Elevator inspection method and inspection system using flying object

Abstract

To provide a method and a system for inspecting an elevator which use an air vehicle without needing a high level maneuvering technique.SOLUTION: In an inspection system 11, a travel command unit 18 causes a car 6 on which an air vehicle 12 is placed to travel to a first position. A flying command unit 20 causes the air vehicle 12 to hover above the car 6 after a travel state acquisition unit 17 acquires information on stop of the car 6 to the first position. The travel command unit 18 causes the car 6 to travel in a manner that the car 6 reciprocates between the first position and a second position located below the first position while the flying command unit 20 causes the air vehicle 12 to fly while maintaining a height in a hoistway 2 after a flying state acquisition unit 19 acquires information on start of hovering above the car 6. During that time, the air vehicle 12 captures images of a device to be subject to an inspection with an imaging device 15. The flying command unit 20 causes the air vehicle 12 to land on the car 6 after the travel state acquisition unit 17 acquires information on another stop of the car 6 to the first position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an elevator inspection method and inspection system using an aircraft. [Background technology]

[0002] Patent Document 1 discloses an example of an elevator monitoring system, in which a drone flying inside the elevator shaft captures images of the state of the car inside the elevator shaft. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-193138 Summary of the Invention [Problem to be solved by the invention]

[0004] Beams in an elevator shaft, or the car and counterweight traveling in the shaft, can become obstacles when flying an aircraft such as a drone that flies in 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 fly the aircraft while avoiding obstacles in the shaft.

[0005] The present disclosure relates to solving such problems, and provides an elevator inspection method and inspection system using an aircraft that does not require advanced piloting skills. [Means for solving the problem]

[0006] An 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 method comprising: causing the car carrying the aircraft to travel to a first position; causing the aircraft to fly in a hovering manner above the car after the car has stopped at the first position; causing the aircraft to fly while maintaining its altitude within the elevator shaft and photographing the equipment to be inspected with the camera; causing the car to travel back and forth between the first position and a second position below the first position while the aircraft is flying at a constant altitude within the elevator shaft and photographing the equipment to be inspected with the camera; and causing the aircraft to land on the car after the car has stopped at the first position again. An inspection method, wherein the device 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. .

[0007] 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 elevator 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 outputs information of the car stopping at the first position to the running state acquisition unit. After the flight status acquisition unit acquires information about 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 air vehicle to fly while maintaining an altitude within the elevator shaft so that the inspection target equipment can be photographed by the photography device after the flight status acquisition unit acquires information about the car stopping again at the first position, and the flight command unit causes the air vehicle to land on the car. 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 arranged at the upper end of the hoistway and around which the elevator rope that moves as the car travels is wound. . [Effects of the Invention]

[0008] According to the inspection method or inspection system disclosed herein, elevator inspection can be performed using an aircraft without requiring advanced piloting skills. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a configuration diagram of an elevator according to a first embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of an elevator inspection method according to the first embodiment. [Figure 3] FIG. 2 is a diagram illustrating an example of an elevator inspection method according to the first embodiment. [Figure 4] FIG. 2 is a diagram illustrating an example of an elevator inspection method according to the first embodiment. [Figure 5] FIG. 2 is a diagram illustrating an example of an elevator inspection method according to the first embodiment. [Figure 6] FIG. 2 is a diagram illustrating an example of an elevator inspection method according to the first embodiment. [Figure 7] FIG. 2 is a diagram illustrating an example of an elevator inspection method according to the first embodiment. [Figure 8] 4 is a flowchart showing an example of the operation of the inspection system according to the first embodiment. [Figure 9] 1 is a hardware configuration diagram of a main part of an inspection system according to a first embodiment. [Figure 10] FIG. 10 is a configuration diagram of an elevator according to a modified example of the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] The following describes embodiments of the subject matter of the present disclosure with reference to the accompanying drawings. In each drawing, identical or corresponding parts are designated by the same reference numerals, and redundant explanations are 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 gist of the present disclosure.

[0011] Embodiment 1 FIG. 1 is a configuration diagram of an elevator 1 according to the first embodiment.

[0012] Elevator 1 is applied to a building having 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.

[0013] The elevator 1 includes a hoisting machine 4, a main rope 5, a car 6, a counterweight 7, and a control panel 8.

[0014] The hoisting machine 4 includes a drive sheave 9. The drive sheave 9 is an example of a sheave of the elevator 1. The hoisting machine 4 generates a driving force to rotate the drive sheave 9 by means of 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.

[0015] The main rope 5 is a device that supports the loads of the car 6 and the counterweight 7 in the hoistway 2. The main rope 5 is an example of a rope of 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 pulley 10 provided near the drive sheave 9. The deflector pulley 10 is an example of a sheave of 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 portion of the main rope 5 that supports the load of the car 6 and the portion that supports the load of the counterweight 7 is an example of a first portion. The other of the portion of the main rope 5 that supports the load of the car 6 and the load of the counterweight 7 is an example of a second portion. The main rope 5 moves so that one of the first portion or the second portion is wound up as the drive sheave 9 rotates.

[0016] The car 6 is a device that transports passengers and the like between multiple floors of a building by traveling up and down the hoistway 2. The counterweight 7 is a device that balances the loads acting on both sides of the drive sheave 9 between the car 6. The car 6 and counterweight 7 travel up and down the hoistway 2 in opposite directions to each other, linked to the main rope 5 that is moved by the drive sheave 9 of the hoisting machine 4.

[0017] The control panel 8 is a device that controls the operation of the elevator 1. The 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 disposed, for example, at the top or bottom of the hoistway 2. Alternatively, if a machine room is provided, the control panel 8 may be disposed in the machine room.

[0018] 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 may be an external system applied to the elevator 1. The inspection system 11 is a system that performs inspections in the elevator shaft 2 of the elevator 1. The inspection system 11 includes an aircraft 12, an inspection device 13, and a data server 14.

[0019] The air vehicle 12 may be, 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.

[0020] For example, the flying object 12 may use a marker 16 as a reference when landing. The marker 16 is installed in advance on the top surface of the car 6, for example. 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 object 12 of a reference position by transmitting a radio signal or the like. A plurality of markers 16 may be provided.

[0021] 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, for example, a general-purpose information processing device such as a mobile PC (PC: Personal Computer) or a smartphone, or 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 and the like by wire or wirelessly. The inspection device 13 is connected to the flying object 12 so as to be able to communicate control signals and the like by wireless.

[0022] The inspection device 13 includes a traveling state acquisition unit 17, a traveling command unit 18, a flight state acquisition unit 19, and a flight command unit 20.

[0023] The running state acquisition unit 17 has a function to acquire information on the running state of the car 6. The information on the running state of the car 6 includes, for example, information on whether the car 6 is stopped or not, and the current position of the car 6. The running command unit 18 has a function to output a command signal to make the car 6 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 makes the car 6 run in accordance with the command signal.

[0024] The flight status acquisition unit 19 is equipped with a function to acquire information about the flight status of the aircraft 12. The information about the flight status of the aircraft 12 includes, for example, information such as whether the aircraft 12 is flying or not and the current position of the aircraft 12. The flight status acquisition unit 19 may 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 the 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.

[0025] The data server 14 is a device that manages information such as inspections of the elevator 1. The data server 14 is installed at a base that manages information about the elevator 1, 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 communication network such as the Internet. The data server 14 includes a data accumulation unit 21. The data accumulation unit 21 has a function for accumulating and storing data acquired during the inspection of the elevator 1. The data acquired during the inspection of the elevator 1 is transmitted, for example, from the inspection device 13 to the inspection device 13 via an information and communication 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 automatically determined by the inspection device 13, for example, using image processing technology based on the captured images.

[0026] Next, an example of a method for inspecting the elevator 1 using the flying object 12 will be described with reference to FIGS. 2 to 7 are diagrams illustrating an example of an inspection method for the elevator 1 according to embodiment 1. In Fig. 2 to Fig. 7, the control panel 8, the inspection device 13, the data server 14, and the like are omitted from the illustration.

[0027] In this example, an inspection of an inspection target device of elevator 1 is performed. The inspection target device is a device located in hoistway 2. The inspection target device may be, for example, a device located at the top of hoistway 2. The inspection target device may be, for example, a sheave of elevator 1 located in hoistway 2. The inspection target device may be, for example, a rope of elevator 1 located in hoistway 2. The inspection target device may be, for example, a rope of elevator 1 including a governor rope (not shown). In this example, the inspection target device 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 inspection target devices.

[0028] 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.

[0029] 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 detect that the flying object 12 is on the top surface of the car 6 by detecting the marker 16 on the top surface of the car 6, for example.

[0030] Then, as shown in FIG. 2, the travel command unit 18 causes the car 6 with the flying object 12 on its upper surface to travel to a 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 on top of the car 6 without flying. Then, the travel status acquisition unit 17 acquires information that the car 6 has stopped at the first position.

[0031] 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 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 elevator shaft 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.

[0032] 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 a position lower than the first position. In this example, the second position is the position of 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 the camera 15 continues to capture images of the portion of the main rope 5 on the car 6 side that is unwound from the sheave. 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 while the car 6 travels from the first position to the second position. The images captured by the camera 15 may be configured to be visible in real time by a maintenance worker, for example, on 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 inspect the car 6 side of the main rope 5 using image processing technology based on a photographed image of the main rope 5. After that, the running state acquisition unit 17 acquires information that the car 6 has stopped at the second position.

[0033] Thereafter, as shown in FIG. 5, the flight command unit 20 directs 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 the 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 stopped at the second position. The flight command unit 20 then causes the flying vehicle 12 to hover so as to maintain a constant position in the air above the car 6. During this time, the flying vehicle 12 may continue to take photographs using the camera 15, for example. The flight status acquisition unit 19 acquires information regarding the resumption of hovering flight.

[0034] Thereafter, as shown in FIG. 6 , the travel command unit 18 causes the car 6 to travel to the first position. For example, the travel command unit 18 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 object 12 flies while maintaining its altitude within the hoistway 2, and the camera device 15 continues to photograph the portion of the main rope 5 on the counterweight 7 side that is unwound from the sheave. 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 while 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 photographed images of the main rope 5. Alternatively, for example, an inspection device 13 or the like may automatically inspect the counterweight 7 side of the main rope 5 based on the photographed images of the main rope 5 using image processing technology or the like. Thereafter, the running state acquisition unit 17 acquires information that the car 6 has stopped again at the first position.

[0035] 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. Then, the flight status acquisition unit 19 acquires information that the aircraft 12 has completed landing.

[0036] Thereafter, 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.

[0037] In this example, the inspection system 11 inspects the car 6 side of the main ropes 5 when the car 6 travels downward, and inspects the counterweight 7 side of the main ropes 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 ropes 5 when the car 6 travels downward, and inspect the car 6 side of the main ropes 5 when the car 6 travels upward. The travel command unit 18 may cause the car 6 to travel two or more times 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 ropes 5 on the first travel and inspect the car 6 side of the main ropes 5 on the second travel. 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 travel and inspect the car 6 side of the other main ropes 5 when the car 6 travels upward. When the camera device 15 can simultaneously photograph multiple main ropes 5, the inspection system 11 may simultaneously inspect multiple main ropes 5. The inspection system 11 may also simultaneously inspect other ropes of the main ropes 5. 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 travels downward, and inspect the governor rope when the car 6 travels upward.

[0038] 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.

[0039] In step S1, the travel command unit 18 outputs a command signal to the control panel 8 to cause the car 6 carrying the flying object 12 to travel to the top floor. Then, the travel status acquisition unit 17 acquires information that the car 6 has stopped at the top floor. Then, the processing of the inspection system 11 proceeds to step S2.

[0040] In step S2, the flight command unit 20 outputs a command signal to the aircraft 12 to cause it to take off from the cage 6. Thereafter, the flight command unit 20 outputs a command signal to the aircraft 12 to cause it to hover in a position where it can photograph the portion of the main rope 5, which is the equipment to be inspected, on the cage 6 side. Thereafter, the processing of the inspection system 11 proceeds to step S3.

[0041] In step S3, the inspection device 13 determines whether information on the start of hovering flight has been acquired by the flight status acquisition unit 19. If information on 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 on the start of hovering flight has been acquired, the processing of the inspection system 11 proceeds to step S4.

[0042] 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 object 12 is hovering and maintaining its altitude within the elevator shaft 2. Thereafter, the travel status acquisition unit 17 acquires information that the car 6 has stopped at the lowest floor. Thereafter, the processing of the inspection system 11 proceeds to step S5.

[0043] 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. Thereafter, the flight command unit 20 outputs a command signal to the aircraft 12 to hover at that position. Thereafter, the processing of the inspection system 11 proceeds to step S6.

[0044] 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 object 12 is hovering, maintaining its altitude within the elevator shaft 2. Thereafter, the travel status acquisition unit 17 acquires information that the car 6 has stopped again at the top floor. Thereafter, the processing of the inspection system 11 proceeds to step S7.

[0045] In step S7, the flight command unit 20 outputs a command signal to the flying object 12 to land it on the cage 6. Thereafter, the processing of the inspection system 11 proceeds to step S8.

[0046] In step S8, the inspection device 13 determines whether information on landing completion has been acquired by the flight status acquisition unit 19. If information on landing completion has not been acquired, the processing of the inspection system 11 proceeds to step S8 again. On the other hand, if information on landing completion has been acquired, the processing of the inspection system 11 proceeds to step S9.

[0047] In step S9, the travel command unit 18 outputs a command signal for performing floor matching travel to the control panel 8. Thereafter, the processing of the inspection system 11 ends.

[0048] As described above, the inspection system 11 according to the first embodiment includes 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 a 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 fly in a hovering position above the car 6. After flight status acquisition unit 19 acquires information about the start of hovering flight above car 6, travel command unit 18 causes car 6 to travel back and forth between the first position and a second position below it while flight command unit 20 causes air vehicle 12 to fly while maintaining altitude within elevator shaft 2. During this time, air vehicle 12 photographs the equipment to be inspected with imaging device 15. After flight status acquisition unit 17 acquires information about the car 6 stopping again at the first position, flight command unit 20 causes air vehicle 12 to land on top of car 6.

[0049] With this configuration, the aircraft 12 hovers above the car 6 when photographing the equipment to be inspected, so advanced piloting skills are not required to fly the aircraft 12 while avoiding obstacles. This makes it possible to inspect the elevator 1 using the aircraft 12 without requiring advanced piloting skills. Furthermore, the inspection system 11 may automatically output command signals to the aircraft 12. This allows the inspection procedure for the elevator 1 to be automated, reducing the workload of maintenance personnel performing inspection work and improving the efficiency of the inspection work.

[0050] Furthermore, the first position is the position of the top floor, and the second position is the position of the bottom floor. This makes it possible to photograph the condition of the equipment to be inspected while the car 6 travels along the entire length of the hoistway 2. This allows the inspection of the equipment to be more reliably carried out. 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.

[0051] 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 flying vehicle 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. Also, while the car 6 is stopped at the second position, the flying vehicle 12 flies from the side of the first portion to the side of the second portion while maintaining its altitude within the hoistway 2. Also, while the car 6 travels from the second position to the first position, the flying vehicle 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 photographing device 15 cannot photograph the first and second parts of the main rope 5 at the same time, the efficiency of the inspection work can be further improved by photographing different parts on the outbound and return journeys.

[0052] Furthermore, when flying vehicle 12 hovers while maintaining its altitude within elevator shaft 2, it uses as a reference the image of the equipment to be inspected captured by imaging device 15. This allows flying vehicle 12 to maintain the relative position between imaging device 15 and the equipment to be inspected, thereby enabling more stable imaging of the equipment to be inspected.

[0053] When flying vehicle 12 hovers while maintaining its altitude within hoistway 2, it may use as a reference an image of a marker installed within hoistway 2 captured by imaging device 15. The marker is positioned in advance near the equipment to be inspected. This allows flying vehicle 12 to perform stable hovering flight even when the equipment to be inspected vibrates. Here, when there is multiple equipment to be inspected, the marker used as a reference for flying vehicle 12's hovering flight may be provided for each piece of equipment to be inspected.

[0054] 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 in the hoistway 2 measured by, for example, a distance sensor.

[0055] Furthermore, the flying vehicle 12 may be permanently installed above the car 6 of the elevator 1. In this case, the flying vehicle 12 may receive power from the car 6 when installed above the car 6.

[0056] Furthermore, some or all of the functions of the inspection device 13 may be mounted on 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 mounted on a gateway device that outputs the status of the elevator 1 to a data server 14 or the like. Some or all of the functions of the inspection device 13 may be mounted on a control panel 8 or a data server 14 or the like. If the elevator 1 includes multiple cars 6, some or all of the functions of the inspection device 13 may be mounted on a group control panel that allocates calls to the multiple cars 6.

[0057] Furthermore, some or all of the operation of the flying vehicle 12 may be manually controlled, 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 only takeoff from the car 6, hovering flight, short horizontal distance movement, and landing on the car 6, and no advanced operations such as flying while three-dimensionally avoiding obstacles in the hoistway 2 are required. Therefore, the elevator 1 can be inspected using the flying vehicle 12 without requiring advanced manual control skills.

[0058] 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.

[0059] Each function of the inspection system 11 may be realized by a processing circuit. The processing circuit includes at least one processor 100 a and at least one memory 100 b. The processing circuit may include at least one dedicated hardware 200 in addition to or in place of the processor 100 a and the memory 100 b.

[0060] When the processing circuit includes a processor 100a and a 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 the memory 100b. The processor 100a realizes each function of the inspection system 11 by reading and executing the program stored in the memory 100b.

[0061] The processor 100a is also called a CPU (Central Processing Unit), processing device, arithmetic unit, microprocessor, microcomputer, or DSP. The memory 100b is configured by, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM.

[0062] Where the processing circuitry comprises dedicated hardware 200, the processing circuitry may be implemented, for example, as a single circuit, multiple circuits, a programmed processor, parallel programmed processors, an ASIC, an FPGA, or a combination thereof.

[0063] 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.

[0064] 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 modification of the first embodiment.

[0065] The car 6 is provided with a car sheave 22. The counterweight 7 is provided with a counterweight sheave 23. Two return pulleys 24 are provided at the upper end of the hoistway 2. The car sheave 22, the counterweight sheave 23, and the return pulley 24 are examples of sheaves of the elevator 1. The hoisting machine 4 is provided at the lower end of the hoistway 2.

[0066] Both ends of the main rope 5 are fixed at the upper end of the hoistway 2. The main rope 5 is wound from one end to the other around the car sheave 22, one return pulley 24, the drive sheave 9, the other return pulley 24, and the counterweight sheave 23 in this order.

[0067] 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 position and the second position, the flying object 12 hovers with the camera device 15 directed toward one of the return wheels 24. Based on the captured image of the return wheel 24, a maintenance worker inspects the return wheel 24 to determine whether 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 wheel 24 to determine whether there are any abnormalities based on the captured image of the return wheel 24 using image processing technology or the like. 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.

[0068] 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 flying 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; After the car has stopped at the first position again, landing the air vehicle on the car; An inspection method comprising: (Appendix 2) the first location is a location on the top floor; The second location is the 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 section to the side of the second section while maintaining its height within the hoistway; while the car travels from the second position to the first position, the car is hovering while maintaining an altitude within the hoistway, and the camera is caused to photograph the second portion of the rope. Inspection method described in Appendix 1 or Appendix 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. 1. An 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. 1. An 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. [Explanation of symbols]

[0069] 1 elevator, 2 hoistway, 3 landing, 4 hoisting machine, 5 main rope, 6 car, 7 counterweight, 8 control panel, 9 drive sheave, 10 deflector wheel, 11 inspection system, 12 flying vehicle, 13 inspection device, 14 data server, 15 photography device, 16 marker, 17 running status acquisition unit, 18 running command unit, 19 flight status acquisition unit, 20 flight command unit, 21 data storage unit, 22 car sheave, 23 counterweight sheave, 24 return wheel, 100a processor, 100b memory, 200 dedicated hardware

Claims

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: 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.

2. 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 .

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; The inspection method according to claim 1 or 2.

4. The inspection target equipment is 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 camera is caused to photograph the first sheave while maintaining an altitude within the elevator shaft and hovering, 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 maintaining its altitude within the hoistway; The inspection method according to claim 1 or 2.

5. 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.

6. When the aircraft 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.

7. 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.

8. The equipment to be inspected is a first part and a second part of the elevator rope that moves as the car travels, the first part and the second part being positioned at different positions in the 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.

9. The inspection target equipment is 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.

Images