Method for controlling a drone within a shaft

Abstract

A method for controlling a drone (15) within a shaft (7) of an elevator system (1) comprises: receiving sensor data (35) in a control device (29) of the drone (15), wherein the sensor data (35) have been generated by a sensor device (27) for detecting the surroundings of the drone (15) during a flight of the drone (15) within the shaft (7); identifying a component (9, 11) of the elevator system (1), which is intended to be actuated by means of an actuating element (19) arranged on a body (17) of the drone (15), by evaluating the sensor data (35); activating a drive device (25) for driving rotors (23) of the drone (15) in order to position the drone (15) within the shaft (7) with respect to the component (9, 11) in such a way that the actuating element (19) actuates the component (9, 11).

Description

[0001] Method for controlling a drone within a shaft of an elevator system

[0002] The present invention relates to a method for controlling a drone within a shaft of an elevator system. Furthermore, the invention relates to a control device, a computer program, and a computer-readable medium for executing the method, as well as to a drone and an elevator system.

[0003] For example, a drone can be used to inspect safety-relevant components within an elevator shaft. Such a drone can be configured to move autonomously within the shaft and take images of the components being inspected.

[0004] CN 108657895 A describes a generic method for controlling a drone within a shaft of an elevator system, in which the drone is guided during movement by means of a connecting arm along a cable running in the shaft.

[0005] JP 2016107843 A describes a method for measuring an object using a drone. In this method, the drone is secured to a structure using a gripper before measuring.

[0006] CN 113306734 A describes a method for controlling a drone. The drone has a gripper that allows it to attach itself to an object.

[0007] CN 216734766 U describes a drone and a method for controlling the drone. The drone is designed to pick up a torch using a holder and use it to conduct a torch relay.

[0008] However, the inspection of certain movable components, such as safety switches or door locking mechanisms, typically requires the presence of a technician in the shaft, who then manually operates the components in question. This can be time-consuming and carries a certain risk for the technician. Therefore, there may be a need for a method that allows a component in the shaft of an elevator system to be operated for inspection purposes without the mandatory presence of a technician in the shaft.

[0009] Furthermore, there may be a need for a corresponding control device, a corresponding computer program, a corresponding computer-readable medium, a corresponding drone and a corresponding elevator system.

[0010] These needs can be met by the subject matter of the independent claims. Advantageous embodiments are set forth in the dependent claims, the following description, and the accompanying figures.

[0011] A first aspect of the invention relates to a method for controlling a drone within a shaft of an elevator system. The drone comprises a sensor device for detecting the drone's surroundings, a drive device for driving rotors of the drone, a control unit for controlling the drive device, and an actuating element arranged on a body of the drone. The method comprises: receiving sensor data in the control unit, wherein the sensor data was generated by the sensor device during a flight of the drone within the shaft; detecting a component of the elevator system to be actuated by means of the actuating element by evaluating the sensor data; controlling the drive device to position the drone within the shaft relative to the component such that the actuating element actuates the component.

[0012] The method can be computer-implemented and executed automatically by a processor, for example, in the drone's control unit. The method can also be executed automatically by a processor at a station located outside the shaft, to which a technician has access and can provide inputs via an interface. For example, the technician can confirm certain states of the elevator system or components of the elevator system to the drone, or remotely control the drone.

[0013] The method allows the component to be activated for inspection purposes without the need for a technician to be present in the shaft. This has the advantage of significantly reducing the time required to inspect the component(s) compared to conventional methods, where the inspection is carried out by a technician located in the shaft. For example, the technician can perform other tasks while the drone flies autonomously through the shaft. Furthermore, the method can prevent accidents. For example, the drone can be remotely controlled by a technician located outside the shaft. Alternatively, the control unit can be configured to control the drone autonomously within the shaft.

[0014] The drive device can be controlled so that the drone touches the component with its actuating element, for example, with its free end. Additionally, the drive device can be controlled so that the actuating element touching the component presses against the component with a defined force. Actuation of the component can then consist of the component being moved into a specific position by the force.

[0015] A second aspect of the invention relates to a control unit with a processor configured to execute the method described above and below. The control unit may comprise hardware and / or software modules. In addition to the processor, the control unit may comprise a memory and a data communication interface for wireless and / or wired data communication with peripheral devices.

[0016] It should be noted that features of the method as described above and below may also be features of the control unit (and vice versa).

[0017] A third aspect of the invention relates to a drone. The drone comprises a sensor device for detecting the drone's surroundings, a drive device for driving the drone's rotors, an actuating element arranged on a body of the drone for actuating a component of an elevator system, and the control device as described above and below.

[0018] A drone can be understood as an unmanned aerial vehicle, preferably in the form of a multicopter with two, three, four or more than four rotors.

[0019] The drone can be equipped with control software for partially or fully automated control of the propulsion system, for example, based on sensor data from the sensor system and / or other sensors on the drone (see below). The control software can be stored in a memory of the control unit and executed by the control unit's processor.

[0020] The sensor device may, for example, comprise a camera, a lidar sensor, an ultrasonic sensor, a radar sensor, or a combination of at least two of these examples. Additionally, the drone may comprise an acceleration sensor, a yaw rate sensor, an air pressure sensor for altitude measurement, a receiver for determining the drone's geographical coordinates using a global navigation satellite system (e.g., GPS or GLONASS), or a combination of at least two of these examples.

[0021] The actuating element can be designed, for example, in the form of a rod or an arm. The actuating element can be fixed in its position and / or orientation relative to the drone body or adjustable (preferably by means of an actuator integrated into the drone). In other words, the actuating element can be a passive or active element.

[0022] In the simplest case, the actuating element can be elongated, with its free end extending beyond the outer perimeter of the drone defined by the rotors. In this case, the drive system can be conveniently controlled so that the actuating element's free end points in the drone's current flight direction.

[0023] It should be noted that features of the procedure as described above and below may also be features of the drone (and vice versa).

[0024] A fourth aspect of the invention relates to an elevator system. The elevator system comprises a shaft, one or more examples of the drone described above and below, and one or more components to be actuated by means of the drone's actuating element.

[0025] The shaft can connect several floors of a building in which the elevator system is installed. The shaft can also contain at least one cabin for transporting people and / or goods between floors.

[0026] The component(s) to be actuated can be arranged at least partially in the shaft and / or be accessible to the actuating element from the shaft.

[0027] It should be noted that features of the method as described above and below can also be features of the elevator system (and vice versa). Further aspects of the invention relate to a computer program and a computer-readable medium on which the computer program is stored.

[0028] The computer program comprises instructions which, when the computer program is executed by the processor, cause the processor to carry out the method described above and below.

[0029] The computer-readable medium may be a volatile or non-volatile data storage device. For example, the computer-readable medium may be a hard disk, a universal serial bus (USB) storage device, a random-access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, or a combination of two or more of these examples. The computer-readable medium may also be a data communications network that enables downloading of program code (e.g., over the Internet), or a cloud.

[0030] It should be noted that features of the method as described above and below may also be features of the computer program and / or the computer-readable medium (and vice versa).

[0031] Embodiments of the invention may be considered based on the ideas and findings described below. These embodiments are not to be construed as limiting the scope of the invention.

[0032] According to one embodiment, the actuating element can be arranged at least partially within a detection range of the sensor device. In this case, upon detection of the component, an actual position and / or actual orientation of the actuating element with respect to the component can be determined by evaluating the sensor data. The drive device can then be controlled to reduce a deviation of the actual position from a target position and / or a deviation of the actual orientation from a target orientation. The actuating element can be configured to actuate the component when the deviation reaches a specific value (e.g., zero or a value slightly greater than zero). This enables particularly precise positioning of the drone or the actuating element with respect to the component.According to one embodiment, the actuating element can be adjustable by means of an actuator between an initial position and an actuating position suitable for actuating the component. In this case, the method can further comprise a step in which the actuator is controlled in response to the detection of the component in order to move the actuating element from the initial position to the actuating position.

[0033] It is also possible for the actuating element to be displaced not only along the main extension direction of the actuating element when changing from the initial position to the actuating position, but also transversely thereto. It is also possible for the actuating element to be displaced transversely to the aforementioned main extension direction in its actuating position. For example, two separate actuators can be provided for this purpose. This allows for an offset between the actuating element and the component to be actuated to be compensated.

[0034] The actuating position can also be one of several possible actuating positions. In other words, the actuating element can also be adjustable to different actuating positions.

[0035] It is possible for the actuating element to protrude further and / or at a different location and / or in a different direction from the drone body in the actuating position than in the starting position. For example, the actuating element can protrude with its free end at least 1 cm, at least 10 cm, or at least 50 cm beyond an outer circumference of the drone defined by the rotors in the actuating position. Conversely, in the starting position, the actuating element can be arranged entirely within the outer circumference and / or the body of the drone. Alternatively, the actuating element can protrude beyond the outer circumference by a relatively small amount, for example, by a maximum of 5 cm or a maximum of 1 cm.

[0036] This simplifies drone control in flight situations where the actuator is not currently needed. In particular, it reduces the risk of collisions between the actuator and obstacles in the shaft.

[0037] Additionally, the actuator can be controlled again to return the actuating element to its initial position when it is detected that the actuating element is no longer needed. According to one embodiment, the actuating element can be arranged at least partially within the detection range in the actuating position and completely outside the detection range in the initial position. Alternatively, the actuating element can extend less far into the detection range in the initial position than in the actuating position. The detection range is thus effectively larger. This can improve the accuracy of detecting the drone's surroundings in flight situations in which the actuating element is not currently needed.

[0038] According to one embodiment, several markers can be arranged at different locations in the shaft so that the sensor device can detect the markers during the drone's flight within the shaft, with each marker encoding at least one control command from several possible control commands for controlling the drone. In this case, the detection of the component can comprise a step in which one of the markers is detected by evaluating the sensor data. At least one control command for controlling the drone can be determined from the marker. The drive device can then be controlled using the at least one control command to position the drone within the shaft relative to the component such that the actuating element actuates the component, and / or to steer the drone in the direction of another of the markers.

[0039] The markings can be arranged at least partially at the same height and / or at least partially at different heights in the shaft. For example, each marking can be attached to a shaft wall, to the component to be operated itself, or to another component of the elevator system located in the shaft. The markings can be implemented, for example, as QR codes and / or barcodes. Markings in the form of RFID transponders are also conceivable.

[0040] It is possible for the markings to comprise different marking types, for example anchor markings from which the drone should start an inspection flight, turnaround markings at which the drone should reverse its current flight direction, end markings at which the drone should terminate a current inspection flight, or control markings at which the drone should actuate a specific component or capture it (e.g. with a camera). Such an inspection flight can be assigned to a specific height section of the shaft and / or a specific floor. The flight path followed by the drone during the inspection flight can be predetermined by markings of one or more of the aforementioned marking types. In order to automatically carry out several inspection flights at different height sections orIn order to be able to carry out inspections on several floors one after the other, for example, the end marker of each inspection flight can encode at least one control command that causes the drone to either fly towards the anchor marker of the next height section or the next floor or to land, for example in a shaft pit.

[0041] Examples of possible control commands are "fly up / down", "fly a right / left turn", "increase / decrease the distance to marker x", "keep the distance to shaft wall x constant", "land", "check the functionality of component x", "take a photo", "start a video recording".

[0042] This has the effect that the drone can fly autonomously through the shaft without the need for a corresponding control program that specifies a specific sequence of control commands to be executed in the control unit (the sequence of control commands is instead specified by the markers). This simplifies the configuration of the control unit. It also enables the use of simpler and correspondingly cheaper hardware and / or software components, particularly compared to certain (indoor) drones that generate a digital map from images of the environment for autonomous navigation (also known as simultaneous localization and mapping) or that have expensive sensors such as lidar and / or radar. This typically requires highly computationally intensive image processing algorithms.

[0043] It is also possible for the drone to recognize certain components of the elevator system, for example based on captured images, and to derive corresponding control commands from the recognition of certain components.

[0044] According to one embodiment, in addition to the drive device, at least one further device of the drone can be controlled using the at least one control command. In other words, additional components of the drone can be controlled automatically using the markings.

[0045] According to one embodiment, the at least one further device can be at least one of the following devices of the drone: an actuator for adjusting the actuating element, a camera for recording images of the drone's surroundings, and the sensor device. This enables automated control of the actuator, the camera, or the sensor device without the need to implement a special algorithm, for example, one adapted to the respective elevator system, in the control unit.

[0046] According to one embodiment, the method may further comprise: generating a message indicating whether the component could be successfully actuated or not; sending the message from the control unit to a data communication network that connects the control unit to at least one data processing device located outside the drone for data communication, preferably wirelessly (e.g., via WLAN, Bluetooth, mobile network) and / or via the Internet.

[0047] The data processing device can be, for example, a server, a PC, a laptop, a smartphone, a tablet, a (higher-level) control device of the elevator system or a combination of at least two of these examples.

[0048] This allows for external verification of the inspection results while the drone is flying inside the shaft, for example by a technician located outside the shaft.

[0049] According to one embodiment, the method may further comprise: receiving information about a current state of a safety circuit of the elevator system in the control unit from a data communication network that connects the control unit to at least one data processing device located outside the drone for data communication; detecting, based on the current state of the safety circuit, whether the component could be successfully actuated or not.

[0050] The data communication network may be the aforementioned data communication network.

[0051] In particular, the information can indicate whether the safety circuit is currently interrupted or not.

[0052] For example, the control unit can be configured to request the information via the data communication network after the component has been actuated (or an attempt has been made to actuate the component). If the received information indicates that the safety circuit is broken, it can be concluded that the component was successfully actuated. Conversely, if the received information indicates that the safety circuit is closed, i.e., could not be broken by actuating the component, it can be concluded that the component could not be successfully actuated, which usually means that the component is not functional.

[0053] Determining whether the component was successfully activated or not can also be done by a technician monitoring the drone. The technician can, for example, monitor the status of the component or the safety circuit using the aforementioned data processing device. The technician can send the corresponding information to the drone.

[0054] According to one embodiment, the component can be a safety switch for interrupting a safety circuit of the elevator system or a door locking mechanism for locking a shaft door of the elevator system. Safety circuits of elevator systems with integrated safety switches have long been known to those skilled in the art and are therefore not described further here.

[0055] Activating the safety switch typically interrupts the safety circuit, placing the elevator system in a safe state. The safety switch can be a limit switch, for example, which opens if the car travels too far beyond the top or bottom floor. Other types of safety switches are also possible.

[0056] Operating the door locking mechanism normally unlocks the shaft door. Operating the door locking mechanism can also interrupt the safety circuit, i.e., open one of the safety switches.

[0057] Embodiments of the invention are described below with reference to the accompanying drawings. Neither the description nor the drawings are to be construed as limiting the scope of the invention.

[0058] Fig. 1 shows a section of an elevator installation according to an embodiment of the invention.

[0059] Fig. 2 shows a control device according to an embodiment of the invention. Fig. 3 shows an arrangement of markings for controlling a drone within a shaft of an elevator system using a method according to an embodiment of the invention.

[0060] The drawings are purely schematic and not to scale. Where identical reference symbols are used in different drawings, these reference symbols indicate identical or equivalent features.

[0061] Fig. 1 shows components of an elevator system 1 for transporting persons and / or goods between floors 3 of a building 5. The floors 3 are connected to each other via a shaft 7 in which a cabin (not shown) is arranged.

[0062] Various safety-relevant components of the elevator system 1 can be located in the shaft 7, in this example a safety switch 9, which is activated by the car (here by pressing) if it travels too far beyond the top of the floors 3, and several door locking mechanisms 11 for locking shaft doors 13 of the shaft 7.

[0063] Actuation of the safety switch 9 generally results in the interruption of a safety circuit (not shown) of the elevator system 1. The same can be the case if one of the shaft doors 13 is unlocked by a corresponding actuation of the respective door locking mechanism 11.

[0064] The functionality of the aforementioned components 9, 11 can be checked using a drone 15, on whose body 17 a special actuating element 19 is arranged for actuating the components 9, 11. The drone 15 is preferably a multicopter.

[0065] As indicated in Fig. 1, the actuating element 19 can, for example, be designed as a simple rod, which is either permanently attached to the body 17 or, as here, can be adjusted, i.e. extended and retracted, by means of a suitable actuator 21 between an initial position and an actuating position suitable for actuating the respective component 9, 11. An actuating element 19 in the form of an articulated (gripping) arm or a hook is also conceivable. The initial position is indicated by dashed lines in the lower illustration of the drone 15 shown in Fig. 1. The actuating element 19 can be located entirely or largely within the body 17 and / or an outer circumference of the drone 15 delimited by the rotors 23 of the drone 15. In contrast, the free end of the actuating element 19 can protrude so far from the body 17 in the actuating position that it projects beyond the outer circumference.The actuating element 19 can then protrude laterally from the body 17.

[0066] Alternatively, the actuating element 19 in the actuating position can protrude upwards, as shown in the upper illustration in Fig. 1, or downwards from the body 17.

[0067] In addition, the drone 15 comprises a drive device 25 (see Fig. 2) for driving the rotors 23, a sensor device 27 for detecting the surroundings of the drone 15, and a control unit 29 (see Fig. 2) for controlling the drive device 25. For example, each of the rotors 23 can be driven by its own electric motor of the drive device 25. The sensor device 27 can be formed, for example, by a camera, a lidar sensor, an ultrasonic sensor, a radar sensor, or a combination of at least two of these examples.

[0068] The control unit 29 may comprise a processor 31 and a memory 33 in which a computer program is stored. The processor 31 may be configured to execute the method described below for (preferably autonomously) controlling the drone 15 within the shaft 7 by executing the computer program.

[0069] For this purpose, the control unit 29 receives sensor data 35 generated by the sensor device 27 during the flight of the drone 15 in the shaft 7. The control unit 29 evaluates the received sensor data 35, among other things, for the purpose of detecting one of the components 9, 11. If one of the components 9, 11 is detected, the control unit 29 controls the drive device 25 (and optionally one or more other active components of the drone 15) such that the drone 15 flies to the detected component 9 or 11 and actuates it using the actuating element 19, for example by the actuating element 19 exerting a defined pressure on the relevant component 9 or 11 and / or moving the relevant component 9 or 11 into a specific position, whereby the drone 15 stabilizes itself using its drive system. This has the advantage that no technician has to go into shaft 7 to access the relevant component 9 or11 there manually. It is expedient if the actuating element 19 is in the initial position as long as it is not needed, and the control unit 29 only moves the actuating element 19 into the actuating position by appropriately controlling the actuator 21 when it detects one of the components 9, 11 to be actuated. In this way, the risk of collisions between the (extended) actuating element 19 and obstacles in the shaft 7 can be reduced.

[0070] Furthermore, it is advantageous if the free end of the actuating element 19 in the actuating position is arranged in a detection range within whose limits the sensor device 27 can detect the surroundings of the drone 15. This enables the determination of the precise actual position and / or orientation of the free end relative to the respective component 9 or 11 and the approximation of the actual position to a suitable target position or the actual orientation to a suitable target orientation by appropriately controlling the drive device 25. In addition, the actuator 21 can be controlled, for example, to change the current actuating position of the actuating element 19.

[0071] The target position or orientation can, for example, be stored in the memory 33 for each component 9, 11 of the elevator system 1 to be operated.

[0072] In the initial position, the free end can be completely or largely outside the detection range, in contrast to the actuated position.

[0073] Preferably, the control unit 29 is configured to control the drone 15 autonomously through the shaft 7. In this case, the control of the drone 15 can be achieved using several markers 37 for the drone 15 that are pre-placed in the shaft 7, as shown in Fig. 3.

[0074] The markings 37 can be attached to different shaft walls, to different shaft doors 13 and / or to different components 9, 11 to be actuated, so that the markings 37 can be detected by the sensor device 27 during the flight of the drone 15 within the shaft 7.

[0075] The markers 37 determine which actions the drone 15 should perform. Each marker 37 encodes one or more control commands for controlling the drone 15, such as "fly up / down," "fly a right-left turn," "increase / decrease the distance to marker x," "maintain the distance to the shaft wall x constant," "land," "check the functionality of component x," "take a photo," or "start a video recording."

[0076] The markings 37 are detected by evaluating the sensor data 35. The respective control command(s) are extracted from the respective marking 37, for example, using a lookup table stored in the memory 33 in which possible control commands are stored.

[0077] The control command(s) is / are then used by the control unit 29 to correspondingly control the drive device 25 and / or the sensor device 27 (for example a camera) and / or the actuator 21.

[0078] The markings 37 can, for example, be barcodes or QR codes.

[0079] In principle, the drone 15 follows the (pre-installed) markers 37 through the shaft 7, performing the desired actions. For example, the actions can be defined for each height section to be inspected (e.g., for each floor 3 to be inspected) with corresponding markers 37, so that the drone 15 performs an inspection flight in each respective height section according to a flight path specified by the markers 37, flying from one height section to the next until all inspection flights have been completed. An example of such an inspection flight is described below with reference to Fig. 3.

[0080] The drone 15 initially takes off from the shaft floor and ascends until an anchor marker (A00) is detected, which causes the drone 15 to make a left turn toward a first control marker (C13) on a shaft wall other than the anchor marker. The first control marker causes the drone 15 to take a photo of a specific section of the shaft 7 or a component of the elevator system 1 located therein and then to make a left turn toward a reversal marker (103) on the same shaft wall as the first control marker. The reversal marker causes the drone 15 to make a right turn toward a second control marker (C12) on a shaft wall opposite the reversal marker.The second control marker causes drone 15 to check a safety switch 9 using the actuating element 19 and then to fly a right turn toward an end marker (T04) on the same shaft wall as the second control marker. The end marker finally causes drone 15 to fly back to anchor marker A00 and from there ascend toward the next higher anchor marker (A01).

[0081] After the last inspection flight, drone 15 lands, for example on the shaft floor or on the cabin.

[0082] It is possible for the control unit 29 to generate a message 39 (see Fig. 2) in response to each component test, indicating whether the respective component 9 or 11 could be successfully operated or not. The control unit 29 can then send the message 39 via a data communication network 41, preferably wirelessly (e.g., via WLAN, mobile radio, Bluetooth), to at least one data processing device 43 located outside the drone 15 for further processing. Such a data processing device 43 can, for example, be a server, a PC, a laptop, a smartphone, a tablet, or a (higher-level) control device of the elevator system 1 (also called an elevator controller).

[0083] In addition, the control unit 29 can be configured to receive data from the data communication network 41, for example, information 45 about a current state of the safety circuit of the elevator system 1. The control unit 29 can use this information 45 to detect whether the actuation of the safety switch 9 or one of the door locking mechanisms 11 has led to a proper interruption of the safety circuit (which usually means that the component 9 or 11 is functioning correctly) or not.

[0084] Finally, it should be noted that terms such as "comprising," "including," "including," "having," etc., do not exclude other elements or steps, and indefinite articles such as "a" or "an" do not exclude a plurality. Furthermore, it should be noted that features or steps described with reference to one of the above embodiments may also be used in combination with features or steps described with reference to other of the above embodiments. Reference signs in the claims are not to be understood as limiting the scope of the subject matter defined by the claims.

Claims

Claims 1. A method for controlling a drone (15) within a shaft (7) of an elevator system (1), wherein the drone (15) comprises a sensor device (27) for detecting an environment of the drone (15), a drive device (25) for driving rotors (23) of the drone (15) and a control device (29) for controlling the drive device (25), the method comprising: Receiving sensor data (35) in the control unit (29), wherein the sensor data (35) were generated by the sensor device (27) during a flight of the drone (15) within the shaft (7), characterized in that the drone (15) comprises an actuating element (19) arranged on a body (17) of the drone (15), and the method further comprises: Detecting a component (9, 11) of the elevator installation (1) to be actuated by means of the actuating element (19) by evaluating the sensor data (35); Controlling the drive device (25) to position the drone (15) within the shaft (7) relative to the component (9, 11) such that the actuating element (19) actuates the component (9, 11).

2. The method according to claim 1, wherein the actuating element (19) is arranged at least partially within a detection range of the sensor device (27); wherein, upon detection of the component (9, 11), an actual position and / or actual orientation of the actuating element (19) with respect to the component (9, 11) is determined by evaluating the sensor data (35); wherein the drive device (25) is controlled in order to reduce a deviation of the actual position from a target position and / or a deviation of the actual orientation from a target orientation, wherein the actuating element (19) is designed to actuate the component (9, 11) when the deviation reaches a specific value.

3. Method according to one of the preceding claims, wherein the actuating element (19) is adjustable by means of an actuator (21) between an initial position and an actuating position suitable for actuating the component (9, 11); the method further comprising: Controlling the actuator (21) in response to the detection of the component (9, 11) in order to move the actuating element (19) from the initial position to the actuating position.

4. The method according to claim 3, dependent on claim 2, wherein the actuating element (19) in the actuating position is arranged at least partially within the detection range of the sensor device (27); wherein the actuating element (19) in the initial position is arranged completely outside the detection range or protrudes less far into the detection range than in the actuating position.

5. Method according to one of the preceding claims, wherein a plurality of markings (37) are arranged at different locations in the shaft (7) so that the sensor device (27) can detect the markings (37) during the flight of the drone (15) within the shaft (7), wherein each marking (37) encodes at least one control command from a plurality of possible control commands for controlling the drone (15); wherein the detection of the component (9, 11) comprises: detecting one of the markings (37) by evaluating the sensor data (35), wherein at least one control command for controlling the drone (15) is determined from the marking (37); wherein the drive device (25) is controlled using the at least one control command in order to position the drone (15) within the shaft (7) relative to the component (9, 11) in such a way that the actuating element (19) actuates the component (9, 11), and / or in order to steer the drone (15) in the direction of another of the markings (37).

6. The method according to claim 5, wherein in addition to the drive device (25), at least one further device (21, 27) of the drone (15) is controlled using the at least one control command.

7. The method according to claim 6, wherein the at least one further device (21, 27) is at least one of the following devices of the drone (15): an actuator (21) for adjusting the actuating element (19), a camera for recording images of the surroundings of the drone (15), the sensor device (27). Method according to one of the preceding claims, further comprising: Receiving information (45) about a current state of a safety circuit of the elevator installation (1) in the control device (29) from a data communication network (41) which connects the control device (29) to at least one data processing device (43) located outside the drone (15) for data communication; Detecting, based on the current state of the safety circuit, whether the component (9, 11) could be successfully actuated or not. Method according to one of the preceding claims, further comprising: Generating a message (39) indicating whether the component (9, 11) could be successfully operated or not; Sending the message (39) from the control unit (29) to a data communication network (41), which connects the control unit (29) to at least one data processing device (43) located outside the drone (15) for data communication. Control unit (29) comprising a processor (31) configured to carry out the method according to one of the preceding claims. Drone (15), comprising: a sensor device (27) for detecting an environment of the drone (15); a drive device (25) for driving rotors (23) of the drone (15); an actuating element (19) arranged on a body (17) of the drone (15) for actuating a component (9, 11) of an elevator installation (1); the control unit (29) according to claim 10. Elevator installation (1), comprising: a shaft (7); the drone (15) according to claim 11; a component (9, 11) to be actuated by means of the actuating element (19) of the drone (15).Elevator installation (1) according to claim 12, wherein the component (9, 11) is a safety switch (9) for interrupting a safety circuit of the elevator installation (1) or a door locking mechanism (11) for locking a shaft door (13) of the elevator installation (1). A computer program comprising instructions that cause a processor (31) to execute the method according to one of claims 1 to 9 when the computer program is executed by the processor (31). A computer-readable medium on which the computer program according to claim 14 is stored.

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