flying vehicle 12 may use a marker 16 as a reference point when landing. The marker 16 may be installed in advance, for example, on the top surface of the car 6. The marker 16 may display an image that can be recognized from the image captured by the imaging device 15, or may notify the flying vehicle 12 of its reference position by transmitting a radio signal or the like. Multiple markers 16 may be provided.

The inspection device 13 is a device that performs functions such as information processing when inspecting the elevator 1 using the flying object 12. The inspection device 13 is, for example, a portable information processing device carried by a maintenance worker. The inspection device 13 may be a general-purpose information processing device such as a mobile PC (Personal Computer) or a smartphone, or it may be a dedicated information processing device. The inspection device 13 is connected to the control panel 8 of the elevator 1 so as to be able to communicate control signals, etc., via wired or wireless connections. The inspection device 13 is connected to the flying object 12 so as to be able to communicate control signals, etc., wirelessly.

The inspection device 13 includes a driving status acquisition unit 17, a driving command unit 18, a flight status acquisition unit 19, and a flight command unit 20.

The running state acquisition unit 17 has a function for acquiring information about the running state of the car 6. Information about the running state of the car 6 includes, for example, information about whether the car 6 is stopped or not, and the current position of the car 6. The running command unit 18 has a function for outputting a command signal to cause the car 6 to run. The running command unit 18 outputs a command signal to the control panel 8 based on information acquired by the running state acquisition unit 17, for example. When a command signal is input from the running command unit 18, the control panel 8 causes the car 6 to run in accordance with the command signal.

The flight status acquisition unit 19 is equipped with a function to acquire information about the flight status of the aircraft 12. Information about the flight status of the aircraft 12 includes, for example, information about whether the aircraft 12 is flying or not, and the current position of the aircraft 12. The flight status acquisition unit 19 may also acquire information about images captured by the imaging device 15 of the aircraft 12. The flight command unit 20 is equipped with a function to output a command signal to fly the aircraft 12. The flight command unit 20 outputs a command signal to the aircraft 12 based on information acquired by, for example, the flight status acquisition unit 19. When a command signal is input from the flight command unit 20, the aircraft 12 flies within the elevator shaft 2 in accordance with the command signal.

The data server 14 is a device that manages information such as elevator 1 inspections. The data server 14 is installed at a base that manages elevator 1 information, such as an information center. The data server 14 is composed of, for example, one or more server devices. The data server 14 is connected to the inspection device 13, for example, via an information and communications network such as the Internet. The data server 14 includes a data accumulation unit 21. The data accumulation unit 21 is equipped with a function for accumulating and storing data acquired during elevator 1 inspections. The data acquired during elevator 1 inspections is transmitted, for example, from the inspection device 13 to the inspection device 13 via an information and communications network. The data accumulation unit 21 stores, for example, images captured by the imaging device 15 of the aircraft 12 and inspection results determined based on the captured images. The inspection results may be determined by a maintenance worker performing the inspection based on the captured images, or may be determined automatically by the inspection device 13 or the like using image processing technology based on the captured images.

Next, an example of an inspection method for the elevator 1 using the flying object 12 will be described with reference to Figures 2 to 7 .
2 to 7 are diagrams illustrating an example of an inspection method for the elevator 1 according to Embodiment 1. In Figures 2 to 7, the control panel 8, the inspection device 13, the data server 14, and the like are omitted from the illustration.

In this example, an inspection of the equipment of elevator 1 is performed. The equipment to be inspected is equipment located within the hoistway 2. The equipment to be inspected may be, for example, equipment located at the top of the hoistway 2. The equipment to be inspected may be, for example, a sheave of elevator 1 located within the hoistway 2. The equipment to be inspected may be, for example, a rope of elevator 1 located within the hoistway 2. The equipment to be inspected may be, for example, a rope of elevator 1, including a governor rope (not shown). In this example, the equipment to be inspected is main rope 5. In this example, the portion of main rope 5 on the car 6 side that supports the load of car 6 and the portion on the counterweight 7 side that supports the load of counterweight 7 are inspected as the equipment to be inspected.

First, the maintenance worker places the flying object 12 on the top surface of the car 6. For example, the maintenance worker places the flying object 12 on the marker 16 on the top surface of the car 6. If the inspection device 13 is a portable information processing device brought in by the maintenance worker, the maintenance worker connects the inspection device 13 to the control panel 8.

The flight status acquisition unit 19 acquires flight status information indicating that the flying object 12 is not flying. The flight status acquisition unit 19 may also detect that the flying object 12 is on the top surface of the car 6 by detecting a marker 16 on the top surface of the car 6, for example.

Then, as shown in FIG. 2, the travel command unit 18 causes the car 6, with the flying object 12 placed on top, to travel to the first position. In this example, the first position is the top floor. While the car 6 travels to the first position, the flying object 12 is placed above the car 6 without flying. The travel status acquisition unit 17 then acquires information that the car 6 has stopped at the first position.

Then, as shown in FIG. 3, the flight command unit 20 causes the aircraft 12 to take off from above the car 6. The flight command unit 20 points the camera 15 of the aircraft 12 toward the portion of the main rope 5 on the car 6 side that is unwound from a sheave such as the drive sheave 9 or the deflector wheel 10. The flight command unit 20 then causes the aircraft 12 to hover above the car 6, maintaining a constant position in the air. The aircraft 12 begins photographing with the camera 15. In this example, the aircraft 12 maintains a constant position in the air based on the image of the main rope 5, which is the equipment to be inspected and photographed by the camera 15. The aircraft 12 may also maintain a constant position in the air based on the horizontal position of the main rope 5 in the photographed image. The aircraft 12 may also maintain a constant position in the air based on the image of the equipment in the hoistway 2 that is located around the main rope 5 in the photographed image. The flight status acquisition unit 19 acquires information regarding the start of hovering flight.

Then, as shown in FIG. 4, the travel command unit 18 causes the car 6 to travel to the second position. The second position is lower than the first position. In this example, the second position is the lowest floor. The travel command unit 18, for example, causes the car 6 to travel from the first position to the second position without stopping. While the car 6 travels from the first position to the second position, the flying object 12 flies while maintaining its altitude within the elevator shaft 2, and continues to photograph the portion of the main rope 5 on the car 6 side that is unwound from the sheave using the camera 15. As a result, images of the portion of the main rope 5 on the car 6 side that is unwound from the sheave are sequentially captured as the car 6 travels from the first position to the second position. The images captured by the camera 15 may be configured to be viewable in real time by a maintenance worker, for example, using the inspection device 13. At this time, the maintenance worker inspects the car 6 side of the main rope 5 based on the captured images of the main rope 5 to determine whether there are any abnormalities. Alternatively, for example, the inspection device 13 may automatically use image processing technology to check for abnormalities on the car 6 side of the main rope 5 based on photographed images of the main rope 5. The running state acquisition unit 17 then acquires information that the car 6 has stopped at the second position.

Then, as shown in FIG. 5, the flight command unit 20 points the camera 15 of the flying vehicle 12 toward the portion of the main rope 5 on the counterweight 7 side that is unwound from a sheave such as the drive sheave 9 or deflector wheel 10. At this time, the flight command unit 20 flies, moving horizontally while maintaining its altitude within the elevator shaft 2. During this time, the car 6 remains stationary at the second position. The flight command unit 20 then causes the flying vehicle 12 to hover, maintaining a constant position in the air above the car 6. During this time, the flying vehicle 12 may, for example, continue to take photographs using the camera 15. The flight status acquisition unit 19 acquires information about the resumption of hovering flight.

Then, as shown in FIG. 6 , the travel command unit 18 causes the car 6 to travel to the first position. The travel command unit 18, for example, causes the car 6 to travel from the second position to the first position without stopping. While the car 6 travels from the second position to the first position, the flying vehicle 12 flies while maintaining its altitude within the hoistway 2, and continues to photograph the portion of the main rope 5 on the counterweight 7 side that is unwound from the sheave using the imaging device 15. As a result, images of the portion of the main rope 5 on the counterweight 7 side that is unwound from the sheave are sequentially captured as the car 6 travels from the second position to the first position. A maintenance worker inspects the counterweight 7 side of the main rope 5 based on the captured images of the main rope 5. Alternatively, for example, an inspection device 13 may automatically inspect the counterweight 7 side of the main rope 5 based on the captured images of the main rope 5 using image processing technology. The running state acquisition unit 17 then acquires information that the car 6 has stopped again at the first position.

Then, as shown in FIG. 7, the flight command unit 20 lands the aircraft 12 on the car 6. The flight command unit 20 may, for example, land the aircraft 12 using a marker 16 installed on the top surface of the car 6 as a reference. The flight status acquisition unit 19 then acquires information that the aircraft 12 has completed landing.

Then, the travel command unit 18 causes the car 6 to travel so as to perform floor-matching operation. In floor-matching operation, the heights of the floor surfaces of the hall 3 and the car 6 are set to match at the stopping positions of each floor.

In this example, the inspection system 11 inspects the car 6 side of the main rope 5 when the car 6 travels downward, and the counterweight 7 side of the main rope 5 when the car 6 travels upward. However, the inspection order is not limited to this. For example, the inspection system 11 may inspect the counterweight 7 side of the main rope 5 when the car 6 travels downward, and the car 6 side of the main rope 5 when the car 6 travels upward. The travel command unit 18 may cause the car 6 to travel two or more round trips between the first position and the second position. In this case, for example, the inspection system 11 may inspect the counterweight 7 side of the main rope 5 on the first round trip, and the car 6 side of the main rope 5 on the second round trip. For example, if there are multiple main ropes 5, the inspection system 11 may inspect the car 6 side of one of the main ropes 5 when the car 6 travels downward on the first round trip, and inspect the car 6 side of the other main rope 5 when the car 6 travels upward. If the camera device 15 is capable of photographing multiple main ropes 5 simultaneously, the inspection system 11 may inspect multiple main ropes 5 simultaneously. The inspection system 11 may also inspect other ropes of the main ropes 5 at the same time. For example, the inspection system 11 may simultaneously inspect both the car 6 side and the counterweight 7 side of the main rope 5 when the car 6 is traveling downward, and inspect the governor rope when the car 6 is traveling upward.

Next, an example of the operation of the inspection system 11 will be described with reference to FIG.
FIG. 8 is a flowchart showing an example of the operation of the inspection system 11 according to the first embodiment.

In step S1, the travel command unit 18 outputs a command signal to the control panel 8 to cause the car 6, with the flying object 12 on top, to travel to the top floor. The travel status acquisition unit 17 then acquires information that the car 6 has stopped at the top floor. The processing of the inspection system 11 then proceeds to step S2.

In step S2, the flight command unit 20 outputs a command signal to the aircraft 12 to take off from the cage 6. The flight command unit 20 then outputs a command signal to the aircraft 12 to hover in a position where it can photograph the cage 6 side of the main rope 5, which is the equipment to be inspected. The processing of the inspection system 11 then proceeds to step S3.

In step S3, the inspection device 13 determines whether the flight status acquisition unit 19 has acquired information indicating the start of hovering flight. If information indicating the start of hovering flight has not been acquired, the processing of the inspection system 11 proceeds to step S3 again. On the other hand, if information indicating the start of hovering flight has been acquired, the processing of the inspection system 11 proceeds to step S4.

In step S4, the travel command unit 18 outputs a command signal to the control panel 8 to cause the car 6 to travel to the lowest floor while the flying vehicle 12 maintains its altitude within the elevator shaft 2 and hovers. The travel status acquisition unit 17 then acquires information that the car 6 has stopped at the lowest floor. The processing of the inspection system 11 then proceeds to step S5.

In step S5, the flight command unit 20 outputs a command signal to the aircraft 12 to fly horizontally to a position where the portion of the main rope 5 on the counterweight 7 side, which is the next position to be inspected, can be photographed. The flight command unit 20 then outputs a command signal to the aircraft 12 to hover at that position. Processing by the inspection system 11 then proceeds to step S6.

In step S6, the travel command unit 18 outputs a command signal to the control panel 8 to cause the car 6 to travel to the top floor while the flying vehicle 12 maintains its altitude within the elevator shaft 2 and hovers. The travel status acquisition unit 17 then acquires information indicating that the car 6 has stopped again at the top floor. The processing of the inspection system 11 then proceeds to step S7.

In step S7, the flight command unit 20 outputs a command signal to the flying vehicle 12 to land it on the cage 6. Then, processing by the inspection system 11 proceeds to step S8.

In step S8, the inspection device 13 determines whether the flight status acquisition unit 19 has acquired information indicating that landing has been completed. If information indicating that landing has been completed has not been acquired, the processing of the inspection system 11 proceeds to step S8 again. On the other hand, if information indicating that landing has been completed has been acquired, the processing of the inspection system 11 proceeds to step S9.

In step S9, the travel command unit 18 outputs a command signal to the control panel 8 to perform floor alignment travel. Then, processing by the inspection system 11 ends.

As described above, the inspection system 11 according to embodiment 1 comprises a traveling state acquisition unit 17, a traveling command unit 18, a flight state acquisition unit 19, and a flight command unit 20. The traveling state acquisition unit 17 acquires the traveling state of the car 6 in the elevator shaft 2. The traveling command unit 18 outputs a command signal to cause the car 6 to travel. The flight state acquisition unit 19 acquires the flight state of the flying object 12. The flight command unit 20 outputs a command signal to cause the flying object 12 to fly. The traveling command unit 18 causes the car 6 carrying the flying object 12 to travel to the first position. After the traveling state acquisition unit 17 acquires information that the car 6 has stopped at the first position, the flight command unit 20 causes the flying object 12 to hover above the car 6. After the flight status acquisition unit 19 acquires information about the start of hovering flight above the car 6, the travel command unit 18 causes the car 6 to travel back and forth between the first position and a second position below it while the flight command unit 20 causes the flying vehicle 12 to fly while maintaining its altitude within the elevator shaft 2. During this time, the flying vehicle 12 photographs the equipment to be inspected with the imaging device 15. After the travel status acquisition unit 17 acquires information about the car 6 stopping again at the first position, the flight command unit 20 causes the flying vehicle 12 to land on top of the car 6.

With this configuration, the aircraft 12 hovers above the car 6 when photographing the equipment to be inspected, eliminating the need for advanced piloting skills to fly around obstacles. This makes it possible to inspect the elevator 1 using the aircraft 12 without requiring advanced piloting skills. The inspection system 11 may also automatically output command signals to the aircraft 12. This automates the inspection procedures for the elevator 1, reduces the workload of maintenance personnel during inspection work, and improves the efficiency of inspection work.

The first position is the top floor, and the second position is the bottom floor. This makes it possible to capture images of the condition of the equipment to be inspected while the car 6 travels the entire length of the hoistway 2. This allows for more reliable inspection of the equipment to be inspected. In particular, when the equipment to be inspected is a rope of the elevator 1, such as the main rope 5, a wider area of the rope can be inspected.

The equipment to be inspected is the first and second portions of the main rope 5. Here, the first and second portions are portions located at different horizontal positions within a range that includes the first and second positions of the hoistway 2. The first and second portions are, for example, the portion of the main rope 5 on the car 6 side and the portion on the counterweight 7 side. As the car 6 shuttles between the first and second positions, the aircraft 12 photographs the first portion of the main rope 5 with the camera 15 while hovering and maintaining its altitude within the hoistway 2 as the car 6 travels from the first position to the second position. While the car 6 is stopped at the second position, the aircraft 12 flies from the side of the first portion to the side of the second portion while maintaining its altitude within the hoistway 2. While the car 6 travels from the second position to the first position, the aircraft 12 photographs the second portion of the main rope 5 with the camera 15 while hovering and maintaining its altitude within the hoistway 2. Even if the camera device 15 cannot simultaneously capture images of the first and second parts of the main rope 5, the efficiency of inspection work can be improved by capturing images of different parts on the outbound and inbound journeys.

Furthermore, when the flying vehicle 12 hovers while maintaining its altitude within the elevator shaft 2, it uses the image of the equipment to be inspected captured by the imaging device 15 as a reference point. This allows the flying vehicle 12 to maintain the relative position between the imaging device 15 and the equipment to be inspected, thereby enabling more stable imaging of the equipment to be inspected.

When the aircraft 12 hovers while maintaining its altitude within the elevator shaft 2, it may use the image of a marker installed within the elevator shaft 2 captured by the imaging device 15 as a reference. The marker may be positioned in advance near the equipment to be inspected. This allows the aircraft 12 to hover stably even if the equipment to be inspected vibrates. Here, if there is multiple equipment to be inspected, the marker that the aircraft 12 uses as a reference for hovering flight may be provided for each piece of equipment to be inspected.

Furthermore, the aircraft 12 may perform hovering flight using captured images of both the marker and the equipment to be inspected as a reference. During hovering flight, the aircraft 12 may maintain a constant position in the air based on acceleration measured by, for example, an acceleration sensor. During hovering flight, the aircraft 12 may maintain a constant position in the air based on the distance to a structure within the hoistway 2 measured by, for example, a distance sensor.

Flying vehicle 12 may also be permanently installed above car 6 of elevator 1. In this case, flying vehicle 12 may receive power from car 6 when installed above car 6.

In addition, some or all of the functions of the inspection device 13 may be installed in a remote monitoring device that monitors the status of the elevator 1. Some or all of the functions of the inspection device 13 may be installed in a gateway device that outputs the status of the elevator 1 to a data server 14, etc. Some or all of the functions of the inspection device 13 may be installed in a control panel 8 or a data server 14, etc. If the elevator 1 includes multiple cars 6, some or all of the functions of the inspection device 13 may be installed in a group control panel that allocates calls to the multiple cars 6.

Furthermore, some or all of the operation of the flying vehicle 12 may be performed manually, for example, through input operations by a maintenance worker into the inspection device 13. The operations of the flying vehicle 12 required for inspection are limited to takeoff from the car 6, hovering, short-distance horizontal movement, and landing on the car 6, and no advanced operations such as flying while avoiding obstacles in the hoistway 2 in three dimensions are required. Therefore, the elevator 1 can be inspected using the flying vehicle 12 without requiring advanced manual operation skills.

Next, an example of the hardware configuration of the inspection system 11 will be described with reference to FIG.
FIG. 9 is a hardware configuration diagram of the main part of the inspection system 11 according to the first embodiment.

Each function of the inspection system 11 may be realized by a processing circuit. The processing circuit includes at least one processor 100a and at least one memory 100b. The processing circuit may include at least one dedicated hardware 200 in addition to or in place of the processor 100a and memory 100b.

When the processing circuit includes a processor 100a and memory 100b, each function of the inspection system 11 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. The program is stored in memory 100b. The processor 100a realizes each function of the inspection system 11 by reading and executing the program stored in memory 100b.

The processor 100a is also called a CPU (Central Processing Unit), processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. The memory 100b is composed of non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM.

When the processing circuitry comprises dedicated hardware 200, the processing circuitry may be implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

Each function of the inspection system 11 can be realized by a processing circuit. Alternatively, all functions of the inspection system 11 can be realized collectively by a processing circuit. Some of the functions of the inspection system 11 may be realized by dedicated hardware 200, and other parts may be realized by software or firmware. In this way, the processing circuit realizes each function of the inspection system 11 by dedicated hardware 200, software, firmware, or a combination of these.

Next, the configuration of a modification of the first embodiment will be described with reference to FIG.
FIG. 10 is a configuration diagram of an elevator 1 according to a modified example of the first embodiment.

The car 6 is equipped with a car sheave 22. The counterweight 7 is equipped with a counterweight sheave 23. Two return sheaves 24 are provided at the upper end of the hoistway 2. The car sheave 22, counterweight sheave 23, and return sheave 24 are examples of sheaves of the elevator 1. The hoisting machine 4 is provided at the lower end of the hoistway 2.

Both ends of the main rope 5 are fixed at the upper end of the hoistway 2. From one end to the other, the main rope 5 is wound around the car sheave 22, one return sheave 24, the drive sheave 9, the other return sheave 24, and the counterweight sheave 23, in that order.

In this example, the equipment to be inspected is, for example, each of the return wheels 24. When the car 6 is traveling between the first and second positions, the flying vehicle 12 hovers with the camera device 15 aimed at one of the return wheels 24. Based on the captured images of the return wheels 24, a maintenance worker inspects the return wheels 24 to see if there are any abnormal vibrations or the like while the car 6 is traveling. Alternatively, for example, the inspection device 13 may automatically inspect the return wheels 24 for any abnormalities based on the captured images of the return wheels 24 using image processing technology. The inspection system 11, for example, inspects one return wheel 24 when the car 6 is traveling downward, and inspects the other return wheel 24 when the car 6 is traveling upward.

To summarize the above explanation, possible configurations of the technology according to the present disclosure include the configurations listed below as appendices.
(Appendix 1)
An inspection method for equipment to be inspected using an aircraft capable of hovering in an elevator shaft where an elevator car travels and equipped with a photographing device,
running the car carrying the flying object to a first position;
After the car stops at the first position, the air vehicle is caused to hover above the car;
While the flying object is flying at a constant altitude within the elevator shaft and photographing the equipment to be inspected with the photographing device, the car is made to travel back and forth between the first position and a second position lower than the first position;
landing the air vehicle on the car after the car has stopped at the first position again;
An inspection method comprising:
(Appendix 2)
the first location is a location on the top floor;
the second location being a location on the lowest floor;
Inspection method described in Appendix 1.
(Appendix 3)
the inspection target device is a first portion and a second portion of the elevator rope that moves as the car travels, the first portion and the second portion being arranged at different positions in a horizontal direction within a range that includes the first position and the second position;
When the car reciprocates between the first position and the second position, the flying body
While the car travels from the first position to the second position, the car maintains its altitude within the elevator shaft and flies in a hovering position, photographing the first portion of the rope with the photographing device;
While the car is stopped at the second position, the car is moved from the side of the first portion to the side of the second portion while maintaining its height within the hoistway;
while the car travels from the second position to the first position, the camera is caused to photograph the second portion of the rope while the car is hovering and maintaining its altitude within the hoistway;
1. An inspection method according to claim 1 or 2.
(Appendix 4)
When the flying object is made to hover while maintaining the altitude within the elevator shaft, the image of the inspection target equipment photographed by the photographing device is used as a reference.
4. The inspection method according to any one of claims 1 to 3.
(Appendix 5)
When the flying object is made to hover while maintaining the altitude within the elevator shaft, the photographed image of the marker provided within the elevator shaft photographed by the photographing device is used as a reference.
4. The inspection method according to any one of claims 1 to 3.
(Appendix 6)
a running state acquisition unit that acquires a running state of a car in an elevator shaft;
a travel command unit that outputs a command signal to cause the car to travel;
a flight status acquisition unit that acquires a flight status of an aircraft capable of hovering in the elevator shaft and that has an imaging device that captures images of the elevator equipment to be inspected;
a flight command unit that outputs a command signal to fly the aircraft;
Equipped with
The travel command unit causes the car carrying the flying object to travel to a first position,
the flight command unit causes the aircraft to hover above the car after the running state acquisition unit acquires information that the car has stopped at the first position;
After the flight status acquisition unit acquires information on the start of hovering flight above the car, the travel command unit causes the car to travel back and forth between the first position and a second position lower than the first position while the flight command unit causes the flying object to fly at a maintained altitude within the elevator shaft so that the inspection target equipment can be photographed by the photographing device,
the flight command unit lands the aircraft on the car after the running state acquisition unit acquires information that the car has stopped again at the first position;
Elevator inspection system.

1. Elevator, 2. Hoistway, 3. Landing, 4. Hoisting machine, 5. Main rope, 6. Cage, 7. Counterweight, 8. Control panel, 9. Drive sheave, 10. Deflector, 11. Inspection system, 12. Air vehicle, 13. Inspection device, 14. Data server, 15. Camera, 16. Marker, 17. Travel status acquisition unit, 18. Travel command unit, 19. Flight status acquisition unit, 20. Flight command unit, 21. Data storage unit, 22. Cage sheave, 23. Counterweight sheave, 24. Return wheel, 100a. Processor, 100b. Memory, 200. Dedicated hardware

Claims (9)

An inspection method for equipment to be inspected using an aircraft capable of hovering in an elevator shaft where an elevator car travels and equipped with a photographing device,
running the car carrying the flying object to a first position;
After the car stops at the first position, the air vehicle is caused to hover above the car;
While the flying object is flying at a constant altitude within the elevator shaft and photographing the equipment to be inspected with the photographing device, the car is made to travel back and forth between the first position and a second position lower than the first position;
landing the air vehicle on the car after the car has stopped at the first position again;
An inspection method comprising:
The equipment to be inspected is at least one of the elevator rope that moves as the car travels, or the elevator sheave that is disposed at the upper end of the hoistway and around which the elevator rope that moves as the car travels is wound,
Inspection method. the first location is a location on the top floor;
the second location being a location on the lowest floor;
The inspection method according to claim 1 . the inspection target device is a first portion and a second portion of the elevator rope that moves as the car travels, the first portion and the second portion being arranged at different positions in a horizontal direction within a range that includes the first position and the second position;
When the car reciprocates between the first position and the second position, the flying body
While the car travels from the first position to the second position, the car maintains its altitude within the elevator shaft and flies in a hovering position, photographing the first portion of the rope with the photographing device;
While the car is stopped at the second position, the car is moved from the side of the first portion to the side of the second portion while maintaining its height within the hoistway;
while the car travels from the second position to the first position, the camera is caused to photograph the second portion of the rope while the car is hovering and maintaining its altitude within the hoistway;
The inspection method according to claim 1 or 2. the inspection target devices are a first sheave and a second sheave,
each of the first sheave and the second sheave is an elevator sheave disposed at an upper end of the elevator shaft and around which an elevator rope that moves as the car travels is wound;
When the car reciprocates between the first position and the second position, the flying body
While the car travels from the first position to the second position, the car maintains its altitude within the elevator shaft and flies in a hovering position, photographing the first sheave with the photographing device;
While the car is stopped at the second position, the car is moved from the side of the first sheave to the side of the second sheave while maintaining its altitude within the hoistway;
while the car travels from the second position to the first position, the second sheave is photographed by the photographing device while the car is hovering and flying at a constant altitude within the elevator shaft;
The inspection method according to claim 1 or 2. When the flying object is made to hover while maintaining the altitude within the elevator shaft, the image of the inspection target equipment photographed by the photographing device is used as a reference.
The inspection method according to claim 1 or 2. When the flying object is made to hover while maintaining the altitude within the elevator shaft, the photographed image of the marker provided within the elevator shaft photographed by the photographing device is used as a reference.
The inspection method according to claim 1 or 2. a running state acquisition unit that acquires a running state of a car in an elevator shaft;
a travel command unit that outputs a command signal to cause the car to travel;
a flight status acquisition unit that acquires a flight status of an aircraft capable of hovering in the elevator shaft and that has an imaging device that captures images of the elevator equipment to be inspected;
a flight command unit that outputs a command signal to fly the aircraft;
Equipped with
The travel command unit causes the car carrying the flying object to travel to a first position,
the flight command unit causes the aircraft to hover above the car after the running state acquisition unit acquires information that the car has stopped at the first position;
After the flight status acquisition unit acquires information on the start of hovering flight above the car, the travel command unit causes the car to travel back and forth between the first position and a second position lower than the first position while the flight command unit causes the flying object to fly at a maintained altitude within the elevator shaft so that the inspection target equipment can be photographed by the photographing device,
the flight command unit lands the aircraft on the car after the traveling state acquisition unit acquires information that the car has stopped again at the first position ,
The equipment to be inspected is at least one of the elevator rope that moves as the car travels, or the elevator sheave that is disposed at the upper end of the hoistway and around which the elevator rope that moves as the car travels is wound,
Elevator inspection system. the inspection target device is a first portion and a second portion of the elevator rope that moves as the car travels, the first portion and the second portion being arranged at different positions in a horizontal direction within a range that includes the first position and the second position;
When the cage reciprocates between the first position and the second position, the flight command unit instructs the flying object to:
While the car travels from the first position to the second position, the car flies in a hovering flight while maintaining an altitude within the elevator shaft so as to photograph the first portion of the rope with the photographing device;
While the car is stopped at the second position, the car is moved from the side of the first portion to the side of the second portion while maintaining its height within the hoistway;
while the car travels from the second position to the first position, the car is flown in a hovering flight while maintaining its altitude within the hoistway so as to be able to photograph the second portion of the rope with the photographing device;
The elevator inspection system according to claim 7. the inspection target devices are a first sheave and a second sheave,
each of the first sheave and the second sheave is an elevator sheave disposed at an upper end of the elevator shaft and around which an elevator rope that moves as the car travels is wound;
When the cage reciprocates between the first position and the second position, the flight command unit instructs the flying object to:
While the car travels from the first position to the second position, the car is flown in a hovering flight while maintaining an altitude within the elevator shaft so as to be able to photograph the first sheave with the photographing device;
While the car is stopped at the second position, the car is moved from the side of the first sheave to the side of the second sheave while maintaining its altitude within the hoistway;
While the car travels from the second position to the first position, the car is flown in a hovering flight while maintaining its altitude within the elevator shaft so as to be able to photograph the second sheave with the photographing device.
The elevator inspection system according to claim 7.