METHOD FOR CONTROLLING A FLIGHT-CAPABLE DRONE IN AN ELEVATOR SHAFT OF AN ELEVATOR SYSTEM, AND ELEVATOR SYSTEM INSPECTION ARRANGEMENT

Abstract

A method for controlling a flight-capable drone in an elevator shaft of an elevator system uses an elevator system inspection arrangement configured for carrying out the method. The method comprises the following steps: receiving elevator shaft segment information provided by the elevator system that indicates which volume segment of the elevator shaft is currently designated to be off-limits for the drone; and controlling the drone along a flight path automatically determined by the drone, wherein the drone determines the flight path such that the drone travels exclusively outside of the volume segment designated as off-limits for the drone, wherein the drone determines the flight path taking into account the received elevator shaft segment information. By exchanging the elevator shaft segment information with the elevator system, the drone is able to initiate evasive maneuvers in good time in order to prevent collisions with fast-moving components of the elevator system.

Claims

1-13. (canceled)

14. A method for controlling a flight-capable drone in an elevator shaft of an elevator system, the method comprising the steps of: receiving elevator shaft segment information, provided by the elevator system, that indicates a volume segment of the elevator shaft currently designated by the elevator system to be off-limits for the drone; wherein the drone automatically determines the flight path taking into account the received elevator shaft segment information; and controlling the drone along the determined flight path wherein the drone travels in the elevator shaft exclusively outside the volume segment designated as off-limits for the drone.

15. The method according to claim 14 wherein the elevator shaft segment information is provided by the elevator system based upon location/movement information that indicates where a component of the elevator system that is displaceable in the elevator shaft is currently located and/or to where the component is currently moving in the elevator shaft.

16. The method according to claim 14 wherein the elevator shaft segment information is provided by the elevator system based upon relative information that indicates where a component of the elevator system that is displaceable in the elevator shaft is currently located in relation to the drone and/or how the component is currently moving relative to the drone.

17. The method according to claim 14 wherein the elevator shaft segment information is provided by the elevator system taking into account speed information that indicates a speed that a component of the elevator system that is displaceable in the elevator shaft is currently moving through the elevator shaft and/or a maximum speed at which the drone can move within the elevator shaft.

18. The method according to claim 14 wherein the elevator shaft segment information is provided based upon a signal receivable by the drone, the signal being generated locally within the volume segment of the elevator shaft that is currently designated by the elevator system as off-limits for the drone, and wherein the signal is different inside the volume segment than outside the volume segment.

19. The method according to claim 14 wherein a plurality of transmitters are arranged in the elevator shaft, each of the transmitters being arranged at a different height along the elevator shaft, and wherein the elevator shaft segment information is provided by a signal emitted by transmitters that are within the volume segment of the elevator shaft that is currently designated as off-limits by the elevator system for the drone, the signal being different from a signal emitted by the transmitters outside the volume segment.

20. The method according to claim 14 wherein at least one transmitter is arranged on a component of the elevator system that is displaceable in the elevator shaft, the elevator shaft segment information being provided by the at least one transmitter emitting a signal that decreases in intensity as a function of a distance from the component.

21. The method according to claim 20 wherein the elevator shaft segment information is provided by the at least one transmitter transmitting a signal in a direction that the component is currently moving which is different from in an opposite direction.

22. The method according to claim 21 wherein the elevator shaft segment information is provided by another transmitter transmitting a signal in a direction opposite from the signal transmitted by the at least one transmitter.

23. The method according to claim 20 wherein the elevator shaft segment information is only provided when the component is moving.

24. The method according to claim 14 wherein the elevator shaft segment information is provided by the elevator system as component location/movement information that indicates where a component of the elevator system that is displaceable in the elevator shaft is currently located and/or to where the component is currently moving, wherein the drone determines the flight path taking into account both the component location/movement information and drone location/movement information that indicates where the drone is currently located in the elevator shaft and/or to where the drone is currently moving in the elevator shaft.

25. An elevator system inspection arrangement comprising: an elevator system having an elevator shaft, a component displaceable in the elevator shaft, a drive moving the component, and an elevator controller controlling displacement movements of the component; and a flight-capable drone positioned in the elevator shaft and controlled by the method according to claim 14.

26. The elevator system inspection arrangement according to claim 25 including a plurality of transmitters arranged in the elevator shaft, wherein each of the transmitters is arranged at a different height along the elevator shaft, and wherein the elevator shaft segment information is provided by a signal emitted by transmitters that are within the volume segment of the elevator shaft that is currently designated as off-limits by the elevator system for the drone, the signal being different from a signal emitted by the transmitters outside the volume segment.

27. The elevator system inspection arrangement according to claim 25 including at least one transmitter arranged on the component, the elevator shaft segment information being provided by the at least one transmitter emitting a signal that decreases in intensity as a function of a distance from the component.

28. The elevator system inspection arrangement according to claim 27 wherein the elevator shaft segment information is only provided when the component is moving.

Description

DESCRIPTION OF THE DRAWINGS

[0058] FIG. 1 shows an elevator system inspection arrangement according to an embodiment of the present invention.

[0059] The drawing is merely schematic and is not to scale. The same reference signs indicate the same or equivalent features.

DETAILED DESCRIPTION

[0060] FIG. 1 shows an elevator system inspection arrangement 1 with an elevator system 3 and a flight-capable drone 5.

[0061] The elevator system 3 comprises an elevator shaft 7. A displaceable component 9 in the form of an elevator car 11 can move in the elevator shaft 7. The elevator car 11 is moved by a drive 13. An operation of the drive 13 is controlled by an elevator controller 15. Although not shown in the example for reasons of clarity, the elevator system 3 can furthermore have a further displaceable component 9 in the form of a counterweight.

[0062] In the example shown, the drone 5 is designed as a quadrocopter. It has four separately controllable propellers 17. A total thrust generated by the propellers 17 can be steered in different directions due to differently controlled rotational speeds of the propellers 17, so that the drone 5 can be flown both vertically and horizontally in any direction. The drone 5 is equipped with at least one inspection sensor 19. Using this inspection sensor 19, the drone can inspect the elevator shaft 7. For example, the inspection sensor 19 can be designed as a camera. Furthermore, the drone 5 has an integrated sensor system 21. This integrated sensor system 21 is configured to receive signals by means of which the elevator system 3 provides elevator shaft segment information.

[0063] The elevator system 3 is configured to generate the elevator shaft segment information and then to provide it in the elevator shaft 7 in such a way that it can be received by the drone 5. The elevator shaft segment information indicates which volume segment 23 of the elevator shaft 7 is currently designated as off-limits for the drone 5 by the elevator system 3.

[0064] In this case, when the elevator shaft segment information is generated, at which position the elevator car 11 is currently located within the elevator shaft 7 can be taken into account and in which direction and at which speed the elevator car 11 is currently moving. Corresponding component location/movement information can be made available to the elevator system 3 by the elevator controller 15.

[0065] In addition, information can be provided to the elevator system 3 via the drone 5. For example, the elevator system 3 can be informed about which flight capabilities the drone 5 hasi.e., for example, at which maximum speed the drone 5 can move within the elevator shaft 7. Accordingly, when determining the volume segment 23 which is off-limits for the drone 5, the elevator system 3 can take into account how fast the drone 5 can evade, for example, the approaching elevator car 11 on the basis of its flying abilities.

[0066] In addition, it can be provided that the drone 5 actively transmits information to the elevator system 3. For example, the drone 5 can inform the elevator system 3 where it is currently located within the elevator shaft 7 and in which direction and at which speed it is currently flying. The elevator system 3 can also take into account such drone location/movement information when determining the volume segment 23 to be designated as off-limits for the drone 5. Accordingly, the elevator shaft segment information can be provided based relative information which indicates where the elevator car 11 is currently located relative to the drone 5 and/or how the elevator car 11 and the drone 5 are currently moving relative to one another.

[0067] While the drone 5 is flying through the elevator shaft 7 within the scope of an inspection of the elevator system 3, it can continuously receive the elevator shaft segment information provided by the elevator system 3. The information can then be evaluated in a drone controller 25. Taking into account the elevator shaft segment information, the drone controller 25 can then automatically determine a flight path in which the drone 5 travels exclusively outside the off-limits volume segment 23. In this way, a collision with the elevator car 11 located within the off-limits volume segment 23 can be avoided.

[0068] The embodiment shown in the drawing illustrates three technologies by means of which the elevator system 3 can provide the elevator shaft segment information. The three technologies can be implemented in combination or separately.

[0069] In a first technology, numerous transmitters 27 are arranged vertically along the elevator shaft 7. The transmitters 27 can be attached uniformly distributed along the entire height of the elevator shaft 7, for example on a wall of the elevator shaft 7. For example, the transmitters 27 can be arranged at regular intervals, for example in each case with 1 m distance between them. Each of the transmitters 27 can emit a signal into its immediate surroundings. The transmitter 27 can vary at least between two signal states. A signal state (shown in the drawing as a filled circle) should indicate that the position of the transmitter 27 or the signals emitted by it is within the off-limits volume segment 23. Another signal state (shown in the figure as an empty circle) indicates that the position of the transmitter 27 or the emitted signals is located outside the off-limits volume segment 23.

[0070] The transmitters 27 and/or their signal states can be activated and/or switched by the elevator controller 15. The transmitter 27 which is currently located in the vicinity of the elevator car 11 can accordingly be switched into the signal state which indicates the off-limits volume segment 23, whereas the more remote transmitter 27 can be switched to the other signal state.

[0071] In this case, it can also be taken into account in which direction of movement 29 the elevator car 11 is currently moving. In this direction of movement 29, a portion of the off-limits volume segment 23 that extends vertically beyond the elevator car 11 can be selected to be greater than in the opposite direction, and accordingly the further transmitters 27 can be switched into the corresponding signal state. As a result, the drone 5 can be signaled sufficiently early that it is moving into the off-limits volume segment 23 around the approaching elevator car 11, or is coming close to it, so that the drone 5 can initiate an evasive maneuver in good time. In this case, the drone 5 can divert into a region next to the off-limits volume element 23, i.e. next to the elevator car 11. However, it is also possible for the drone 5 to divert into a recess (not shown) in a wall of the elevator shaft 7, or into an elevator shaft (not shown) arranged next to the elevator shaft 7.

[0072] In a second technology, transmitters 31, 31 are attached directly to the elevator car 11, so that these transmitters 31, 31 move along with the elevator car 11. The transmitters 31, 31 emit signals 33, 33, the intensity of which decreases successively as a function of the vertical distance from the elevator car 11. In this way, the elevator system 3 can provide a volume segment 23 which is off-limits for the drone 5 as elevator shaft segment information. The transmitters 31, 31 emit the signals 33, 33 in particular only when the elevator car 11 is moving. If the elevator car 11 is stationary, no signals 33, 33 will be emitted. The drone 5 which receives the signals 33, 33 emitted by the transmitters 31, 31 can accordingly recognize on the basis of the intensity of the signals 33, 33 whether it is still sufficiently far away from the elevator car 11 or whether signals are being received above a predetermined intensity limit value, indicating that the drone 5 is at risk of entering the off-limits volume segment 23, and thus needs to initiate an evasive maneuver.

[0073] In this case, the transmitters 31, 31 can emit different signals 33, 33 in opposite directions. In the example shown, a transmitter 31 is provided on an upper side of the elevator car 11, which transmitter emits signals 33 vertically upwards, whereas a transmitter 31 is provided on an underside of the elevator car 11, the signals 33 of which are emitted vertically downward. Since the two signals 33, 33 are different, the drone 5 can recognize whether it is located above or below the elevator car 11 by analyzing the signals 33, 33.

[0074] In addition, the two signals 33, 33 can be emitted with different intensities, depending on the direction of movement 29 in which the elevator car 11 is currently moving. Along the direction of movement 29, the signals 33 can accordingly be emitted with a higher intensity than the signals 33 in the opposite direction. The drone 5 can therefore be warned in good time in advance of the elevator car 11 that is moving in the direction of movement 29.

[0075] In a simple embodiment, the two transmitters 31, 31 can be provided as simple light sources. For example, the transmitter 31 provided on the upper side of the elevator car 11 can be designed as a green light source and the transmitter 31 provided on the underside can be a red light source. In its sensor system 21, the drone 5 can have color-sensitive and intensity-sensitive light sensors and can thus recognize, by analyzing the light emitted by the transmitters 31, 31, whether the elevator car 11 is moving toward or away from the drone 5, and when an evasive maneuver must be initiated at the latest.

[0076] As a third technology, the elevator system 3 can provide the elevator shaft segment information in the form of component location/movement information which indicates where and/or to where the elevator car 11 is currently moving. This component location/movement information can be transmitted directly to the drone 5, for example with the aid of a radio signal. Alternatively, the elevator controller 15 can transmit this information to an external apparatus 35, such as a server in an elevator control center or a data cloud, from which the information can then in turn be retrieved by the drone 5. In order to be able to determine the volume segment 23 which is off-limits for it, the drone 5 in this case additionally takes into account drone location/movement information in itself, which indicates where the drone 5 currently is in the elevator shaft 7 and/or to where it is currently moving. The drone 5 can ascertain this information, for example, using its own sensor system 21 and/or with the aid of the inspection sensor 19. Based on the two items of location/movement information, the drone 5 can then recognize when it is located relatively close to the position of the elevator car 11 and/or the drone 5 and the elevator car 11 are moving toward one another relative to one another. Accordingly, the drone 5 can initiate suitable evasive maneuvers.

[0077] Different strategies are possible as evasive maneuvers. For example, the drone 5 can initiate a flight in a suitable direction, i.e. upwards or downwards, as an evasive maneuver, in order to flee before an approaching elevator component 9. If the off-limits volume segment 23 does not fill the entire cross-section of the elevator shaft 7, the drone 5 can evade the approaching elevator component 9 by displacing its flight path horizontally and then flying laterally past the off-limits volume segment 23. Alternatively, recesses can be provided in the elevator shaft 7, into which recesses the drone 5 can flee in the event of an approaching elevator component 9, and can remain there until the elevator component 9 has moved past the drone 5. As a further alternative, an elevator system 3 can have a plurality of elevator shafts 7 arranged next to one another, in which a plurality of displaceable elevator components 9 move. In this case, the drone 5 can move out of the way of an approaching elevator component 9 by temporarily diverting into an adjacent elevator shaft 7.

[0078] Finally, it should be noted that terms such as comprising, having, etc. do not exclude other elements or steps, and terms such as a or an do not exclude a plurality. Furthermore, it should be noted that features or steps that have been described with reference to one of the above embodiments can also be used in combination with other features or steps of other embodiments described above.

[0079] In accordance with the provisions of the patent statutes, the present invention has been described in what is considered to represent its preferred embodiment. However, it should be noted that the invention can be practiced otherwise than as specifically illustrated and described without departing from its spirit or scope.