WO2022219722A1 - Flying object for inspecting interior of elevator hoistway, control device for flying object, and flight method for flying object - Google Patents

Flying object for inspecting interior of elevator hoistway, control device for flying object, and flight method for flying object Download PDF

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Publication number
WO2022219722A1
WO2022219722A1 PCT/JP2021/015337 JP2021015337W WO2022219722A1 WO 2022219722 A1 WO2022219722 A1 WO 2022219722A1 JP 2021015337 W JP2021015337 W JP 2021015337W WO 2022219722 A1 WO2022219722 A1 WO 2022219722A1
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WIPO (PCT)
Prior art keywords
flying object
information
image
main body
car
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PCT/JP2021/015337
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French (fr)
Japanese (ja)
Inventor
誠一 熊谷
敬秀 平井
Original Assignee
三菱電機ビルテクノサービス株式会社
三菱電機株式会社
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Application filed by 三菱電機ビルテクノサービス株式会社, 三菱電機株式会社 filed Critical 三菱電機ビルテクノサービス株式会社
Priority to CN202180096826.0A priority Critical patent/CN117157241A/en
Priority to JP2023514227A priority patent/JP7444334B2/en
Priority to PCT/JP2021/015337 priority patent/WO2022219722A1/en
Publication of WO2022219722A1 publication Critical patent/WO2022219722A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators

Definitions

  • the present disclosure relates to a flying object for inspecting the inside of an elevator hoistway, a flying object control device, and a flying method of the flying object.
  • Patent Document 1 discloses an elevator projectile. The projectile may fly without colliding with equipment inside the hoistway.
  • An object of the present disclosure is to provide a flying object, a flying object control device, and a flying method of the flying object that can fly the flying object with a simple configuration without colliding with equipment inside a hoistway.
  • a flying object includes a main body provided so as to be able to fly, an imaging unit provided in the main body for capturing an image, and a main body provided in the main body, the main body being a hoistway of an elevator.
  • a storage unit that stores information of an image captured by the photographing unit while being placed on the car in the interior of the hoistway;
  • a control unit that controls the flight position of the main unit so that the information of the image captured by the imaging unit approaches the information of the image stored in the storage unit when flying.
  • a flying object includes a main body provided so as to be able to fly, a photographing section provided in the main body for photographing an image, and a camera provided in the main body that is installed inside a hoistway of an elevator. and a storage unit that stores information of an image taken while being placed on the car in the above; and a control unit for controlling the flight position of the main body so that the information of the image captured by the imaging unit approaches the information of the image stored in the storage unit.
  • a projectile according to the present disclosure includes a main body provided so as to be able to fly, a measurement part provided in the main body for measuring a distance, and a measuring part provided in the main body, the main body being a hoistway of an elevator.
  • a storage unit that stores information on the distance measured by the measuring unit while being placed on the car in the interior of the a control unit that controls the flight position of the main body so that the distance information measured by the measurement unit approaches the distance information stored in the storage unit during flight.
  • a projectile includes a main body provided so as to be able to fly, a measuring section provided in the main body for measuring a distance, a distance sensor provided in the main body, and a distance sensor in a hoistway of an elevator.
  • a storage unit that stores information on the distance measured while being placed on the car inside; a control unit that controls the flight position of the main body so that the distance information measured by the measurement unit approaches the distance information stored in the storage unit.
  • a control device for a flying object includes a storage unit provided separately from the flying object and storing information of an image taken while the flying object is placed on a car inside a hoistway of an elevator. , provided separately from the flying object, and when the flying object flies above the car in the hoistway, the information of the image taken by the flying object is stored in the storage unit. and a control unit for controlling the flight position of the projectile so as to approach the information.
  • a control device for a flying object is provided separately from the flying object, and captures image information while a camera separate from the flying object is placed on top of a car inside a hoistway of an elevator.
  • a storage unit for storing stored information is provided separately from the flying object, and when the flying object flies above the car in the hoistway, information of an image captured by the flying object is stored in the storage unit.
  • a control device for a flying object is provided separately from a flying object, and includes a storage unit that stores distance information measured while the flying object is placed on a car inside a hoistway of an elevator. , a distance information provided separately from the flying object, in which distance information measured by the flying object is stored in the storage unit when the flying object flies above the car in the hoistway. and a control unit for controlling the flight position of the projectile so as to approach the information.
  • a control device for a flying object is provided separately from the flying object, and measures distance information while a distance sensor separate from the flying object is placed on the car inside the hoistway of the elevator. and a storage unit provided separately from the flying object, and when the flying object flies above the car in the hoistway, the distance information measured by the flying object is stored in the storage unit a control unit that controls the flight position of the projectile so as to approach the distance information stored in the provided.
  • a flying object flight method includes a flying object installation step of placing a flying object on a car inside a hoistway of an elevator; an image information storing step of photographing the inside of the hoistway with the flying object while the car is being lifted and lowered in the state of being in a state where the flying object is lifted and lowered, and storing the information of the image in the flying object; a flight position control step of controlling the flight position of the flying object so that the information of the image taken by the flying object approaches the information of the stored image when flying above the cage on the road; provided.
  • a flying object flight method includes a flying object installation step of placing a flying object on a car inside a hoistway of an elevator; a distance information storage step in which the flying object stores information on the distance measured inside the hoistway while the car is ascending and descending in a state in which the flying object is placed in the hoistway; a flight position control step of controlling the flight position of the flying object so that the image information measured by the flying object approaches the stored distance information when flying above the cage in the interior of the prepared.
  • FIG. 1 is a configuration diagram of an elevator to which a flying object according to Embodiment 1 is applied;
  • FIG. FIG. 4 is a diagram for explaining a method of storing an image by a flying object according to Embodiment 1;
  • FIG. 4 is a diagram showing image information stored in the flying object according to Embodiment 1.
  • FIG. 4 is a diagram showing information of an image captured by a flying object in Embodiment 1.
  • FIG. FIG. 10 is a configuration diagram of an elevator to which the flying object in Embodiment 2 is applied;
  • FIG. 10 is a cross-sectional view of an elevator hoistway to which the flying object according to Embodiment 2 is applied;
  • FIG. 11 is a cross-sectional view of an elevator hoistway to which a flying object according to Embodiment 3 is applied;
  • FIG. 11 is a configuration diagram of an elevator to which a flying object according to Embodiment 4 is applied;
  • FIG. 1 is a configuration diagram of an elevator to which a flying object according to Embodiment 1 is applied.
  • the hoistway 1 runs through each floor of the building (not shown).
  • the hoist 2 is provided above the hoistway 1 .
  • the main rope 3 is wound around the hoisting machine 2 .
  • a pair of car-side guide rails 4 are provided inside the hoistway 1.
  • the longitudinal direction of each of the pair of car-side guide rails 4 is the vertical direction.
  • the car 5 is provided inside the hoistway 1 .
  • the car 5 is supported on one side of the main rope 3 from below.
  • the car 5 is guided vertically by a pair of car-side guide rails 4 .
  • a pair of weight-side guide rails 6 are provided inside the hoistway 1 .
  • the longitudinal direction of each of the pair of weight-side guide rails 6 is the vertical direction.
  • a counterweight 7 is provided inside the hoistway 1 .
  • the upper part of the counterweight 7 is supported on the other side of the main rope 3 .
  • a counterweight 7 is guided vertically by a pair of weight-side guide rails 6 .
  • the governor 8 is provided above the hoistway 1.
  • a tension pulley 9 is provided in the lower part of the hoistway 1 .
  • the governor rope 10 is provided endlessly.
  • a governor rope 10 is wound around a governor 8 and a tension wheel 9. - ⁇
  • the control device 11 is provided above the hoistway 1.
  • a controller 11 is provided to control the elevator as a whole.
  • the control device 11 rotates the hoist 2.
  • the main rope 3 moves following the rotation of the hoist 2 .
  • the car 5 and the counterweight 7 follow the movement of the main rope 3 and move up and down in opposite directions.
  • the governor rope 10 moves following the elevation of the car 5 .
  • the governor 8 rotates following the movement of the governor rope 10 .
  • the control device 11 recognizes the vertical position of the car 5 based on the rotational speed of the governor 8 .
  • the flying object 12 is used for inspection of the inside of the hoistway 1 of the elevator.
  • the flying object 12 includes a body portion 12a, an imaging portion 12b, a storage portion 12c, and a control portion 12d.
  • the body part 12a constitutes a housing for the flying object 12.
  • the body portion 12a is provided so as to be able to fly.
  • the imaging section 12b is provided in the main body section 12a.
  • the photographing unit 12b is provided so as to be able to photograph an image.
  • the storage section 12c is provided in the main body section 12a.
  • the storage unit 12c is provided so as to store image information of the interior of the hoistway 1 .
  • the controller 12d is provided in the main body 12a.
  • the control unit 12d is provided so as to control the operation of the flying object 12 as a whole.
  • the control unit 12d controls the image information captured by the image capturing unit 12b to approach the image information stored in the storage unit 12c. , the flight position of the main body 12a is controlled.
  • FIG. 2 is a diagram for explaining a method of storing an image by a flying object according to Embodiment 1.
  • FIG. 2 is a diagram for explaining a method of storing an image by a flying object according to Embodiment 1.
  • the flying object 12 is placed on the car 5 before inspecting the inside of the hoistway 1 .
  • the control device 11 raises and lowers the car 5 .
  • the storage unit 12c stores the information of the image captured by the imaging unit 12b while following the elevation of the car 5.
  • FIG. 3 is a diagram showing image information stored in a flying object according to Embodiment 1.
  • FIG. 4 is a diagram showing information of an image captured by a flying object according to Embodiment 1.
  • FIG. 3 shows image information stored by the flying object 12 when the car 5 is positioned 50 mm above the lowest floor.
  • FIG. 4 shows information of an image captured by the flying object 12 from above the car 5 when the car 5 is located on the lowest floor.
  • the images of FIGS. 3 and 4 include images of the equipment of the hoistway 1 .
  • the equipment of the hoistway 1 is shown in simplified form as a pentagon.
  • the flying object 12 when inspecting the interior of the hoistway 1, the flying object 12 aims to be positioned 50 mm above the car 5 on the lowest floor. Fly over car 5 until it matches the image in 3.
  • the flying object 12 when the interior of the hoistway 1 is inspected, the flying object 12 is positioned 50 mm above the car 5 on the lowest floor. Determine the difference from the image. After that, the projectile 12 decides to move upward by 50 mm based on the difference. After that, the projectile 12 starts flying based on the determination. After that, the flying object 12 corrects the flight position so that the currently captured image matches the image of FIG. 3, and continues flying until the currently captured image matches the image of FIG.
  • the flying object 12 stores the information of the image taken while placed on the cage 5 .
  • the flying object 12 controls its flight position so that the information of the captured image approaches the information of the stored image.
  • the flying object 12 repeats flight within the range of the trajectory along which the car 5 travels, without requiring information on the positional coordinates of the equipment inside the hoistway 1 . Therefore, the flying object 12 can fly without colliding with equipment inside the hoistway 1 with a simple configuration without requiring many sensors. As a result, it is possible to prevent the flying object 12 from colliding with equipment having a small cross-sectional area, such as a landing plate.
  • image information and information on the vertical position of the car 5 may be associated and stored.
  • Information on the vertical position of the car 5 may be obtained from the control device 11 .
  • the flying object 12 may control the vertical flight position based on the image information and the vertical position information of the car 5 that are associated with each other. In this case, the vertical flight position of the projectile 12 can be controlled more accurately.
  • the flying object 12 information of images taken from respective positions of the four corners above the car 5 may be stored.
  • the horizontal flight range of the flying object 12 may be set based on the images from the four corners of the cage.
  • image information from the four corners above the car 5 may be estimated from a certain image.
  • the horizontal flight range of the flying object 12 can be set with a smaller number of times the car 5 travels.
  • FIG. 5 is a configuration diagram of an elevator to which the flying object according to Embodiment 2 is applied.
  • the same reference numerals are given to the same or corresponding parts as those of the first embodiment. Description of this part is omitted.
  • the flying object 12 includes a position determination section 12e.
  • the position determination unit 12e determines the vertical position of the main body 12a. For example, the position determination unit 12e determines the vertical position of the main body 12a from the measurement value of the upward or downward distance sensor. For example, the position determination unit 12e determines the vertical position of the main body 12a from the downward image captured by the camera. For example, the position determination unit 12e determines the vertical position of the main body 12a from the measurement value of the acceleration sensor.
  • the control unit 12d controls the vertical flight position of the main body 12a based on the position determined by the position determination unit 12e.
  • FIG. 6 is a cross-sectional view of a hoistway of an elevator to which the flying object according to Embodiment 2 is applied.
  • the flying object 12 controls its horizontal flight position based on an image of a long object whose longitudinal direction is the vertical direction.
  • the storage unit 12 c stores an image of one of the pair of car-side guide rails 4 .
  • the controller 12d adjusts the horizontal flight position of the main body 12a so that the information of the image captured by the imaging unit 12b approaches the information of the image of one of the pair of car-side guide rails 4, particularly the pair of car-side guide rails. Controls flight position normal to the plane formed by rail 4 .
  • the flying object 12 controls its horizontal flight position so that the information of the captured image approaches the information of the image of the elongated object. Therefore, the horizontal flight position of the flying object 12 can be easily controlled.
  • the flying object 12 itself determines its vertical position and controls its vertical flight position. Therefore, the vertical flight position of the flying object 12 can be easily controlled.
  • the image of the weight-side guide rail 6 and the governor rope 10 may be used as the image of the long object. In this case as well, the horizontal flight position of the flying object 12 can be easily controlled.
  • an image of at least one point in the vertical direction may be used as the image of the elongated object.
  • an image of only one position in the vertical direction is used as the image of the elongated object, and the horizontal position of the flying object 12 is controlled using that image regardless of the vertical position of the flying object 12. good too.
  • a plurality of images continuously taken when the car 5 moves from the lowest floor to the highest floor are used, and an image corresponding to the vertical position of the flying object 12 is used. may be used to control the horizontal position of the projectile 12 .
  • a plurality of images captured discretely when the car 5 moves from the bottom floor to the top floor are used, and the images are captured at a position closest to the vertical position of the flying object 12.
  • the resulting image may be used to control the horizontal position of the projectile 12 .
  • FIG. 7 is a cross-sectional view of a hoistway of an elevator to which the flying object according to Embodiment 3 is applied.
  • the same reference numerals are given to the same or corresponding parts as those of the second embodiment. Description of this part is omitted.
  • the flying object 12 controls its horizontal flight position based on an image of a plurality of elongated objects whose longitudinal direction is the vertical direction.
  • the storage unit 12c stores an image of a pair of weight-side guide rails 6 captured at the same time.
  • the control unit 12d adjusts the horizontal flying position of the main body 12a so that the information of the image captured by the image capturing unit 12b approaches the information of the image of the pair of weight-side guide rails 6, particularly the pair of weight-side guide rails 6. Controls the flight position normal to the surface formed by .
  • the flying object 12 controls the horizontal flight position so that the information of the captured image approaches the information of the image of a plurality of elongated objects simultaneously captured. Therefore, the horizontal flight position of the flying object 12 can be controlled more accurately.
  • an image obtained by simultaneously photographing one side and the other side of the endless governor rope 10 may be used as the image obtained by simultaneously photographing a plurality of elongated objects.
  • the horizontal flight position of the flying object 12 can be controlled more accurately.
  • At least one image in the vertical direction may be adopted as an image in which a plurality of elongated objects are simultaneously photographed.
  • an image in which a plurality of elongated objects are photographed at the same time an image of only one position in the vertical direction is adopted, and the horizontal direction of the flying object 12 is captured using that image regardless of the position of the flying object 12 in the vertical direction.
  • position may be controlled.
  • images of a plurality of elongated objects simultaneously photographed a plurality of images continuously photographed when the car 5 moves from the lowest floor to the highest floor is adopted, and the position of the flying object 12 in the vertical direction is determined.
  • the horizontal position of the flying object 12 may be controlled using an image corresponding to .
  • a plurality of images that are discretely photographed when the car 5 moves from the lowest floor to the highest floor are adopted, and the position of the flying object 12 in the vertical direction is determined.
  • the horizontal position of the flying object 12 may be controlled using an image captured at a position closest to .
  • FIG. 8 is a configuration diagram of an elevator to which the flying object according to Embodiment 4 is applied.
  • the same reference numerals are given to the same or corresponding parts as those of the second embodiment. Description of this part is omitted.
  • the flying object 12 includes a receiver 12f.
  • the receiving unit 12f receives information about vertical movement from the outside.
  • the receiving unit 12f receives information about movement in the vertical direction from a remote control operated by an elevator maintenance person.
  • the controller 12d controls the vertical flight position of the main body 12a based on the information received by the receiver 12f.
  • the flying object 12 controls its vertical flight position based on information from the outside. Therefore, the vertical flight position of the flying object 12 can be flexibly controlled.
  • the flying object 12 stores the information of the image captured by a camera other than the flying object 12 placed on the car 5 inside the hoistway 1.
  • the flying object 12 may control the flight position so that the information of the captured image approaches the information of the stored image.
  • the flying object 12 can fly without colliding with the equipment inside the hoistway 1 with a simple configuration.
  • the photographing unit 12b may be a measuring unit such as a distance sensor.
  • information about the distance measured by the measuring unit while the main body 12a is placed on the car 5 inside the hoistway 1 may be stored in the storage unit 12c.
  • the control unit 12d when the main unit 12a flies above the car 5 inside the hoistway 1, the main unit 12d is controlled so that the distance information measured by the measuring unit approaches the distance information stored in the storage unit 12c.
  • the flight position of the portion 12a may be controlled. In this case as well, the flying object 12 can fly without colliding with the equipment inside the hoistway 1 with a simple configuration.
  • distance information measured by a distance sensor other than the flying object 12 placed on the car 5 inside the hoistway 1 may be stored in the flying object 12 .
  • the flying object 12 may control the flying position so that the measured image information approaches the stored distance information.
  • the flying object 12 can fly without colliding with the equipment inside the hoistway 1 with a simple configuration.
  • a storage unit 12c and a control unit 12d may be provided separately from the flying object 12.
  • the flying object 12 having a simpler configuration can be flown without colliding with equipment inside the hoistway 1 .
  • the flying object of the first embodiment or the second embodiment 12 may be applied.
  • the flying object and flying method of the flying object of the present disclosure can be used in an elevator system.

Abstract

Provided is a flying object having a simple configuration, capable of flying without colliding with equipment inside a hoistway 1. This flying object comprises: a body that is installed so as to be capable of flying; an image-capturing unit that is installed in the body and captures images; a storage unit that is installed in the body and stores information of the images captured by the image-capturing unit while the body is placed on a car inside an elevator hoistway; and a control unit that is installed in the body and controls the flight position of the body so that the information of the images captured by the image-capturing unit approaches the information of the images stored in the storage unit when the body flies above the car inside the elevator hoistway.

Description

エレベーターの昇降路の内部を点検する飛翔体、飛翔体の制御装置および飛翔体の飛行方法Projectile for inspecting inside of elevator hoistway, projectile control device, and projectile flight method
　本開示は、エレベーターの昇降路の内部を点検する飛翔体、飛翔体の制御装置および飛翔体の飛行方法に関する。 The present disclosure relates to a flying object for inspecting the inside of an elevator hoistway, a flying object control device, and a flying method of the flying object.
　特許文献１は、エレベーターの飛翔体を開示する。当該飛翔体は、昇降路の内部の機器に衝突しないように飛行し得る。 Patent Document 1 discloses an elevator projectile. The projectile may fly without colliding with equipment inside the hoistway.
日本特開２０１７－１２８４４０号公報Japanese Patent Application Laid-Open No. 2017-128440
　しかしながら、特許文献１に記載の飛翔体においては、多くの距離センサが必要となる。このため、飛翔体の構成が複雑になる。 However, the flying object described in Patent Document 1 requires many distance sensors. This complicates the configuration of the flying object.
　本開示は、上述の課題を解決するためになされた。本開示の目的は、簡単な構成で飛翔体を昇降路の内部の機器に衝突させずに飛行させることができる飛翔体、飛翔体の制御装置および飛翔体の飛行方法を提供することである。 The present disclosure was made to solve the above problems. An object of the present disclosure is to provide a flying object, a flying object control device, and a flying method of the flying object that can fly the flying object with a simple configuration without colliding with equipment inside a hoistway.
　本開示に係る飛翔体は、飛行し得るように設けられた本体部と、前記本体部に設けられ、画像を撮影する撮影部と、前記本体部に設けられ、前記本体部がエレベーターの昇降路の内部においてかごの上に載せられた状態で前記撮影部が撮影した画像の情報を記憶した記憶部と、前記本体部に設けられ、前記本体部が前記昇降路の内部において前記かごの上方で飛行する際に、前記撮影部に撮影された画像の情報が前記記憶部に記憶された画像の情報に近づくように前記本体部の飛行位置を制御する制御部と、を備えた。 A flying object according to the present disclosure includes a main body provided so as to be able to fly, an imaging unit provided in the main body for capturing an image, and a main body provided in the main body, the main body being a hoistway of an elevator. a storage unit that stores information of an image captured by the photographing unit while being placed on the car in the interior of the hoistway; a control unit that controls the flight position of the main unit so that the information of the image captured by the imaging unit approaches the information of the image stored in the storage unit when flying.
　本開示に係る飛翔体は、飛行し得るように設けられた本体部と、前記本体部に設けられ、画像を撮影する撮影部と、前記本体部に設けられ、カメラがエレベーターの昇降路の内部においてかごの上に載せられた状態で撮影した画像の情報を記憶した記憶部と、前記本体部に設けられ、前記本体部が前記昇降路の内部において前記かごの上方で飛行する際に、前記撮影部に撮影された画像の情報が前記記憶部に記憶された画像の情報に近づくように前記本体部の飛行位置を制御する制御部と、を備えた。 A flying object according to the present disclosure includes a main body provided so as to be able to fly, a photographing section provided in the main body for photographing an image, and a camera provided in the main body that is installed inside a hoistway of an elevator. and a storage unit that stores information of an image taken while being placed on the car in the above; and a control unit for controlling the flight position of the main body so that the information of the image captured by the imaging unit approaches the information of the image stored in the storage unit.
　本開示に係る飛翔体は、飛行し得るように設けられた本体部と、前記本体部に設けられ、距離を測定する測定部と、前記本体部に設けられ、前記本体部がエレベーターの昇降路の内部においてかごの上に載せられた状態で前記測定部が測定した距離の情報を記憶した記憶部と、前記本体部に設けられ、前記本体部が前記昇降路の内部において前記かごの上方で飛行する際に、前記測定部に測定された距離の情報が前記記憶部に記憶された距離の情報に近づくように前記本体部の飛行位置を制御する制御部と、を備えた。 A projectile according to the present disclosure includes a main body provided so as to be able to fly, a measurement part provided in the main body for measuring a distance, and a measuring part provided in the main body, the main body being a hoistway of an elevator. A storage unit that stores information on the distance measured by the measuring unit while being placed on the car in the interior of the a control unit that controls the flight position of the main body so that the distance information measured by the measurement unit approaches the distance information stored in the storage unit during flight.
　本開示に係る飛翔体は、飛行し得るように設けられた本体部と、前記本体部に設けられ、距離を測定する測定部と、前記本体部に設けられ、距離センサがエレベーターの昇降路の内部においてかごの上に載せられた状態で測定した距離の情報を記憶した記憶部と、前記本体部に設けられ、前記本体部が前記昇降路の内部において前記かごの上方で飛行する際に、前記測定部に測定された距離の情報が前記記憶部に記憶された距離の情報に近づくように前記本体部の飛行位置を制御する制御部と、を備えた。 A projectile according to the present disclosure includes a main body provided so as to be able to fly, a measuring section provided in the main body for measuring a distance, a distance sensor provided in the main body, and a distance sensor in a hoistway of an elevator. A storage unit that stores information on the distance measured while being placed on the car inside; a control unit that controls the flight position of the main body so that the distance information measured by the measurement unit approaches the distance information stored in the storage unit.
　本開示に係る飛翔体の制御装置は、飛翔体とは別に設けられ、前記飛翔体がエレベーターの昇降路の内部においてかごの上に載せられた状態で撮影した画像の情報を記憶した記憶部と、前記飛翔体とは別に設けられ、前記飛翔体が前記昇降路の内部において前記かごの上方で飛行する際に、前記飛翔体に撮影された画像の情報が前記記憶部に記憶された画像の情報に近づくように前記飛翔体の飛行位置を制御する制御部と、を備えた。 A control device for a flying object according to the present disclosure includes a storage unit provided separately from the flying object and storing information of an image taken while the flying object is placed on a car inside a hoistway of an elevator. , provided separately from the flying object, and when the flying object flies above the car in the hoistway, the information of the image taken by the flying object is stored in the storage unit. and a control unit for controlling the flight position of the projectile so as to approach the information.
　本開示に係る飛翔体の制御装置は、飛翔体とは別に設けられ、前記飛翔体とは別のカメラがエレベーターの昇降路の内部においてかごの上に載せられた状態で撮影した画像の情報を記憶した記憶部と、前記飛翔体とは別に設けられ、前記飛翔体が前記昇降路の内部において前記かごの上方で飛行する際に、前記飛翔体に撮影された画像の情報が前記記憶部に記憶された画像の情報に近づくように前記飛翔体の飛行位置を制御する制御部と、を備えた。 A control device for a flying object according to the present disclosure is provided separately from the flying object, and captures image information while a camera separate from the flying object is placed on top of a car inside a hoistway of an elevator. A storage unit for storing stored information is provided separately from the flying object, and when the flying object flies above the car in the hoistway, information of an image captured by the flying object is stored in the storage unit. a control unit for controlling the flight position of the flying object so as to approach the information of the stored image.
　本開示に係る飛翔体の制御装置は、飛翔体とは別に設けられ、前記飛翔体がエレベーターの昇降路の内部においてかごの上に載せられた状態で測定した距離の情報を記憶した記憶部と、前記飛翔体とは別に設けられ、前記飛翔体が前記昇降路の内部において前記かごの上方で飛行する際に、前記飛翔体に測定された距離の情報が前記記憶部に記憶された距離の情報に近づくように前記飛翔体の飛行位置を制御する制御部と、を備えた。 A control device for a flying object according to the present disclosure is provided separately from a flying object, and includes a storage unit that stores distance information measured while the flying object is placed on a car inside a hoistway of an elevator. , a distance information provided separately from the flying object, in which distance information measured by the flying object is stored in the storage unit when the flying object flies above the car in the hoistway. and a control unit for controlling the flight position of the projectile so as to approach the information.
　本開示に係る飛翔体の制御装置は、飛翔体とは別に設けられ、前記飛翔体とは別の距離センサがエレベーターの昇降路の内部においてかごの上に載せられた状態で測定した距離の情報を記憶した記憶部と、前記飛翔体とは別に設けられ、前記飛翔体が前記昇降路の内部において前記かごの上方で飛行する際に、前記飛翔体に測定された距離の情報が前記記憶部に記憶された距離の情報に近づくように前記飛翔体の飛行位置を制御する制御部と、
を備えた。 A control device for a flying object according to the present disclosure is provided separately from the flying object, and measures distance information while a distance sensor separate from the flying object is placed on the car inside the hoistway of the elevator. and a storage unit provided separately from the flying object, and when the flying object flies above the car in the hoistway, the distance information measured by the flying object is stored in the storage unit a control unit that controls the flight position of the projectile so as to approach the distance information stored in the
provided.
　本開示に係る飛翔体の飛行方法は、エレベーターの昇降路の内部においてかごの上に飛翔体を載せる飛翔体設置工程と、前記飛翔体設置工程の後、飛翔体が前記かごの上に載せられた状態でかごを昇降させながら、前記飛翔体で昇降路の内部を撮影して画像の情報を飛翔体で記憶する画像情報記憶工程と、前記画像情報記憶工程の後、前記飛翔体が前記昇降路の内部において前記かごの上方で飛行する際に、前記飛翔体が撮影した画像の情報が記憶された画像の情報に近づくように、前記飛翔体が飛行位置を制御する飛行位置制御工程と、を備えた。 A flying object flight method according to the present disclosure includes a flying object installation step of placing a flying object on a car inside a hoistway of an elevator; an image information storing step of photographing the inside of the hoistway with the flying object while the car is being lifted and lowered in the state of being in a state where the flying object is lifted and lowered, and storing the information of the image in the flying object; a flight position control step of controlling the flight position of the flying object so that the information of the image taken by the flying object approaches the information of the stored image when flying above the cage on the road; provided.
　本開示に係る飛翔体の飛行方法は、エレベーターの昇降路の内部においてかごの上に飛翔体を載せる飛翔体設置工程と、前記飛翔体設置工程の後、飛翔体が前記かごの上に載せられた状態でかごを昇降させながら、前記飛翔体で昇降路の内部において測定した距離の情報を飛翔体で記憶する距離情報記憶工程と、前記距離情報記憶工程の後、前記飛翔体が前記昇降路の内部において前記かごの上方で飛行する際に、前記飛翔体が測定した画像の情報が記憶された距離の情報に近づくように、前記飛翔体が飛行位置を制御する飛行位置制御工程と、を備えた。 A flying object flight method according to the present disclosure includes a flying object installation step of placing a flying object on a car inside a hoistway of an elevator; a distance information storage step in which the flying object stores information on the distance measured inside the hoistway while the car is ascending and descending in a state in which the flying object is placed in the hoistway; a flight position control step of controlling the flight position of the flying object so that the image information measured by the flying object approaches the stored distance information when flying above the cage in the interior of the prepared.
　本開示によれば、簡単な構成で飛翔体を昇降路の内部の機器に衝突させずに飛行させることができる。 According to the present disclosure, it is possible to fly the flying object with a simple configuration without colliding with equipment inside the hoistway.
実施の形態１における飛翔体が適用されるエレベーターの構成図である。1 is a configuration diagram of an elevator to which a flying object according to Embodiment 1 is applied; FIG. 実施の形態１における飛翔体による画像の記憶方法を説明するための図である。FIG. 4 is a diagram for explaining a method of storing an image by a flying object according to Embodiment 1; FIG. 実施の形態１における飛翔体に記憶された画像の情報を示す図である。4 is a diagram showing image information stored in the flying object according to Embodiment 1. FIG. 実施の形態１における飛翔体に撮影された画像の情報を示す図である。4 is a diagram showing information of an image captured by a flying object in Embodiment 1. FIG. 実施の形態２における飛翔体が適用されるエレベーターの構成図である。FIG. 10 is a configuration diagram of an elevator to which the flying object in Embodiment 2 is applied; 実施の形態２における飛翔体が適用されるエレベーターの昇降路の横断面図である。FIG. 10 is a cross-sectional view of an elevator hoistway to which the flying object according to Embodiment 2 is applied; 実施の形態３における飛翔体が適用されるエレベーターの昇降路の横断面図である。FIG. 11 is a cross-sectional view of an elevator hoistway to which a flying object according to Embodiment 3 is applied; 実施の形態４における飛翔体が適用されるエレベーターの構成図である。FIG. 11 is a configuration diagram of an elevator to which a flying object according to Embodiment 4 is applied;
　実施の形態について添付の図面に従って説明する。なお、各図中、同一または相当する部分には同一の符号が付される。当該部分の重複説明は適宜に簡略化ないし省略される。 An embodiment will be described according to the attached drawings. In addition, the same code|symbol is attached|subjected to the part which is the same or corresponds in each figure. Redundant description of the relevant part will be simplified or omitted as appropriate.
実施の形態１．
　図１は実施の形態１における飛翔体が適用されるエレベーターの構成図である。 Embodiment 1.
FIG. 1 is a configuration diagram of an elevator to which a flying object according to Embodiment 1 is applied.
　図１のエレベーターシステムにおいて、昇降路１は、図示されない建築物の各階を貫く。巻上機２は、昇降路１の上部に設けられる。主ロープ３は、巻上機２に巻き掛けられる。 In the elevator system of Fig. 1, the hoistway 1 runs through each floor of the building (not shown). The hoist 2 is provided above the hoistway 1 . The main rope 3 is wound around the hoisting machine 2 .
　一対のかご側ガイドレール４は、昇降路１の内部に設けられる。一対のかご側ガイドレール４の各々の長手方向は、鉛直方向である。かご５は、昇降路１の内部に設けられる。かご５は、下方から主ロープ３の一側に支持される。かご５は、一対のかご側ガイドレール４に鉛直方向に案内される。 A pair of car-side guide rails 4 are provided inside the hoistway 1. The longitudinal direction of each of the pair of car-side guide rails 4 is the vertical direction. The car 5 is provided inside the hoistway 1 . The car 5 is supported on one side of the main rope 3 from below. The car 5 is guided vertically by a pair of car-side guide rails 4 .
　一対のおもり側ガイドレール６は、昇降路１の内部に設けられる。一対のおもり側ガイドレール６の各々の長手方向は、鉛直方向である。つり合いおもり７は、昇降路１の内部に設けられる。つり合いおもり７の上部は、主ロープ３の他側に支持される。つり合いおもり７は、一対のおもり側ガイドレール６に鉛直方向に案内される。 A pair of weight-side guide rails 6 are provided inside the hoistway 1 . The longitudinal direction of each of the pair of weight-side guide rails 6 is the vertical direction. A counterweight 7 is provided inside the hoistway 1 . The upper part of the counterweight 7 is supported on the other side of the main rope 3 . A counterweight 7 is guided vertically by a pair of weight-side guide rails 6 .
　ガバナ８は、昇降路１の上部に設けられる。張り車９は、昇降路１の下部に設けられる。ガバナロープ１０は、無端状に設けられる。ガバナロープ１０は、ガバナ８と張り車９とに巻き掛けられる。 The governor 8 is provided above the hoistway 1. A tension pulley 9 is provided in the lower part of the hoistway 1 . The governor rope 10 is provided endlessly. A governor rope 10 is wound around a governor 8 and a tension wheel 9. - 特許庁
　制御装置１１は、昇降路１の上部に設けられる。制御装置１１は、エレベーターを全体的に制御し得るように設けられる。 The control device 11 is provided above the hoistway 1. A controller 11 is provided to control the elevator as a whole.
　図１のエレベーターにおいて、制御装置１１は、巻上機２を回転させる。主ロープ３は、巻上機２の回転に追従して移動する。かご５とつり合いおもり７とは、主ロープ３の移動に追従して互いに反対方向に昇降する。この際、ガバナロープ１０は、かご５の昇降に追従して移動する。ガバナ８は、ガバナロープ１０の移動に追従して回転する。制御装置１１は、ガバナ８の回転速度に基づいてかご５の鉛直方向の位置を認識する。 In the elevator of FIG. 1, the control device 11 rotates the hoist 2. The main rope 3 moves following the rotation of the hoist 2 . The car 5 and the counterweight 7 follow the movement of the main rope 3 and move up and down in opposite directions. At this time, the governor rope 10 moves following the elevation of the car 5 . The governor 8 rotates following the movement of the governor rope 10 . The control device 11 recognizes the vertical position of the car 5 based on the rotational speed of the governor 8 .
　飛翔体１２は、エレベーターの昇降路１の内部の点検に利用される。飛翔体１２は、本体部１２ａと撮影部１２ｂと記憶部１２ｃと制御部１２ｄとを備える。 The flying object 12 is used for inspection of the inside of the hoistway 1 of the elevator. The flying object 12 includes a body portion 12a, an imaging portion 12b, a storage portion 12c, and a control portion 12d.
　本体部１２ａは、飛翔体１２の筐体をなす。本体部１２ａは、飛行し得るように設けられる。撮影部１２ｂは、本体部１２ａに設けられる。撮影部１２ｂは、画像を撮影し得るように設けられる。記憶部１２ｃは、本体部１２ａに設けられる。記憶部１２ｃは、昇降路１の内部の画像の情報を記憶し得るように設けられる。制御部１２ｄは、本体部１２ａに設けられる。制御部１２ｄは、飛翔体１２の動作を全体的に制御し得るように設けられる。 The body part 12a constitutes a housing for the flying object 12. The body portion 12a is provided so as to be able to fly. The imaging section 12b is provided in the main body section 12a. The photographing unit 12b is provided so as to be able to photograph an image. The storage section 12c is provided in the main body section 12a. The storage unit 12c is provided so as to store image information of the interior of the hoistway 1 . The controller 12d is provided in the main body 12a. The control unit 12d is provided so as to control the operation of the flying object 12 as a whole.
　例えば、本体部１２ａが昇降路１の内部においてかご５の上方で飛行する際、制御部１２ｄは、撮影部１２ｂに撮影された画像の情報が記憶部１２ｃに記憶された画像の情報に近づくように本体部１２ａの飛行位置を制御する。 For example, when the main unit 12a flies above the car 5 inside the hoistway 1, the control unit 12d controls the image information captured by the image capturing unit 12b to approach the image information stored in the storage unit 12c. , the flight position of the main body 12a is controlled.
　次に、図２を用いて、飛翔体１２による画像の記憶方法を説明する。
　図２は実施の形態１における飛翔体による画像の記憶方法を説明するための図である。 Next, a method for storing images by the flying object 12 will be described with reference to FIG.
FIG. 2 is a diagram for explaining a method of storing an image by a flying object according to Embodiment 1. FIG.
　図２に示されるように、飛翔体１２は、昇降路１の内部を点検する前にかご５の上に載せされる。この状態において、制御装置１１は、かご５を昇降させる。この際、記憶部１２ｃは、撮影部１２ｂがかご５の昇降に追従しながら撮影した画像の情報を記憶する。 As shown in FIG. 2 , the flying object 12 is placed on the car 5 before inspecting the inside of the hoistway 1 . In this state, the control device 11 raises and lowers the car 5 . At this time, the storage unit 12c stores the information of the image captured by the imaging unit 12b while following the elevation of the car 5. FIG.
　次に、図３と図４とを用いて、飛翔体１２の飛行位置の制御を説明する。
　図３は実施の形態１における飛翔体に記憶された画像の情報を示す図である。図４は実施の形態１における飛翔体に撮影された画像の情報を示す図である。 Next, control of the flight position of the flying object 12 will be described with reference to FIGS. 3 and 4. FIG.
3 is a diagram showing image information stored in a flying object according to Embodiment 1. FIG. 4 is a diagram showing information of an image captured by a flying object according to Embodiment 1. FIG.
　図３は、かご５が最下階よりも５０ｍｍだけ上方に位置する状態において飛翔体１２が記憶した画像の情報を示す。図４は、かご５が最下階に位置する状態において飛翔体１２がかご５の上から撮影した画像の情報を示す。図３と図４との画像には、昇降路１の機器の画像が含まれる。図３と図４とにおいて、昇降路１の機器は、簡略化されて五角形で示される。 FIG. 3 shows image information stored by the flying object 12 when the car 5 is positioned 50 mm above the lowest floor. FIG. 4 shows information of an image captured by the flying object 12 from above the car 5 when the car 5 is located on the lowest floor. The images of FIGS. 3 and 4 include images of the equipment of the hoistway 1 . In FIGS. 3 and 4 the equipment of the hoistway 1 is shown in simplified form as a pentagon.
　例えば、昇降路１の内部の点検時において、飛翔体１２は、かご５が最下階に位置する場合よりも５０ｍｍだけ上方に位置することを目標とする際に現時点において撮影される画像が図３の画像と一致するまでかご５の上方を飛び回る。 For example, when inspecting the interior of the hoistway 1, the flying object 12 aims to be positioned 50 mm above the car 5 on the lowest floor. Fly over car 5 until it matches the image in 3.
　例えば、昇降路１の内部の点検時において、飛翔体１２は、かご５が最下階に位置する場合よりも５０ｍｍだけ上方に位置することを目標とする際に図４の画像と図３の画像との差分を判定する。その後、飛翔体１２は、当該差分に基づいて５０ｍｍだけ上方に移動することを決定する。その後、飛翔体１２は、当該決定に基づいて飛行を開始する。その後、飛翔体１２は、現時点において撮影される画像が図３の画像と一致するように飛行位置を修正し、現時点において撮影される画像が図３の画像と一致するまで飛行を続ける。 For example, when the interior of the hoistway 1 is inspected, the flying object 12 is positioned 50 mm above the car 5 on the lowest floor. Determine the difference from the image. After that, the projectile 12 decides to move upward by 50 mm based on the difference. After that, the projectile 12 starts flying based on the determination. After that, the flying object 12 corrects the flight position so that the currently captured image matches the image of FIG. 3, and continues flying until the currently captured image matches the image of FIG.
　以上で説明した実施の形態１によれば、飛翔体１２は、かご５の上に載せられた状態で撮影した画像の情報を記憶する。飛翔体１２は、撮影された画像の情報が記憶された画像の情報に近づくように飛行位置を制御する。この際、飛翔体１２は、昇降路１の内部の機器の位置座標の情報を要することなく、かご５が走行により移動する軌跡の範囲内で飛行を繰り返す。このため、多くのセンサを必要とすることなく、簡単な構成で飛翔体１２を昇降路１の内部の機器に衝突させずに飛行させることができる。その結果、着床プレートのように断面積が小さい機器に対しても、飛翔体１２が衝突することを回避できる。 According to the first embodiment described above, the flying object 12 stores the information of the image taken while placed on the cage 5 . The flying object 12 controls its flight position so that the information of the captured image approaches the information of the stored image. At this time, the flying object 12 repeats flight within the range of the trajectory along which the car 5 travels, without requiring information on the positional coordinates of the equipment inside the hoistway 1 . Therefore, the flying object 12 can fly without colliding with equipment inside the hoistway 1 with a simple configuration without requiring many sensors. As a result, it is possible to prevent the flying object 12 from colliding with equipment having a small cross-sectional area, such as a landing plate.
　なお、飛翔体１２において、画像の情報とかご５の鉛直方向の位置の情報とを対応付けて記憶してもよい。かご５の鉛直方向の位置の情報は、制御装置１１から取得すればよい。この際、飛翔体１２は、互いに対応付けられた画像の情報とかご５の鉛直方向の位置の情報とに基づいて鉛直方向の飛行位置を制御すればよい。この場合、飛翔体１２の鉛直方向の飛行位置をより正確に制御することができる。 In addition, in the flying object 12, image information and information on the vertical position of the car 5 may be associated and stored. Information on the vertical position of the car 5 may be obtained from the control device 11 . At this time, the flying object 12 may control the vertical flight position based on the image information and the vertical position information of the car 5 that are associated with each other. In this case, the vertical flight position of the projectile 12 can be controlled more accurately.
　また、飛翔体１２において、かご５の上の四隅のそれぞれの位置から撮影した画像の情報を記憶してもよい。この際、飛翔体１２において、かごの四隅からの画像に基づいて、水平方向の飛行範囲を設定してもよい。なお、飛翔体１２をかご５の上に載せる際に、上方から見て飛翔体１２がかご５からはみ出さないようにする。この場合、飛翔体１２をかご５の上方で確実に飛行させることができる。その結果、飛翔体１２が昇降路１の内部の機器に衝突することをより確実に回避できる。 In addition, in the flying object 12, information of images taken from respective positions of the four corners above the car 5 may be stored. At this time, the horizontal flight range of the flying object 12 may be set based on the images from the four corners of the cage. When the flying object 12 is placed on the cage 5, the flying object 12 should not protrude from the cage 5 when viewed from above. In this case, the flying object 12 can be reliably flown above the cage 5 . As a result, collision of the flying object 12 with equipment inside the hoistway 1 can be more reliably avoided.
　また、飛翔体１２において、ある画像からかご５の上の四隅からの画像の情報を推定してもよい。この場合、より少ないかご５の走行回数で飛翔体１２の水平方向の飛行範囲を設定することができる。 Also, in the flying object 12, image information from the four corners above the car 5 may be estimated from a certain image. In this case, the horizontal flight range of the flying object 12 can be set with a smaller number of times the car 5 travels.
実施の形態２．
　図５は実施の形態２における飛翔体が適用されるエレベーターの構成図である。なお、実施の形態１の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。 Embodiment 2.
FIG. 5 is a configuration diagram of an elevator to which the flying object according to Embodiment 2 is applied. The same reference numerals are given to the same or corresponding parts as those of the first embodiment. Description of this part is omitted.
　実施の形態２において、飛翔体１２は、位置判定部１２ｅを備える。位置判定部１２ｅは、本体部１２ａの鉛直方向の位置を判定する。例えば、位置判定部１２ｅは、上方向または下方向の距離センサの計測値から本体部１２ａの鉛直方向の位置を判定する。例えば、位置判定部１２ｅは、カメラに撮影された下方向の画像から本体部１２ａの鉛直方向の位置を判定する。例えば、位置判定部１２ｅは、加速度センサの計測値から本体部１２ａの鉛直方向の位置を判定する。 In Embodiment 2, the flying object 12 includes a position determination section 12e. The position determination unit 12e determines the vertical position of the main body 12a. For example, the position determination unit 12e determines the vertical position of the main body 12a from the measurement value of the upward or downward distance sensor. For example, the position determination unit 12e determines the vertical position of the main body 12a from the downward image captured by the camera. For example, the position determination unit 12e determines the vertical position of the main body 12a from the measurement value of the acceleration sensor.
　制御部１２ｄは、位置判定部１２ｅにより判定された位置に基づいて本体部１２ａの鉛直方向の飛行位置を制御する。 The control unit 12d controls the vertical flight position of the main body 12a based on the position determined by the position determination unit 12e.
　次に、図６を用いて、飛翔体１２における水平方向の飛行位置の制御を説明する。
　図６は実施の形態２における飛翔体が適用されるエレベーターの昇降路の横断面図である。 Next, control of the horizontal flight position of the flying object 12 will be described with reference to FIG.
FIG. 6 is a cross-sectional view of a hoistway of an elevator to which the flying object according to Embodiment 2 is applied.
　図６において、飛翔体１２は、鉛直方向を長手方向とする長尺物の画像に基づいて水平方向の飛行位置を制御する。例えば、飛翔体１２において、記憶部１２ｃは、一対のかご側ガイドレール４の一方の画像を記憶する。制御部１２ｄは、撮影部１２ｂに撮影された画像の情報が一対のかご側ガイドレール４の一方の画像の情報に近づくように本体部１２ａの水平方向の飛行位置を、特に一対のかご側ガイドレール４によって形成される面の法線方向の飛行位置を制御する。 In FIG. 6, the flying object 12 controls its horizontal flight position based on an image of a long object whose longitudinal direction is the vertical direction. For example, in the flying object 12 , the storage unit 12 c stores an image of one of the pair of car-side guide rails 4 . The controller 12d adjusts the horizontal flight position of the main body 12a so that the information of the image captured by the imaging unit 12b approaches the information of the image of one of the pair of car-side guide rails 4, particularly the pair of car-side guide rails. Controls flight position normal to the plane formed by rail 4 .
　以上で説明した実施の形態２によれば、飛翔体１２は、撮影された画像の情報が長尺物の画像の情報に近づくように水平方向の飛行位置を制御する。このため、飛翔体１２の水平方向の飛行位置を容易に制御することができる。 According to the second embodiment described above, the flying object 12 controls its horizontal flight position so that the information of the captured image approaches the information of the image of the elongated object. Therefore, the horizontal flight position of the flying object 12 can be easily controlled.
　また、飛翔体１２は、自らが鉛直方向の位置を判定して鉛直方向の飛行位置を制御する。このため、飛翔体１２の鉛直方向の飛行位置を容易に制御することができる。 In addition, the flying object 12 itself determines its vertical position and controls its vertical flight position. Therefore, the vertical flight position of the flying object 12 can be easily controlled.
　なお、長尺物の画像として、おもり側ガイドレール６、ガバナロープ１０の画像を採用してもよい。この場合も、飛翔体１２の水平方向の飛行位置を容易に制御することができる。 The image of the weight-side guide rail 6 and the governor rope 10 may be used as the image of the long object. In this case as well, the horizontal flight position of the flying object 12 can be easily controlled.
　また、長尺物の画像として、鉛直方向において少なくとも１箇所の画像を採用すればよい。例えば、長尺物の画像として、鉛直方向において１箇所のみの画像を採用し、飛翔体１２の鉛直方向の位置に関係なく、当該画像を用いて飛翔体１２の水平方向の位置を制御してもよい。例えば、長尺物の画像として、かご５が最下階から最上階まで移動する際に連続的に撮影された複数の画像を採用し、飛翔体１２の鉛直方向の位置に対応した画像を用いて飛翔体１２の水平方向の位置を制御してもよい。例えば、長尺物の画像として、かご５が最下階から最上階まで移動する際に離散的に撮影された複数の画像を採用し、飛翔体１２の鉛直方向の位置に最も近い位置で撮影された画像を用いて飛翔体１２の水平方向の位置を制御してもよい。 Also, an image of at least one point in the vertical direction may be used as the image of the elongated object. For example, an image of only one position in the vertical direction is used as the image of the elongated object, and the horizontal position of the flying object 12 is controlled using that image regardless of the vertical position of the flying object 12. good too. For example, as the images of the elongated objects, a plurality of images continuously taken when the car 5 moves from the lowest floor to the highest floor are used, and an image corresponding to the vertical position of the flying object 12 is used. may be used to control the horizontal position of the projectile 12 . For example, as an image of a long object, a plurality of images captured discretely when the car 5 moves from the bottom floor to the top floor are used, and the images are captured at a position closest to the vertical position of the flying object 12. The resulting image may be used to control the horizontal position of the projectile 12 .
実施の形態３．
　図７は実施の形態３における飛翔体が適用されるエレベーターの昇降路の横断面図である。なお、実施の形態２の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。 Embodiment 3.
FIG. 7 is a cross-sectional view of a hoistway of an elevator to which the flying object according to Embodiment 3 is applied. The same reference numerals are given to the same or corresponding parts as those of the second embodiment. Description of this part is omitted.
　図７において、飛翔体１２は、鉛直方向を長手方向とする複数の長尺物が同時に撮影された画像に基づいて水平方向の飛行位置を制御する。例えば、飛翔体１２において、記憶部１２ｃは、一対のおもり側ガイドレール６が同時に撮影された画像を記憶する。制御部１２ｄは、撮影部１２ｂに撮影された画像の情報が一対のおもり側ガイドレール６の画像の情報に近づくように本体部１２ａの水平方向の飛行位置を、特に一対のおもり側ガイドレール６によって形成される面の法線方向の飛行位置を制御する。 In FIG. 7, the flying object 12 controls its horizontal flight position based on an image of a plurality of elongated objects whose longitudinal direction is the vertical direction. For example, in the flying object 12, the storage unit 12c stores an image of a pair of weight-side guide rails 6 captured at the same time. The control unit 12d adjusts the horizontal flying position of the main body 12a so that the information of the image captured by the image capturing unit 12b approaches the information of the image of the pair of weight-side guide rails 6, particularly the pair of weight-side guide rails 6. Controls the flight position normal to the surface formed by .
　以上で説明した実施の形態３によれば、飛翔体１２は、撮影された画像の情報が複数の長尺物が同時に撮影された画像の情報に近づくように水平方向の飛行位置を制御する。このため、飛翔体１２の水平方向の飛行位置をより正確に制御することができる。 According to the third embodiment described above, the flying object 12 controls the horizontal flight position so that the information of the captured image approaches the information of the image of a plurality of elongated objects simultaneously captured. Therefore, the horizontal flight position of the flying object 12 can be controlled more accurately.
　なお、複数の長尺物が同時に撮影された画像として、無端状のガバナロープ１０の一側と他側とが同時に撮影された画像を採用してもよい。この場合も、飛翔体１２の水平方向の飛行位置をより正確に制御することができる。 It should be noted that an image obtained by simultaneously photographing one side and the other side of the endless governor rope 10 may be used as the image obtained by simultaneously photographing a plurality of elongated objects. In this case as well, the horizontal flight position of the flying object 12 can be controlled more accurately.
　また、複数の長尺物が同時に撮影された画像として、鉛直方向において少なくとも１箇所の画像を採用すればよい。例えば、複数の長尺物が同時に撮影された画像として、鉛直方向において１箇所のみの画像を採用し、飛翔体１２の鉛直方向の位置に関係なく、当該画像を用いて飛翔体１２の水平方向の位置を制御してもよい。例えば、複数の長尺物が同時に撮影された画像として、かご５が最下階から最上階まで移動する際に連続的に撮影された複数の画像を採用し、飛翔体１２の鉛直方向の位置に対応した画像を用いて飛翔体１２の水平方向の位置を制御してもよい。例えば、複数の長尺物が同時に撮影された画像として、かご５が最下階から最上階まで移動する際に離散的に撮影された複数の画像を採用し、飛翔体１２の鉛直方向の位置に最も近い位置で撮影された画像を用いて飛翔体１２の水平方向の位置を制御してもよい。 In addition, at least one image in the vertical direction may be adopted as an image in which a plurality of elongated objects are simultaneously photographed. For example, as an image in which a plurality of elongated objects are photographed at the same time, an image of only one position in the vertical direction is adopted, and the horizontal direction of the flying object 12 is captured using that image regardless of the position of the flying object 12 in the vertical direction. position may be controlled. For example, as images of a plurality of elongated objects simultaneously photographed, a plurality of images continuously photographed when the car 5 moves from the lowest floor to the highest floor is adopted, and the position of the flying object 12 in the vertical direction is determined. The horizontal position of the flying object 12 may be controlled using an image corresponding to . For example, as images in which a plurality of elongated objects are photographed simultaneously, a plurality of images that are discretely photographed when the car 5 moves from the lowest floor to the highest floor are adopted, and the position of the flying object 12 in the vertical direction is determined. The horizontal position of the flying object 12 may be controlled using an image captured at a position closest to .
実施の形態４．
　図８は実施の形態４における飛翔体が適用されるエレベーターの構成図である。なお、実施の形態２の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。 Embodiment 4.
FIG. 8 is a configuration diagram of an elevator to which the flying object according to Embodiment 4 is applied. The same reference numerals are given to the same or corresponding parts as those of the second embodiment. Description of this part is omitted.
　実施の形態４において、飛翔体１２は、受信部１２ｆを備える。受信部１２ｆは、外部からの鉛直方向の移動に関する情報を受信する。例えば、受信部１２ｆは、エレベーターの保守員が操作するリモコンから鉛直方向の移動に関する情報を受信する。 In Embodiment 4, the flying object 12 includes a receiver 12f. The receiving unit 12f receives information about vertical movement from the outside. For example, the receiving unit 12f receives information about movement in the vertical direction from a remote control operated by an elevator maintenance person.
　制御部１２ｄは、受信部１２ｆにより受信された情報に基づいて本体部１２ａの鉛直方向の飛行位置を制御する。 The controller 12d controls the vertical flight position of the main body 12a based on the information received by the receiver 12f.
　以上で説明した実施の形態４によれば、飛翔体１２は、外部からの情報に基づいて鉛直方向の飛行位置を制御する。このため、飛翔体１２の鉛直方向の飛行位置を柔軟に制御することができる。 According to the fourth embodiment described above, the flying object 12 controls its vertical flight position based on information from the outside. Therefore, the vertical flight position of the flying object 12 can be flexibly controlled.
　なお、実施の形態１から実施の形態４において、飛翔体１２とは別のカメラが昇降路１の内部においてかご５の上に載せられた状態で撮影した画像の情報を飛翔体１２で記憶してもよい。この際も、飛翔体１２は、撮影された画像の情報が記憶された画像の情報に近づくように飛行位置を制御すればよい。この場合も、簡単な構成で飛翔体１２を昇降路１の内部の機器に衝突させずに飛行させることができる。 In Embodiments 1 to 4, the flying object 12 stores the information of the image captured by a camera other than the flying object 12 placed on the car 5 inside the hoistway 1. may Also in this case, the flying object 12 may control the flight position so that the information of the captured image approaches the information of the stored image. In this case as well, the flying object 12 can fly without colliding with the equipment inside the hoistway 1 with a simple configuration.
　また、実施の形態１から実施の形態４において、撮影部１２ｂを距離センサ等の測定部としてもよい。この際、記憶部１２ｃにおいて、本体部１２ａが昇降路１の内部においてかご５の上に載せられた状態で測定部が測定した距離の情報を記憶すればよい。制御部１２ｄにおいて、本体部１２ａが昇降路１の内部においてかご５の上方で飛行する際に、測定部に測定された距離の情報が記憶部１２ｃに記憶された距離の情報に近づくように本体部１２ａの飛行位置を制御すればよい。この場合も、簡単な構成で飛翔体１２を昇降路１の内部の機器に衝突させずに飛行させることができる。 Further, in Embodiments 1 to 4, the photographing unit 12b may be a measuring unit such as a distance sensor. At this time, information about the distance measured by the measuring unit while the main body 12a is placed on the car 5 inside the hoistway 1 may be stored in the storage unit 12c. In the control unit 12d, when the main unit 12a flies above the car 5 inside the hoistway 1, the main unit 12d is controlled so that the distance information measured by the measuring unit approaches the distance information stored in the storage unit 12c. The flight position of the portion 12a may be controlled. In this case as well, the flying object 12 can fly without colliding with the equipment inside the hoistway 1 with a simple configuration.
　また、飛翔体１２とは別の距離センサが昇降路１の内部においてかご５の上に載せられた状態で測定した距離の情報を飛翔体１２で記憶してもよい。この際も、飛翔体１２は、測定された画像の情報が記憶された距離の情報に近づくように飛行位置を制御すればよい。この場合も、簡単な構成で飛翔体１２を昇降路１の内部の機器に衝突させずに飛行させることができる。 In addition, distance information measured by a distance sensor other than the flying object 12 placed on the car 5 inside the hoistway 1 may be stored in the flying object 12 . In this case as well, the flying object 12 may control the flying position so that the measured image information approaches the stored distance information. In this case as well, the flying object 12 can fly without colliding with the equipment inside the hoistway 1 with a simple configuration.
　また、飛翔体１２の制御装置として、記憶部１２ｃと制御部１２ｄとを飛翔体１２とは別に設けてもよい。この場合、より簡単な構成の飛翔体１２を昇降路１の内部の機器に衝突させずに飛行させることができる。 Also, as a control device for the flying object 12, a storage unit 12c and a control unit 12d may be provided separately from the flying object 12. In this case, the flying object 12 having a simpler configuration can be flown without colliding with equipment inside the hoistway 1 .
　また、昇降路１の下部に巻上機２、制御装置１１が設けられるエレベーターまたは機械室に巻上機２、制御装置１１が設けられるエレベーターにおいて、実施の形態１または実施の形態２の飛翔体１２を適用してよい。 Further, in an elevator in which the hoisting machine 2 and the control device 11 are provided in the lower part of the hoistway 1 or in an elevator in which the hoisting machine 2 and the control device 11 are provided in the machine room, the flying object of the first embodiment or the second embodiment 12 may be applied.
　以上のように、本開示の飛翔体および飛翔体の飛行方法は、エレベーターシステムに利用できる。 As described above, the flying object and flying method of the flying object of the present disclosure can be used in an elevator system.
　１　昇降路、　２　巻上機、　３　主ロープ、　４　かご側ガイドレール、　５　かご、　６　おもり側ガイドレール、　７　つり合いおもり、　８　ガバナ、　９　張り車、　１０　ガバナロープ、　１１　制御装置、　１２　飛翔体、　１２ａ　本体部、　１２ｂ　撮影部、　１２ｃ　記憶部、　１２ｄ　制御部、　１２ｅ　位置判定部、　１２ｆ　受信部 1 hoistway, 2 hoisting machine, 3 main rope, 4 car side guide rail, 5 car, 6 weight side guide rail, 7 counterweight, 8 governor, 9 tension wheel, 10 governor rope, 11 control device, 12 projectile, 12a main unit, 12b imaging unit, 12c storage unit, 12d control unit, 12e position determination unit, 12f reception unit

Claims (18)

  1. 　飛行し得るように設けられた本体部と、
    　前記本体部に設けられ、画像を撮影する撮影部と、
    　前記本体部に設けられ、前記本体部がエレベーターの昇降路の内部においてかごの上に載せられた状態で前記撮影部が撮影した画像の情報を記憶した記憶部と、
    　前記本体部に設けられ、前記本体部が前記昇降路の内部において前記かごの上方で飛行する際に、前記撮影部に撮影された画像の情報が前記記憶部に記憶された画像の情報に近づくように前記本体部の飛行位置を制御する制御部と、
    を備えた飛翔体。     a main body provided to be able to fly;
    a photographing unit provided in the main body for photographing an image;
    a storage unit provided in the main body and storing information of an image taken by the imaging unit while the main body is placed on a car inside a hoistway of an elevator;
    provided in the main body, when the main body flies above the car in the hoistway, the information of the image photographed by the photographing unit approaches the information of the image stored in the storage unit. a control unit that controls the flight position of the main body as follows;
    A projectile with
  2. 　飛行し得るように設けられた本体部と、
    　前記本体部に設けられ、画像を撮影する撮影部と、
    　前記本体部に設けられ、カメラがエレベーターの昇降路の内部においてかごの上に載せられた状態で撮影した画像の情報を記憶した記憶部と、
    　前記本体部に設けられ、前記本体部が前記昇降路の内部において前記かごの上方で飛行する際に、前記撮影部に撮影された画像の情報が前記記憶部に記憶された画像の情報に近づくように前記本体部の飛行位置を制御する制御部と、
    を備えた飛翔体。     a main body provided to be able to fly;
    a photographing unit provided in the main body for photographing an image;
    a storage unit that is provided in the main body and stores information of an image taken with the camera placed on the car inside the hoistway of the elevator;
    provided in the main body, when the main body flies above the car in the hoistway, the information of the image photographed by the photographing unit approaches the information of the image stored in the storage unit. a control unit that controls the flight position of the main body as follows;
    A projectile with
  3. 　前記記憶部は、前記かごの昇降に追従して撮影された画像の情報を記憶し、
    　前記制御部は、前記撮影部に撮影された画像の情報が前記記憶部に記憶された画像に近づくように前記本体部の水平方向および鉛直方向の飛行位置を制御する請求項１または請求項２に記載の飛翔体。     The storage unit stores information of an image captured following the lifting and lowering of the car,
    3. The control section controls the horizontal and vertical flight positions of the main body section so that the information of the image photographed by the photographing section approaches the image stored in the storage section. The projectile described in .
  4. 　前記記憶部は、前記昇降路の内部において鉛直方向を長手方向とする長尺物の画像の情報を記憶し、
    　前記制御部は、前記撮影部に撮影された画像の情報が前記長尺物の画像の情報に近づくように前記本体部の水平方向の飛行位置を制御する請求項１または請求項２に記載の飛翔体。     The storage unit stores information of an image of a long object whose longitudinal direction is the vertical direction inside the hoistway,
    3. The control unit according to claim 1, wherein the control unit controls the horizontal flying position of the main unit so that the information of the image captured by the imaging unit approaches the information of the image of the elongated object. projectile.
  5. 　前記記憶部は、前記昇降路の内部において鉛直方向を長手方向とする複数の長尺物が同時に撮影された画像の情報を記憶し、
    　前記制御部は、前記撮影部に撮影された画像の情報が前記複数の長尺物が同時に撮影された画像の情報に近づくように前記本体部の水平方向の飛行位置を制御する請求項１または請求項２に記載の飛翔体。     The storage unit stores information of images of a plurality of elongated objects having a vertical direction as a longitudinal direction inside the hoistway and simultaneously photographed,
    2. The control unit controls the horizontal flying position of the main unit so that the information of the image photographed by the photographing unit approaches the information of the image of the plurality of long objects simultaneously photographed. The flying object according to claim 2.
  6. 　前記記憶部は、前記かごの上の四隅からの画像の情報を記憶し、
    　前記制御部は、前記かごの上の四隅からの画像に基づいて前記本体部の水平方向の飛行範囲を設定する請求項４または請求項５に記載の飛翔体。     The storage unit stores image information from the four corners above the car,
    6. The flying object according to claim 4, wherein the control section sets a horizontal flight range of the main body section based on images from four corners above the cage.
  7. 　前記制御部は、前記記憶部に記憶された画像から前記かごの上の四隅からの画像を推定し、前記かごの四隅からの画像に基づいて前記本体部の水平方向の飛行範囲を設定する請求項４または請求項５に記載の飛翔体。 The control unit estimates images from the four corners above the car from the images stored in the storage unit, and sets the horizontal flight range of the main unit based on the images from the four corners of the car. 6. The flying object according to claim 4 or 5.
  8. 　前記本体部に設けられ、前記本体部の鉛直方向の位置を判定する位置判定部、
    を備え、
    　前記制御部は、前記位置判定部により判定された位置に基づいて前記本体部の鉛直方向の飛行位置を制御する請求項４から請求項７のいずれか一項に記載の飛翔体。     a position determination unit provided in the main body for determining a vertical position of the main body;
    with
    8. The flying object according to any one of claims 4 to 7, wherein the control section controls the vertical flight position of the body section based on the position determined by the position determination section.
  9. 　前記本体部に設けられ、外部からの鉛直方向の移動に関する情報を受信する受信部、
    を備え、
    　前記制御部は、前記受信部により受信された情報に基づいて前記本体部の鉛直方向の飛行位置を制御する請求項４から請求項７のいずれか一項に記載の飛翔体。     a receiving unit provided in the main body for receiving information about vertical movement from the outside;
    with
    8. The flying object according to any one of claims 4 to 7, wherein the control section controls the vertical flight position of the body section based on the information received by the receiving section.
  10. 　前記記憶部は、前記画像の情報と前記かごの鉛直方向の位置の情報とを対応付けて記憶し、
    　前記制御部は、前記記憶部において対応付けられた前記画像の情報と前記かごの鉛直方向の位置の情報とに基づいて前記本体部の鉛直方向の飛行位置を制御する請求項４から請求項７のいずれか一項に記載の飛翔体。     the storage unit stores the information of the image and the information of the vertical position of the car in association with each other;
    8. The controller controls the vertical flying position of the main body based on the image information and the vertical position information of the car associated in the storage unit. The flying object according to any one of .
  11. 　飛行し得るように設けられた本体部と、
    　前記本体部に設けられ、距離を測定する測定部と、
    　前記本体部に設けられ、前記本体部がエレベーターの昇降路の内部においてかごの上に載せられた状態で前記測定部が測定した距離の情報を記憶した記憶部と、
    　前記本体部に設けられ、前記本体部が前記昇降路の内部において前記かごの上方で飛行する際に、前記測定部に測定された距離の情報が前記記憶部に記憶された距離の情報に近づくように前記本体部の飛行位置を制御する制御部と、
    を備えた飛翔体。     a main body provided to be able to fly;
    a measurement unit provided in the main body for measuring a distance;
    a storage unit that is provided in the main body and stores information on the distance measured by the measuring unit while the main body is placed on a car inside a hoistway of an elevator;
    provided in the main body, when the main body flies above the car in the hoistway, the distance information measured by the measuring unit approaches the distance information stored in the storage unit a control unit that controls the flight position of the main body as follows;
    A projectile with
  12. 　飛行し得るように設けられた本体部と、
    　前記本体部に設けられ、距離を測定する測定部と、
    　前記本体部に設けられ、距離センサがエレベーターの昇降路の内部においてかごの上に載せられた状態で測定した距離の情報を記憶した記憶部と、
    　前記本体部に設けられ、前記本体部が前記昇降路の内部において前記かごの上方で飛行する際に、前記測定部に測定された距離の情報が前記記憶部に記憶された距離の情報に近づくように前記本体部の飛行位置を制御する制御部と、
    を備えた飛翔体。     a main body provided to be able to fly;
    a measuring unit provided in the main body for measuring a distance;
    a storage unit that is provided in the main body and stores information on the distance measured by the distance sensor placed on the car inside the hoistway of the elevator;
    provided in the main body, when the main body flies above the car in the hoistway, the distance information measured by the measuring unit approaches the distance information stored in the storage unit a control unit that controls the flight position of the main body as follows;
    A projectile with
  13. 　飛翔体とは別に設けられ、前記飛翔体がエレベーターの昇降路の内部においてかごの上に載せられた状態で撮影した画像の情報を記憶した記憶部と、
    　前記飛翔体とは別に設けられ、前記飛翔体が前記昇降路の内部において前記かごの上方で飛行する際に、前記飛翔体に撮影された画像の情報が前記記憶部に記憶された画像の情報に近づくように前記飛翔体の飛行位置を制御する制御部と、
    を備えた飛翔体の制御装置。     a storage unit provided separately from the flying object and storing information of an image taken while the flying object is placed on the car inside the hoistway of the elevator;
    Image information provided separately from the flying object and stored in the storage unit as image information captured by the flying object when the flying object flies above the car in the hoistway. a control unit that controls the flight position of the projectile so that it approaches the
    A control device for a flying object.
  14. 　飛翔体とは別に設けられ、前記飛翔体とは別のカメラがエレベーターの昇降路の内部においてかごの上に載せられた状態で撮影した画像の情報を記憶した記憶部と、
    　前記飛翔体とは別に設けられ、前記飛翔体が前記昇降路の内部において前記かごの上方で飛行する際に、前記飛翔体に撮影された画像の情報が前記記憶部に記憶された画像の情報に近づくように前記飛翔体の飛行位置を制御する制御部と、
    を備えた飛翔体の制御装置。     a storage unit provided separately from the flying object and storing information of an image taken by a camera different from the flying object while being placed on the car inside the hoistway of the elevator;
    Image information provided separately from the flying object and stored in the storage unit as image information captured by the flying object when the flying object flies above the car in the hoistway. a control unit that controls the flight position of the projectile so that it approaches the
    A control device for a flying object.
  15. 　飛翔体とは別に設けられ、前記飛翔体がエレベーターの昇降路の内部においてかごの上に載せられた状態で測定した距離の情報を記憶した記憶部と、
    　前記飛翔体とは別に設けられ、前記飛翔体が前記昇降路の内部において前記かごの上方で飛行する際に、前記飛翔体に測定された距離の情報が前記記憶部に記憶された距離の情報に近づくように前記飛翔体の飛行位置を制御する制御部と、
    を備えた飛翔体の制御装置。     a storage unit that is provided separately from the flying object and stores information on the distance measured while the flying object is placed on the car inside the hoistway of the elevator;
    Distance information that is provided separately from the flying object and that is stored in the storage unit when the flying object flies above the car in the hoistway and the distance information measured by the flying object is stored in the storage unit. a control unit that controls the flight position of the projectile so that it approaches the
    A control device for a flying object.
  16. 　飛翔体とは別に設けられ、前記飛翔体とは別の距離センサがエレベーターの昇降路の内部においてかごの上に載せられた状態で測定した距離の情報を記憶した記憶部と、
    　前記飛翔体とは別に設けられ、前記飛翔体が前記昇降路の内部において前記かごの上方で飛行する際に、前記飛翔体に測定された距離の情報が前記記憶部に記憶された距離の情報に近づくように前記飛翔体の飛行位置を制御する制御部と、
    を備えた飛翔体の制御装置。     a storage unit that is provided separately from the flying object and stores distance information measured by a distance sensor that is separate from the flying object and placed on the car inside the hoistway of the elevator;
    Distance information that is provided separately from the flying object and that is stored in the storage unit when the flying object flies above the car in the hoistway and the distance information measured by the flying object is stored in the storage unit. a control unit that controls the flight position of the projectile so that it approaches the
    A control device for a flying object.
  17. 　エレベーターの昇降路の内部においてかごの上に飛翔体を載せる飛翔体設置工程と、
    　前記飛翔体設置工程の後、飛翔体が前記かごの上に載せられた状態でかごを昇降させながら、前記飛翔体で昇降路の内部を撮影して画像の情報を飛翔体で記憶する画像情報記憶工程と、
    　前記画像情報記憶工程の後、前記飛翔体が前記昇降路の内部において前記かごの上方で飛行する際に、前記飛翔体が撮影した画像の情報が記憶された画像の情報に近づくように、前記飛翔体が飛行位置を制御する飛行位置制御工程と、
    を備えた飛翔体の飛行方法。     A flying object installation step of placing the flying object on the car inside the hoistway of the elevator;
    After the step of installing the flying object, image information is obtained by photographing the inside of the hoistway with the flying object while moving the car up and down while the flying object is placed on the car, and storing the information of the image in the flying object. a memory process;
    After the image information storing step, when the flying object flies above the car in the hoistway, the information of the image taken by the flying object approaches the information of the stored image. a flight position control step for controlling the flight position of the projectile;
    A flight method for a projectile with
  18. 　エレベーターの昇降路の内部においてかごの上に飛翔体を載せる飛翔体設置工程と、
    　前記飛翔体設置工程の後、飛翔体が前記かごの上に載せられた状態でかごを昇降させながら、前記飛翔体で昇降路の内部において測定した距離の情報を飛翔体で記憶する距離情報記憶工程と、
    　前記距離情報記憶工程の後、前記飛翔体が前記昇降路の内部において前記かごの上方で飛行する際に、前記飛翔体が測定した画像の情報が記憶された距離の情報に近づくように、前記飛翔体が飛行位置を制御する飛行位置制御工程と、
    を備えた飛翔体の飛行方法。     A flying object installation step of placing the flying object on the car inside the hoistway of the elevator;
    After the step of installing the flying object, the flying object stores information on the distance measured inside the hoistway by the flying object while moving the car up and down while the flying object is placed on the car. process and
    After the distance information storing step, when the flying object flies above the car in the hoistway, the information of the image measured by the flying object approaches the stored distance information. a flight position control step for controlling the flight position of the projectile;
    A flight method for a projectile with
PCT/JP2021/015337 2021-04-13 2021-04-13 Flying object for inspecting interior of elevator hoistway, control device for flying object, and flight method for flying object WO2022219722A1 (en)

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JP2023514227A JP7444334B2 (en) 2021-04-13 2021-04-13 A flying object that inspects the inside of an elevator hoistway, a control device for the flying object, and a method for flying the flying object
PCT/JP2021/015337 WO2022219722A1 (en) 2021-04-13 2021-04-13 Flying object for inspecting interior of elevator hoistway, control device for flying object, and flight method for flying object

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012068736A (en) * 2010-09-21 2012-04-05 Yaskawa Electric Corp Mobile body
JP2018203500A (en) * 2017-06-07 2018-12-27 株式会社日立ビルシステム Elevator inspection system and elevator
WO2019038927A1 (en) * 2017-08-25 2019-02-28 日本電気株式会社 Flight vehicle, flight vehicle control device, flight vehicle control method, and flight vehicle control program

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012068736A (en) * 2010-09-21 2012-04-05 Yaskawa Electric Corp Mobile body
JP2018203500A (en) * 2017-06-07 2018-12-27 株式会社日立ビルシステム Elevator inspection system and elevator
WO2019038927A1 (en) * 2017-08-25 2019-02-28 日本電気株式会社 Flight vehicle, flight vehicle control device, flight vehicle control method, and flight vehicle control program

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