A flying object for inspecting the inside of a hoistway of an elevator, a control device for the flying object, and a flight method for the flying object

Abstract

Provided is a flying body capable of flying without colliding with equipment inside a shaft (1) in a simple structure. The flying body is provided with: a main body portion configured to be capable of flying; a photographing portion provided to the main body portion and configured to photograph an image; a storage portion provided to the main body portion and configured to store information of an image photographed by the photographing portion in a state in which the main body portion is placed on top of a car inside a shaft of an elevator; and a control portion provided to the main body portion and configured to control a flying position of the main body portion in a manner such that information of an image photographed by the photographing portion approaches information of an image stored in the storage portion when the main body portion flies above the car inside the shaft.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a flying body that inspects the inside of a hoistway of an elevator, a control device for the flying body, and a flying method for the flying body. BACKGROUND

[0002] Patent Literature 1 discloses a flying body of an elevator. The flying body is capable of flying without colliding with equipment in the inside of a hoistway.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2017-128440 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] However, in the flying body described in Patent Literature 1, a large number of distance sensors are required. Therefore, the structure of the flying body becomes complicated.

[0008] The present disclosure was made to solve the above problem. An object of the present disclosure is to provide a flying body capable of flying without colliding with equipment in the inside of a hoistway with a simple structure, a control device for the flying body, and a flying method for the flying body.

[0009] MEANS FOR SOLVING THE PROBLEM

[0010] The flying body of the present disclosure includes a main body portion configured to be capable of flying, an imaging portion provided to the main body portion and configured to image, a storage portion provided to the main body portion and configured to store information of an image imaged by the imaging portion in a state where the main body portion is placed on top of a car in the inside of a hoistway of an elevator, and a control portion provided to the main body portion and configured to control a flight position of the main body portion in a manner that information of an image imaged by the imaging portion approaches information of the image stored in the storage portion when the main body portion flies above the car in the inside of the hoistway.

[0011] The flying body of the present disclosure includes a main body portion configured to be capable of flying, an imaging portion provided to the main body portion and configured to image, a storage portion provided to the main body portion and configured to store information of an image imaged by the imaging portion in a state where the main body portion is placed on top of a car in the inside of a hoistway of an elevator, and a control portion provided to the main body portion and configured to control a flight position of the main body portion in a manner that information of an image imaged by the imaging portion approaches information of the image stored in the storage portion when the main body portion flies above the car in the inside of the hoistway.

[0012] The flying body of the present disclosure is provided with: a main body portion configured to be capable of flying; a measurement portion provided to the main body portion, which measures a distance; a storage portion provided to the main body portion, which stores information of a distance measured by the measurement portion in a state where the main body portion is placed on top of a car inside a hoistway of an elevator; and a control portion provided to the main body portion, which controls a flight position of the main body portion in such a manner that the information of the distance measured by the measurement portion approaches the information of the distance stored in the storage portion when the main body portion flies above the car inside the hoistway.

[0013] The flying body of the present disclosure is provided with: a main body portion configured to be capable of flying; a measurement portion provided to the main body portion, which measures a distance; a storage portion provided to the main body portion, which stores information of a distance measured by the measurement portion in a state where the main body portion is placed on top of a car inside a hoistway of an elevator; and a control portion provided to the main body portion, which controls a flight position of the main body portion in such a manner that the information of the distance measured by the measurement portion approaches the information of the distance stored in the storage portion when the main body portion flies above the car inside the hoistway.

[0014] The control device of the flying body of the present disclosure is provided with: a storage portion provided separately from a flying body, which stores information of an image captured by the flying body in a state where the flying body is placed on top of a car inside a hoistway of an elevator; and a control portion provided separately from the flying body, which controls a flight position of the flying body in such a manner that the information of the image captured by the flying body approaches the information of the image stored in the storage portion when the flying body flies above the car inside the hoistway.

[0015] The control device of the flying body of the present disclosure is provided with: a storage portion provided separately from a flying body, which stores information of an image captured by the flying body in a state where the flying body is placed on top of a car inside a hoistway of an elevator; and a control portion provided separately from the flying body, which controls a flight position of the flying body in such a manner that the information of the image captured by the flying body approaches the information of the image stored in the storage portion when the flying body flies above the car inside the hoistway.

[0016] The control device of the flying body of the present disclosure includes a storage unit provided separately from the flying body and storing information on a distance measured by the flying body in a state where the flying body is placed above a car inside a hoistway of an elevator, and a control unit provided separately from the flying body and controlling a flight position of the flying body in such a manner that the information on the distance measured by the flying body approaches the information on the distance stored in the storage unit when the flying body flies above the car inside the hoistway.

[0017] The control device of the flying body of the present disclosure includes a storage unit provided separately from the flying body and storing information on a distance measured by a distance sensor provided separately from the flying body in a state where the flying body is placed above a car inside a hoistway of an elevator, and a control unit provided separately from the flying body and controlling a flight position of the flying body in such a manner that the information on the distance measured by the flying body approaches the information on the distance stored in the storage unit when the flying body flies above the car inside the hoistway.

[0018] The flying method of the flying body of the present disclosure includes a flying body setting step of placing a flying body above a car inside a hoistway of an elevator, an image information storing step of storing information on an image in the flying body by causing the car to ascend and descend in a state where the flying body is placed above the car after the flying body setting step and taking an image of the inside of the hoistway by the flying body, and a flight position controlling step of controlling a flight position of the flying body in such a manner that the information on the image taken by the flying body approaches the stored information on the image when the flying body flies above the car inside the hoistway after the image information storing step.

[0019] The flying method of the flying body of the present disclosure includes a flying body setting step of placing a flying body above a car inside a hoistway of an elevator, a distance information storing step of storing information on a distance measured by the flying body inside the hoistway in the flying body by causing the car to ascend and descend in a state where the flying body is placed above the car after the flying body setting step, and a flight position controlling step of controlling a flight position of the flying body in such a manner that the information on the distance measured by the flying body approaches the stored information on the distance when the flying body flies above the car inside the hoistway after the distance information storing step.

[0020] Effects of Invention

[0021] According to the present disclosure, it is possible to cause the flying body to fly without colliding with equipment inside the hoistway with a simple structure. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1is a configuration diagram of an elevator to which the flying body in Embodiment 1 is applied.

[0023] Figure 2 is a diagram for explaining an image storage method of the flying body in Embodiment 1.

[0024] Figure 3 is a diagram showing information of an image stored in the flying body in Embodiment 1.

[0025] Figure 4 is a diagram showing information of an image photographed by the flying body in Embodiment 1.

[0026] Figure 5 is a configuration diagram of an elevator to which the flying body in Embodiment 2 is applied.

[0027] Figure 6 is a cross-sectional view of a hoistway of the elevator to which the flying body in Embodiment 2 is applied.

[0028] Figure 7 is a cross-sectional view of a hoistway of the elevator to which the flying body in Embodiment 3 is applied.

[0029] Figure 8 is a configuration diagram of an elevator to which the flying body in Embodiment 4 is applied. DETAILED DESCRIPTION

[0030] Embodiments are described with reference to the drawings. Furthermore, in each drawing, like or equivalent parts are designated by like reference numerals. Repeated description of such parts is simplified or omitted.

[0031] Embodiment 1.

[0032] Figure 1 is a configuration diagram of an elevator to which the flying body in Embodiment 1 is applied.

[0033] In Figure 1 the elevator system, a hoistway 1 penetrates each floor of a building not shown. A hoisting machine 2 is provided at an upper portion of the hoistway 1. A main rope 3 is wound around the hoisting machine 2.

[0034] A pair of car side rails 4 is provided inside the hoistway 1. A lengthwise direction of each of the pair of car side rails 4 is a vertical direction. A car 5 is provided inside the hoistway 1. The car 5 is supported from below on one side of the main rope 3. The car 5 is guided in the vertical direction by the pair of car side rails 4.

[0035] A pair of counterweight side rails 6 is provided inside the hoistway 1. A lengthwise direction of each of the pair of counterweight side rails 6 is the vertical direction. A counterweight 7 is provided inside the hoistway 1. An upper portion of the counterweight 7 is supported on the other side of the main rope 3. The counterweight 7 is guided in the vertical direction by the pair of counterweight side rails 6.

[0036] A speed limiter 8 is provided at an upper portion of the hoistway 1. A tension pulley 9 is provided at a lower portion of the hoistway 1. A speed limiter rope 10 is provided in a loop shape. The speed limiter rope 10 is wound around the speed limiter 8 and the tension pulley 9.

[0037] A control device 11 is provided at an upper portion of the hoistway 1. The control device 11 is provided so as to be able to integrally control the elevator.

[0038] In the elevator, Figure 1 the control device 11 rotates the traction machine 2. The main rope 3 moves in accordance with the rotation of the traction machine 2. The car 5 and the counterweight 7 ascend and descend in directions opposite to each other in accordance with the movement of the main rope 3. At this time, the speed limiter rope 10 moves in accordance with the ascent and descent of the car 5. The speed limiter 8 rotates in accordance with the movement of the speed limiter rope 10. The control device 11 recognizes the position of the car 5 in the vertical direction on the basis of the rotational speed of the speed limiter 8.

[0039] A flight body 12 is used for inspection of the inside of the hoistway 1 of the elevator. The flight body 12 is provided with a main body portion 12a, a photographing portion 12b, a storage portion 12c, and a control portion 12d.

[0040] The main body portion 12a constitutes a housing of the flight body 12. The main body portion 12a is provided so as to be able to fly. The photographing portion 12b is provided to the main body portion 12a. The photographing portion 12b is provided so as to be able to photograph an image. The storage portion 12c is provided to the main body portion 12a. The storage portion 12c is provided so as to be able to store information of an image of the inside of the hoistway 1. The control portion 12d is provided to the main body portion 12a. The control portion 12d is provided so as to be able to integrally control the action of the flight body 12.

[0041] For example, when the main body portion 12a flies above the car 5 in the inside of the hoistway 1, the control portion 12d controls the flight position of the main body portion 12a in such a manner that the information of the image photographed by the photographing portion 12b approaches the information of the image stored in the storage portion 12c.

[0042] Next, the image storage method of the flight body 12 will be described with reference to Figure 2

[0043] Figure 2 is a view for explaining the image storage method of the flight body in Embodiment 1.

[0044] As shown in Figure 2 , the flight body 12 is placed on the car 5 before the inside of the hoistway 1 is inspected. In this state, the control device 11 causes the car 5 to ascend and descend. At this time, the storage portion 12c stores the information of the image photographed by the photographing portion 12b while following the ascent and descent of the car 5.

[0045] Next, the control of the flight position of the flight body 12 will be described with reference to Figure 3 and Figure 4 .​

[0046] Figure 3 is a diagram showing information of an image stored in the flying body in Embodiment 1. Figure 4 is a diagram showing information of an image photographed by the flying body in Embodiment 1.

[0047] Figure 3 is information showing an image stored in the flying body 12 in a state where the car 5 is located 50 mm above the lowermost layer. Figure 4 is information showing an image photographed by the flying body 12 from above the car 5 in a state where the car 5 is located at the lowermost layer. In Figure 3 and Figure 4 contain images of the equipment of the shaft 1. In Figure 3 and Figure 4 , the equipment of the shaft 1 is simplified and represented in a pentagon.

[0048] For example, at the time of inspection of the inside of the shaft 1, the flying body 12, when targeting a position located 50 mm above the case where the car 5 is located at the lowermost layer, flies around above the car 5 until the image photographed at the current time coincides with the image of Figure 3 .

[0049] For example, at the time of inspection of the inside of the shaft 1, the flying body 12, when targeting a position located 50 mm above the case where the car 5 is located at the lowermost layer, determines a difference between the image of Figure 4 and the image of Figure 3 . Thereafter, the flying body 12 decides to move 50 mm upward based on the difference. Thereafter, the flying body 12 starts flying based on the decision. Thereafter, the flying body 12 corrects the flying position in such a manner that the image photographed at the current time coincides with the image of Figure 3 , and continues flying until the image photographed at the current time coincides with the image of Figure 3 .

[0050] According to Embodiment 1 described above, the flying body 12 stores information of an image photographed in a state where the car 5 is located above. The flying body 12 controls the flying position in such a manner that the information of the photographed image approaches the stored information of the image. At this time, the flying body 12 repeatedly flies within the range of the trajectory in which the car 5 moves by running, without the information of the position coordinates of the equipment of the inside of the shaft 1. Therefore, a large number of sensors are not required, and the flying body 12 can be caused to fly without colliding with the equipment of the inside of the shaft 1 with a simple structure. As a result, it is also possible to avoid collision with the flying body 12 for equipment having a small cross-sectional area such as a flat slab.

[0051] Further, in the flying body 12, information of the image can also be stored in association with information of the position of the car 5 in the vertical direction. The information of the position of the car 5 in the vertical direction can be acquired from the control device 11. At this time, the flying body 12 can control the flight position in the vertical direction based on the information of the image and the information of the position of the car 5 in the vertical direction in association with each other. In this case, the flight position of the flying body 12 in the vertical direction can be controlled more accurately.

[0052] Further, in the flying body 12, information of the image taken from each of the positions of the four corners above the car 5 can also be stored. At this time, in the flying body 12, the flight range in the horizontal direction can also be set based on the images seen from the four corners of the car. Further, when the flying body 12 is placed on the car 5, the flying body 12 is made not to be exposed from the car 5 as viewed from above. In this case, the flying body 12 can be reliably flown above the car 5. As a result, the flying body 12 can be more reliably prevented from colliding with the equipment inside the hoistway 1.

[0053] Further, in the flying body 12, the information of the image seen from the four corners above the car 5 can also be estimated from a certain image. In this case, the flight range of the flying body 12 in the horizontal direction can be set with fewer numbers of travels of the car 5.

[0054] Embodiment 2.

[0055] Figure 5 is a configuration diagram of an elevator to which the flying body in Embodiment 2 is applied. Further, the same reference numerals are attached to the parts same as or equivalent to those of Embodiment 1. The description of the parts is omitted.

[0056] In Embodiment 2, the flying body 12 is provided with a position determining section 12e. The position determining section 12e determines the position of the main body section 12a in the vertical direction. For example, the position determining section 12e determines the position of the main body section 12a in the vertical direction based on the measurement value of the upward or downward distance sensor. For example, the position determining section 12e determines the position of the main body section 12a in the vertical direction based on the image in the downward direction taken by the camera. For example, the position determining section 12e determines the position of the main body section 12a in the vertical direction based on the measurement value of the acceleration sensor.

[0057] The control section 12d controls the flight position of the main body section 12a in the vertical direction based on the position determined by the position determining section 12e.

[0058] Next, the control of the flight position of the flying body 12 in the horizontal direction will be described. Figure 6 The control of the flight position of the flying body 12 in the horizontal direction will be described.

[0059] Figure 6is a cross-sectional view of a hoistway of an elevator to which the aerial body in Embodiment 2 is applied.

[0060] In Figure 6 In the aerial body 12, the storage section 12c stores an image of one of the pair of car side guides 4. The control section 12d controls the flight position of the main body section 12a in the horizontal direction, particularly in the normal line direction of the face formed by the pair of car side guides 4, in such a manner that the information of the image photographed by the photographing section 12b approaches the information of the image of one of the pair of car side guides 4.

[0061] According to Embodiment 2 described above, the aerial body 12 controls the flight position in the horizontal direction in such a manner that the information of the photographed image approaches the information of the image of the long object. Therefore, it is possible to easily control the flight position of the aerial body 12 in the horizontal direction.

[0062] In addition, the aerial body 12 itself determines the position in the vertical direction and controls the flight position in the vertical direction. Therefore, it is possible to easily control the flight position of the aerial body 12 in the vertical direction.

[0063] In addition, as the image of the long object, the image of the counterweight side guide 6, the speed governor rope 10 can also be adopted. In this case, it is also possible to easily control the flight position of the aerial body 12 in the horizontal direction.

[0064] In addition, as the image of the long object, at least one image in the vertical direction can be adopted. For example, only one image in the vertical direction can be adopted as the image of the long object, and this image can be used to control the position of the aerial body 12 in the horizontal direction regardless of the position of the aerial body 12 in the vertical direction. For example, a plurality of images continuously photographed when the car 5 moves from the lowermost layer to the uppermost layer can be adopted as the image of the long object, and the image corresponding to the position of the aerial body 12 in the vertical direction can be used to control the position of the aerial body 12 in the horizontal direction. For example, a plurality of images discretely photographed when the car 5 moves from the lowermost layer to the uppermost layer can be adopted as the image of the long object, and the image photographed at the position closest to the position of the aerial body 12 in the vertical direction can be used to control the position of the aerial body 12 in the horizontal direction.

[0065] Embodiment 3.

[0066] Figure 7 is a cross-sectional view of a hoistway of an elevator to which the aerial body in Embodiment 3 is applied. In addition, the same reference numerals are attached to the parts same as or equivalent to those of Embodiment 2. The description of this part is omitted.

[0067] In Figure 7In the embodiment, the flying body 12 controls the flight position in the horizontal direction based on the image of the plurality of long objects taken at the same time in the vertical direction. For example, in the flying body 12, the storage section 12c stores the image of a pair of counterweight side guides 6 taken at the same time. The control section 12d controls the flight position of the main body section 12a in the horizontal direction, particularly, in the normal line direction of the surface formed by the pair of counterweight side guides 6, in such a manner that the information of the image taken by the photographing section 12b approaches the information of the image of the pair of counterweight side guides 6.

[0068] According to the embodiment 3 described above, the flying body 12 controls the flight position in the horizontal direction in such a manner that the information of the taken image approaches the information of the image taken at the same time of the plurality of long objects. Therefore, the flight position of the flying body 12 in the horizontal direction can be controlled more accurately.

[0069] Further, as the image taken at the same time of the plurality of long objects, the image taken at the same time of one side and the other side of the ring-shaped speed limiter rope 10 can be adopted. In this case, too, the flight position of the flying body 12 in the horizontal direction can be controlled more accurately.

[0070] Further, as the image taken at the same time of the plurality of long objects, the image at at least one place in the vertical direction can be adopted. For example, the image at only one place in the vertical direction can be adopted as the image taken at the same time of the plurality of long objects, and this image can be used to control the position of the flying body 12 in the horizontal direction irrespective of the position of the flying body 12 in the vertical direction. For example, a plurality of images taken continuously when the car 5 moves from the lowermost layer to the uppermost layer can be adopted as the image taken at the same time of the plurality of long objects, and the image corresponding to the position of the flying body 12 in the vertical direction can be used to control the position of the flying body 12 in the horizontal direction. For example, a plurality of images taken discretely when the car 5 moves from the lowermost layer to the uppermost layer can be adopted as the image taken at the same time of the plurality of long objects, and the image taken at the position closest to the position of the flying body 12 in the vertical direction can be used to control the position of the flying body 12 in the horizontal direction.

[0071] Embodiment 4.

[0072] Figure 8 is a configuration diagram of the elevator to which the flying body in the embodiment 4 is applied. Further, the same reference numerals are attached to the portions common or equivalent to those of the embodiment 2. The description of the portions is omitted.

[0073] In the embodiment 4, the flying body 12 is provided with a reception section 12f. The reception section 12f receives information related to the movement in the vertical direction from the outside. For example, the reception section 12f receives information related to the movement in the vertical direction from a remote controller operated by a maintenance person of the elevator.

[0074] The control section 12d controls the flight position of the main body section 12a in the vertical direction on the basis of information received by the reception section 12f.

[0075] According to Embodiment 4 described above, the flight body 12 controls the flight position in the vertical direction on the basis of information from the outside. Therefore, the flight position of the flight body 12 in the vertical direction can be flexibly controlled.

[0076] Further, in Embodiments 1 to 4, information of an image captured by a camera separate from the flight body 12 in a state where the camera is placed on the car 5 inside the hoistway 1 can also be stored in the flight body 12. At this time, the flight body 12 can also control the flight position in such a manner that the information of the captured image approaches the stored information of the image. In this case, the flight body 12 can also fly without colliding with equipment inside the hoistway 1 with a simple structure.

[0077] Further, in Embodiments 1 to 4, the photographing section 12b can also be a distance measuring section such as a distance sensor. At this time, in the storage section 12c, information of a distance measured by the distance measuring section in a state where the main body section 12a is placed on the car 5 inside the hoistway 1 can be stored. In the control section 12d, when the main body section 12a flies above the car 5 inside the hoistway 1, the flight position of the main body section 12a can be controlled in such a manner that the information of the distance measured by the distance measuring section approaches the information of the distance stored in the storage section 12c. In this case, the flight body 12 can also fly without colliding with equipment inside the hoistway 1 with a simple structure.

[0078] Further, information of a distance measured by a distance sensor separate from the flight body 12 in a state where the distance sensor is placed on the car 5 inside the hoistway 1 can also be stored in the flight body 12. At this time, the flight body 12 can also control the flight position in such a manner that the measured information of the image approaches the stored information of the distance. In this case, the flight body 12 can also fly without colliding with equipment inside the hoistway 1 with a simple structure.

[0079] Further, the storage section 12c and the control section 12d can also be provided separately from the flight body 12 as the control device of the flight body 12. In this case, the flight body 12 can also fly without colliding with equipment inside the hoistway 1 with a simpler structure.

[0080] Further, in an elevator in which the hoisting machine 2 and the control device 11 are provided in the lower portion of the hoistway 1 or in a machine room, the flight body 12 of Embodiment 1 or Embodiment 2 can also be applied.

[0081] Industrial Applicability

[0082] As described above, the flying body and the flying method of the flying body of the present disclosure can be utilized in an elevator system.

[0083] KEY

[0084] 1: shaft, 2: hoisting machine, 3: main rope, 4: car side guide rail, 5: car, 6: counterweight side guide rail, 7: counterweight, 8: speed governor, 9: tension pulley, 10: speed governor rope, 11: control device, 12: flying body, 12a: main body portion, 12b: photographing portion, 12c: storage portion, 12d: control portion, 12e: position determination portion, 12f: receiving portion.

Claims

1. A flying body, comprising: The main body is designed to be capable of flight; A camera unit, which is disposed in the main body, captures images; A storage unit, disposed in the main body, stores information about images captured by the imaging unit as the main body moves up and down, with the imaging unit following the movement of the elevator car, while the main body is placed on top of the elevator car inside the elevator shaft; and A control unit, disposed within the main body, controls the flight position of the main body in a manner that, when the main body flies within the hoistway and along the trajectory of the car's movement, the control unit makes the information of the images captured by the imaging unit approximate the information of the images stored in the storage unit. The storage unit stores information about images captured by a single camera point in the vertical direction of a long strip object inside the shaft, with the vertical direction as its length. The control unit controls the horizontal flight position of the main body in a manner that makes the information of the image captured by the imaging unit approximate the information of the image of the elongated object captured at the imaging location, regardless of the vertical position of the main body. The control unit estimates the images seen from the four corners above the car based on the images stored in the storage unit, and sets the horizontal flight range of the main body based on the images seen from the four corners of the car.

2. The flying body according to claim 1, wherein, The aircraft includes a position determination unit disposed on the main body, which determines the position of the main body in the vertical direction. The control unit controls the vertical flight position of the main body based on the position determined by the position determination unit.

3. The flying body according to claim 1, wherein, The flying body includes a receiving unit disposed in the main body, which receives information from the outside related to movement in the vertical direction. The control unit controls the vertical flight position of the main body based on the information received by the receiving unit.

4. A flying body, comprising: The main body is designed to be capable of flight; A camera unit, which is disposed in the main body, captures images; A storage unit, located in the main body, stores information about images captured by a camera inside the elevator shaft, mounted on top of the elevator car, tracking the car's ascent and descent; and A control unit, disposed within the main body, controls the flight position of the main body in a manner that, when the main body flies within the hoistway and along the trajectory of the car's movement, the control unit makes the information of the images captured by the imaging unit approximate the information of the images stored in the storage unit. The storage unit stores information about images captured by a single camera point in the vertical direction of a long strip object inside the shaft, with the vertical direction as its length. The control unit controls the horizontal flight position of the main body in a manner that makes the information of the image captured by the imaging unit approximate the information of the image of the elongated object captured at the imaging location, regardless of the vertical position of the main body. The control unit estimates the images seen from the four corners above the car based on the images stored in the storage unit, and sets the horizontal flight range of the main body based on the images seen from the four corners of the car.

5. The flying body according to claim 4, wherein, The aircraft includes a position determination unit disposed on the main body, which determines the position of the main body in the vertical direction. The control unit controls the vertical flight position of the main body based on the position determined by the position determination unit.

6. The flying body according to claim 4, wherein, The flying body includes a receiving unit disposed in the main body, which receives information from the outside related to movement in the vertical direction. The control unit controls the vertical flight position of the main body based on the information received by the receiving unit.

7. A control device for a flying body, comprising: The storage unit, separate from the flying body, stores information about images captured by the flying body while it is mounted on the elevator car inside the elevator shaft and follows the car's ascent and descent; and A control unit, separately located from the flying body, controls the flight position of the flying body in a manner that brings the information from images captured by the flying body close to the information from images stored in the storage unit when the flying body flies within the hoistway and along the trajectory of the car. The storage unit stores information about images captured by a single camera point in the vertical direction of a long strip object inside the shaft, with the vertical direction as its length. The control unit controls the horizontal flight position of the aircraft in a manner that, regardless of the vertical position of the aircraft, the information of the image captured by the aircraft is close to the information of the image of the elongated object captured at the shooting location. The control unit estimates the images seen from the four corners above the car based on the images stored in the storage unit, and sets the horizontal flight range of the flying body based on the images seen from the four corners of the car.

8. A control device for a flying body, comprising: A storage unit, separate from the flying body, stores information about images captured by cameras, separate from the flying body, inside the elevator shaft and mounted on the elevator car, tracking the car's ascent and descent; and A control unit, separately located from the flying body, controls the flight position of the flying body in a manner that brings the information from images captured by the flying body close to the information from images stored in the storage unit when the flying body flies within the hoistway and along the trajectory of the car. The storage unit stores information about images captured by a single camera point in the vertical direction of a long strip object inside the shaft, with the vertical direction as its length. The control unit controls the horizontal flight position of the aircraft in a manner that, regardless of the vertical position of the aircraft, the information of the image captured by the aircraft is close to the information of the image of the elongated object captured at the shooting location. The control unit estimates the images seen from the four corners above the car based on the images stored in the storage unit, and sets the horizontal flight range of the flying body based on the images seen from the four corners of the car.

9. A method for flying a flying body, comprising: The process of setting up the flying object involves placing the flying object on top of the elevator car inside the elevator shaft. The image information storage process involves, after the aircraft installation process, raising and lowering the car while the aircraft is mounted on the car, and using the aircraft to photograph the interior of the shaft and storing the image information in the aircraft; and In the flight position control process, following the image information storage process, when the flying body is flying within the hoistway and within the trajectory of the moving car, the flying body controls its flight position in a manner that makes the information from the images captured by the flying body approximate the information from the stored images. The image information storage process stores information about images captured by a single camera point in the vertical direction of a long strip object inside the shaft. In the flight position control process, the flight body is controlled in a manner that, regardless of its vertical position, the information of the image captured by the flight body is close to the information of the image of the elongated object captured at the shooting location. In the flight position control process, the images seen from the four corners above the car are estimated based on the images stored in the flight body, and the flight range of the flight body in the horizontal direction is set based on the images seen from the four corners of the car.

Images