KR101861045B1 - Drones for manhole and river facility inspection - Google Patents

Abstract

The present invention relates to a drone which flies along a sewage line or a river road by flight path information generated based on sewage line information and river road information and photographs a manhole or a river facility to inspect damage to or an opening state of a cover of the manhole and a state of the river facility. According to the present invention, the drone for inspecting a manhole and a river facility has a GPS device, photographing equipment, and wireless communication equipment mounted thereon, flies along a set path, and inspects a manhole and a river facility. The drone comprises: a database in which sewage line information, manhole location information, river road information, and rive facility information are inputted and stored; an information generation unit to generate flight path information based on the sewage line information and the river road information, and generate photographing point information based on the manhole location information and the rive facility information; a drone control unit to fly the drone in accordance with the flight path information; and a photographing equipment control unit to control the photographing equipment in accordance with the photographing point information.

Description

Drones for manhole and river facility inspection {Drones for manhole and river facility inspection}

More particularly, the present invention relates to a drones that fly along a sewer line or a river road and check manholes or river facilities. More particularly, the present invention relates to a drones, A drone that travels along a road and shoots a manhole or a river facility to check the breakage or opening state of a manhole cover and the state of a river facility.

Generally, in the basement of the area where a large number of people reside, such as a city or a rural area, a water pipe for supplying water and a water pipe for collecting used water are installed. In addition, for cleaning and inspection of the sewer pipe, A manhole is provided for descending.

Such a manhole should always be closed with a manhole cover for the sake of safety of pedestrians. However, there is a case that the manhole is opened and the pedestrian is accidentally fallen due to the carelessness of maintenance, damage or loss of the manhole cover.

Therefore, the management bodies such as the municipal governments that need to manage the manholes must continually check the condition of the manholes. However, there is a shortage of manpower to continuously inspect the numerous manholes distributed throughout the area to be managed, There is a problem of being spent.

As an invention relating to a manhole inspection apparatus or method for solving such a problem, a manhole monitoring system of Korean Patent Laid-open Publication No. 10-2007-0089467 and a manhole surveillance system of Korean Patent Application Publication No. 10-2009-0095966 "And" Manhole cover and manhole management system "of Korean Patent Laid-Open Publication No. 10-2010-0086182 have been proposed and disclosed.

In the " manhole monitoring radio system "of Korean Patent Laid-Open Publication No. 10-2007-0089467, the collecting terminal collects detection information of the manholes sensed by the sensor, collects and arranges the information, collects manholes in the surrounding area In the "Manhole Monitoring System" of Korean Patent Laid-Open Publication No. 10-2009-0095966, a plurality of sensing means are installed inside and outside of a manhole, and a manhole state An invention relating to a system capable of reducing labor costs and preventing various safety accidents by unattended monitoring has been proposed.

In addition, Korean Patent Laid-Open No. 10-2010-0086182 discloses a "manhole cover and manhole management system" that detects various states of the surrounding environment inside and outside the manhole by providing an electronic circuit inside the manhole cover, An invention relating to a system capable of quickly detecting and responding to various types of accidents occurring in a manhole at the early stage of occurrence is proposed.

However, the above-mentioned prior arts have a problem that the sensor or the electronic circuit must be installed in all the manhole covers installed in the area to be managed, so that the cost for installing, maintaining, Occurs.

In addition, river facilities installed in the vicinity of river roads take a long time to be inspected by people because the length of the river road is long, and there are portions that are difficult to grasp on the ground.

Therefore, it is required to minimize the cost incurred after the initial cost, to periodically check all the manholes installed in the area to be inspected, and to inspect the facilities around river roads.

Korean Patent Publication No. 10-2007-0089467 (2007. 08. 31) Korean Patent Publication No. 10-2009-0095966 (2009.09.10) Korean Patent Publication No. 10-2010-0086182 (2010. 07. 30)

The drone for manhole and river facility inspection according to the present invention is a technique proposed to solve the problems of the prior art,

In the conventional inspection method in which the person manually visits the area to be inspected and manholes are inspected, the inspection speed is slow due to insufficiency of the inspection personnel, and the cost for the inspection is continuously incurred,

The manhole, which is installed at a difficult place for human access,

The method of inspecting the condition of the manhole in real time by installing a sensor or an electronic circuit in the manhole cover has a problem that the cost for installing, maintaining, repairing and replacing the sensor or the electronic circuit is continuously spent,

Since the river facilities installed in the vicinity of the river road have a problem that the length of the river road is long and it takes a long time to be inspected by people and there is a part difficult to grasp on the ground, do.

In order to achieve the above object, according to the present invention,

A dron that is equipped with a GPS device, a photographing device, and a wireless communication device, and which manages a manhole and a river facility by flying along a predetermined route, includes a sewer pipe information and a manhole location information, a river road information and a river facility information ; An information generating unit for generating flight path information based on the sewage line information and the river road information, and generating shooting point information based on the manhole location information and the river facility information; A drones controller for flying the drones according to the flight path information; A photographing equipment control unit for controlling the photographing equipment according to the photographing point information; The present invention provides a drones for manhole and river facility inspection.

According to the present invention, there is provided a drones for manhole and river facility inspection,

The drone equipped with the photographic equipment performs the task of manually checking the manhole by visiting the area to be inspected by the person, so that the inspection speed is fast and the labor cost is saved,

It is possible to easily access the manhole installed at a point where a person's visit is difficult, and it is possible to continuously focus on only the selected point by pre-screening the weak points in the area to be managed,

It is possible to minimize the cost incurred after the initial cost due to the provision of the GPS device, the photographing equipment and the drone,

It is possible to quickly and accurately check the current state of the river facilities by allowing the drone to fly along the river road based on the river road information.

1 is a perspective view of a dron for manhole and river facility inspection according to the present invention.
FIG. 2 is a schematic view showing the components for checking manholes and river facilities using a drone for checking manholes and river facilities according to the present invention; FIG.
FIG. 3 is a view showing the components for re-checking manhole and river facilities using a drone for manhole and river facilities inspection according to the present invention. FIG.
4 is a view showing a ground terminal of a drones for manhole and river facility inspection according to the present invention.
FIG. 5 is a block diagram illustrating components for warning a user of a dron for manhole and river facilities inspection according to an embodiment of the present invention by comparing the current power amount and the estimated power consumption before flying.

The present invention relates to a drone (100) for flying along a sewer line or a river road and checking the condition of a manhole or a river facility,

A drones (100) for inspecting manholes and river facilities equipped with a GPS device (101), a photographing device (102), and a wireless communication device (103) and flying along a set route, comprising sewage route information and manhole location information, A database 110 in which information and river facility information are inputted and stored; An information generating unit (120) for generating flight path information based on the sewage line information and the river road information, and generating shooting point information based on the manhole location information and the river facility information; A drones controller 130 for flying the drones 100 according to the flight path information; An imaging device control unit (140) for controlling the imaging device (102) according to the imaging point information; The present invention relates to a drones for manhole and river facility inspection.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 and 2, a dron for manhole and river facility inspection according to the present invention includes a GPS device 101, a photographing device 102, and a wireless communication device 103, And a drone (100) for checking manholes and river facilities.

Generally, the term "drone" refers to a multi-copter type unmanned aerial vehicle having a plurality of guide frames extending outward with respect to a main body and having a rotor blade at the end of each guide frame, It is possible to carry out precise inspection work compared to unmanned aerial vehicles composed of fixed wings because it is possible to stop and fly after approaching the object to be controlled by controlling the speed during moving flight.

The GPS device 101 is a device that receives a signal transmitted from a satellite and generates coordinate information which is data related to a current position of the drones 100. The photographing device 102 is mounted on the drones 100 The apparatus for photographing manhole and river facilities may be composed of any one of known photographing apparatuses capable of photographing and photographing a moving picture, but it should be made of a size and weight which does not cause obstacle to the flight of the drone 100 It is obvious.

In addition, since the gimbal is mounted on the drones 100 in a state where the photographing equipment 102 is mounted on the gimbal, the shaking of the photographed image due to the flying of the dron 100 is corrected and the photographing angle can be adjusted The coordinate information generated by the GPS device 101 and the images of manholes and river facilities photographed by the photographing equipment 102 are transmitted to the outside through the wireless communication equipment 103. In addition, And transmits and receives various signals necessary for achieving the object of the present invention.

That is, the GPS device 101, the gimbal, the photographing device 102, and the wireless communication device 103 are mounted or mounted inside or outside the drones 100, respectively, In addition, an altimeter for precisely measuring the current altitude of the drone 100 may be further installed in the drone 100. [0034]

As shown in FIG. 2, the drones for manhole and river facility inspection according to the present invention include a database 110 in which sewage route information, manhole location information, river road information, and river facility information are inputted and stored. .

The sewerage route information and the river road information are information on the sewer line and the river road that can be obtained through the geographic information system managed by the government or the local government, and include coordinate information, length information, image, etc. about the sewer line and the river road The manhole location information and the river facility information may include location information of each of a plurality of manholes formed along a sewage line obtainable through the geographical information system and a location of each of a plurality of river facilities formed along a river road Information including coordinate information, images, and the like relating to each of the manhole and river facilities.

In addition, a check image photographed by the photographing equipment 102 is stored in the database 110 to be used for identifying manholes and river facilities that need to be re-inspected, and the ground terminal 220, And a plurality of points where the drones 100 can safely land and wait can be selected and stored, and will be described below.

2, the manhole and the river facility inspection drones according to the present invention generate flight path information based on the sewage line information and the river road information, and the manhole location information and the river facility information And an information generating unit 120 for generating shooting point information based on the shooting point information.

The information generating unit 120 generates the information on the flight paths and photographs so that the drones 100 can photograph one or more river facilities installed along one or more manholes and / or river roads along the sewer line or the river road, The flight path information generated in accordance with the performance of the drones 100, the type of inspection, the purpose of the drones 100, and the like are all or part of the sewer line information and the river road information, The photographing point information generated in accordance with the type, purpose, etc. of the inspection may be all or part of the manhole location information and the river facility information so that the photographing equipment 102 Manhole and river facilities shall be photographed in whole or in part.

The information generating unit 120 generates flight path information. The information generating unit 120 may generate one or more flight path information based on only the sewage line information, To generate another one or more flight path information, and to generate another one or more flight path information including both the sewer route information and the river road information.

The flight path information is not necessarily constructed so that the drones 100 flow only along all or a part of a sewer line or a river road, so that the flight path information is configured to fly along other sections except for at least one section of the entire section Or fly freely irrespective of the section, and can optionally be configured to check a plurality of manholes and / or river facilities.

In one embodiment, the information generating unit 120 generates shooting point information. The information generating unit 120 may generate one or more shooting point information based only on the manhole position information, It is possible to generate at least one photographing point information based on only the information and generate at least one photographing point information including both the manhole location information and the river facility information.

Since the shooting point information is not necessarily configured to capture all the manholes or all the river facilities included in the manhole location information, it is possible to photograph only a part of the plurality of manholes or a plurality of river facilities It is self-evident.

In this case, when the flight path information and the photographing point information generated by the information generating unit 120 include all of the sewer line or the river road, manhole, and river facilities, the information generating unit 120 may automatically Or in the case where the flight path information and the photographing point information are composed of a part of a sewer pipe or a river road, a part of a manhole and a river facility, the information generating unit 120 generates the information by the user's control.

2, the drones for manhole and river facilities inspection according to the present invention include drones 130 for flying the drones 100 according to the flight path information .

The drones control unit 130 is a component for controlling the flight of the drones 100 on the basis of the flight path information generated by the information generation unit 120. The drones 100 may be a direct or remote pilot To automatically perform maneuvering and flight checking for river facilities.

Since it is obvious that the sewer line is buried in the ground and the river road is formed on the ground, the flight path information is based on the sewer line information or the river road information, but the drones 100 do not collide with the ground It is clear that the flight altitude must be corrected to avoid this.

Accordingly, the drones 100 may be configured to maintain the altitude from the ground and to fly along sewer or river roads, and to change the flight altitude according to the flight path, and by the ground terminal 220 described below Flight altitude may change.

2, the drill for manhole and river facility inspection according to the present invention includes a photographing equipment controller 140 for controlling the photographing equipment 102 according to the photographing point information .

The photographic equipment control unit 140 controls the photographic equipment 102 mounted on the drone 100 flying along the sewer pipe or the river road based on the sewage pipe information or the river road information to shoot manhole and river facilities And can be configured by a known camera or the like and can easily be identified through a zooming in or zoom out method in consideration of the flying height of the drones 100, the size of each manhole and river facilities, I shoot.

The photographic equipment control unit 140 controls the photographic equipment 102 by controlling the photographic equipment control unit 140. The photographic equipment control unit 140 controls the photographic equipment control unit 140 based on the sewage pipe information, The user can control the photographing apparatus 102 to photograph the manhole.

At this time, the photographing equipment control unit 140 can continuously maintain the driving state of the photographing equipment 102 during the flight of the drones 100. However, if the distance between the plurality of manholes to be photographed is long, The drone control unit 130 can photograph the manhole by driving the photographic equipment 102 before or after the drone 100 reaches the upper part of the manhole in order to minimize the consumption of the drones 100, The flying speed of the drones 100 may be reduced or the quality of the photographed image may be ensured by causing the drones 100 to stop flying.

In addition, the manhole to be inspected by the drill for manhole and river facility inspection according to the present invention is in the form of a circle or a square, and each of the plurality of individuals is configured to have the same shape or size, Since the plurality of objects may be configured differently in shape and size, the photographing equipment control unit 140 may control the photographing equipment 102 to photograph the manhole once when the drones 100 are positioned vertically above the manhole The dragon control unit 130 and the photographing equipment control unit 140 may cause the dragon 100 to fly over the vicinity of the river facilities so that the photographing equipment 102 can control the river facilities Can be controlled to be photographed a plurality of times in various directions.

That is, the manhole can be checked only by taking a single shot at a vertical upper direction, but it is preferable that the river facility is configured to be photographed a plurality of times in various directions to check the condition.

3, the manhole and the river facility inspection drones according to the present invention may include a manhole and a river facility which need to be re-inspected based on the inspection image taken by the photographing equipment 102, (150).

In the embodiment, the identification unit 150 identifies manholes and river facilities that need to be re-inspected. In the database 110, images of manholes and river facilities matched to the manhole location information and the river facility information, respectively, And the identification unit 150 compares the image of each of the manhole and river facilities previously stored in the database 110 with the inspection image taken by the imaging equipment 102, If there is a discrepancy, it can be identified as an object requiring re-inspection.

That is, even if the images and the images to be compared do not match, the identification unit 150 does not necessarily identify the objects that need to be re-inspected. If the openings or breakage of the manholes or damage to the river facilities are apparent, Excluded is preferred.

That is, an object requiring re-inspection means a manhole which is photographed in a state of being obscured by a pedestrian or a vehicle and can not be judged whether or not it is opened and closed, and the judgment regarding the image mismatch is made only by manhole or river facilities themselves It is preferable that the state of the periphery is excluded and the manhole and the river facilities included in each image are not judged to be in a completely identical state.

As shown in FIG. 3, the manhole and river facility inspection drones according to the present invention require manhole location information and manhole inspection of each manhole to be re-inspected based on the manhole location information and the river facility information And a re-check information generating unit (160) for generating re-check information composed of the river facility information of each river facility.

As described above, since the manhole location information or the river facility information can be matched to the images of the manholes and the river facilities, which are objects to be compared with the inspection images photographed by the photographing equipment 102, Check information composed of manhole location information or river facility information of each manhole and river facility identified as the object to be re-checked in the identification unit 150, so that the drone 100 returns to the starting point and re-check To be used as information for performing the operation.

As shown in FIG. 3, the drones for manhole and river facility inspection according to the present invention are provided with a re-check path for generating re-check flight path information based on the sewer line information, the river road information, And a generation unit (170).

The re-check path generating unit 170 is a component for returning to the starting point of the drones 100 and generating an optimal flight path for performing the re-check, And the positions of the manholes and / or the river facilities identified as being the same as the manholes or / and the river facilities identified as the minimum distance that the drone 100 can re-check.

According to the above-described structure, the manhole and the river facility inspection drones according to the present invention perform the inspection based on the flight path information and the manhole position information, return to the starting point, It is a configuration capable of performing a check.

In addition, coordinate information of each manhole and river facility included in the re-check information may be accumulated and recorded in the database 110, and the re-check information generating unit 160 may include a manhole and a river It is possible to generate re-check information on the facility.

4, the drones for manhole and river facility inspection according to the present invention are provided with a communication unit capable of two-way communication with the radio communication equipment 103, and are provided with a display unit capable of displaying images and the like, And a terrestrial terminal device (220) having an input unit capable of controlling the control unit (100).

The ground terminal 220 is configured to receive and display an inspection image photographed by the photographing equipment 102 and transmitted to the outside so that the user can grasp the current state of the manhole and the river facilities, The user can directly control the drones 100 in flight and can control the photographing equipment 102, the gimbals, and the like, and can control the current location and altitude of the drones 100, And can be configured to display on the screen.

In addition, the terrestrial station 220 includes an image storage function for storing a received inspection image so that a user can precisely grasp the status of a manhole and a river facility, an image reproduction function for reproducing a stored inspection image, And an enlarging function for enlarging a part of the warning signal generated by the warning signal generating unit 190. The alarm signal generating unit 190 may generate a warning sound or a warning light so that the user can recognize the warning signal, A warning signal may be displayed in the form of a message.

5, the drones for manhole and river facility inspection according to the present invention are configured to estimate the expected flying distance according to the flight path information and the estimated driving time of the photographing equipment 102 according to the photographing point information, And an estimated power consumption amount of the battery mounted on the drones 100 before flight of the drones 100 is compared with the estimated power consumption amount, And an alarm signal generating unit 190 for generating a warning signal to be displayed externally when the remaining power level is less than the expected power consumption level.

First, in consideration of the weight of the drones 100, information on power consumption per unit time during flight and information on power consumption per unit time of the photographing equipment 102 are input to the database 110, The arithmetic unit 180 calculates the estimated amount of power consumption according to the expected flying distance of the drones 100 according to the flight path information and the estimated driving time of the photographing apparatus 102 according to the photographing point information.

The warning signal generating unit 190 compares the current power remaining amount of the battery mounted on the drones 100 with the estimated power consumption amount before the flying of the drones 100 so that the current power remaining amount is equal to or less than the estimated power consumption amount A warning signal is generated so that the user can recognize the warning signal.

5, the manhole and river facility inspection drones according to the present invention compare the current power remaining amount of the battery mounted on the drones 100 with the estimated power consumption amount during the flight of the drones 100 And a landing point information generator (200) for generating the landing point information by reflecting the current flying distance of the drone (100) to the current coordinate information of the drone (100) if the current power remaining amount is less than the estimated power consumption amount .

That is, since many of the manholes are located on the road, when the drones 100 are landed on a manhole or a point on the sewer line, there is a danger that the manhole, the vehicle, The information generating unit 200 can detect any one landing point among a plurality of selected landing points where the possibility of collision with a person or a vehicle is removed such that the drones 100 are in a landing state such as a flat land, 130 and ground terminal 220 to allow the drones 100 to land and then fly to the landing point by automatic or user selection.

Therefore, it is preferable that a plurality of landing points are secured in the database 110 until the drones 100 are safely landed and secured by the user, The method of selecting one of the landing points is a method of automatically selecting one of the landing points located at the maximum reachable distance by checking the manhole or / and the river facilities with the current remaining power of the battery mounted on the drones 100 Or the selection by the user via the terrestrial terminal device 220. However,

5, the drones for manhole and river facilities inspection according to the present invention stop the drones 100 after landing when the drones 100 reach the landing point according to the landing point information And a landing signal generator (210).

The landing signal generator 210 generates a landing signal when the drones 100 reach a certain point in accordance with the landing point information so that the drones controller 130 detects the residual of the battery mounted on the drones 100 The drones 100 are landed on the ground before power is exhausted to prevent breakage due to fall.

At this time, the user confirms the state of the point where the drones 100 desire to land through the image photographed by the photographing apparatus 102, so that the drones 100 can be controlled and landed safely as soon as an unexpected obstacle is detected It is preferable that the control of the drones 100 via the terrestrial terminal device 220 is prioritized over the control of the drones 100 by the drones control unit 130.

In addition, as described above, since the current position of the drones 100 can be displayed on the terrestrial terminal device 220, the user can move to the displayed position and retrieve the waiting drones 100.

In addition, the drones for manhole and river facility inspection according to the present invention are constructed such that known solar modules are fixedly installed on the upper portion of the drones 100, so that the batteries loaded in the drones 100 during flight or in the air are charged And even if the flying time of the drones 100 due to the weight of the solar module or the like is shortened, it is possible to fly after recharging the battery. As a result, the battery is fully charged, All manholes and / or river facilities can be inspected at a distance that is impossible to inspect and can be checked without recall.

At this time, the arithmetic unit 180 may calculate the position of the drone 100 based on the coordinate information of the drones 100 generated by the GPS device 101 or automatically stored at the time of landing the drones 100, the flight path information, When the manhole and the river facilities are checked and the estimated amount of power consumption for checking the manhole and river facilities excluding the checked manhole and the river facilities is calculated and compared with the charged amount of the battery mounted on the drones 100, It is possible to send a signal to the drones control unit 130 so that the drones control unit 130 can fly the drones 100.

In addition, at least one of the plurality of landing points may include a charging device capable of wirelessly charging the drones 100, thereby charging the battery mounted on the drones 100 landed on the top of the charging device.

The drones for manhole and river facility inspection according to the present invention may further comprise a main server installed on the ground and wirelessly communicated with the drones 100 and the terrestrial terminal devices 220, The information generating unit 120, the identifying unit 150, the re-checking information generating unit 160, the re-checking path generating unit 170, the calculating unit 180, The drones 100 may include at least one of the signal generator 190, the landing point information generator 200, and the landing signal generator 210.

The embodiments described above are provided by way of example for the purpose of enabling a person skilled in the art to sufficiently transfer the technical idea of the present invention to a person skilled in the art, But may be embodied in other forms without limitation.

In order to clearly explain the present invention, parts not related to the description are omitted from the drawings, and in the drawings, the width, length, thickness, etc. of the components may be exaggerated or reduced for convenience.

Further, like reference numerals designate like elements throughout the specification.

100: Drones 101: GPS device
102: photographing equipment 103: wireless communication equipment
110: Database 120: Information Generation Unit
130: drones control unit 140: photographing equipment control unit
150: Identification unit 160: Re-check information generation unit
170: re-check path generation unit 180:
190: Warning signal generation unit 200: Landing point information generation unit
210: a landing signal generator 220: a ground terminal

Claims (6)

A drones (100) equipped with a GPS device (101), a photographing device (102), a wireless communication device (103), and a solar module for charging a battery and flying along a set route and checking manholes and river facilities,
The drones (100)
The sewerage route information, the manhole location information, the river road information, and the river facility information are inputted and stored, and the possibility of collision with a person or a vehicle is removed so that the drones can be safely landed, A database 110 in which landing points are selected and stored;
One or more flight path information including a part or all of sewage line information based on the sewage line information and the river road information, at least one flight path information including a part or all of the river road, a part of the sewer line information, Or one or more flight paths including all of the flight paths, At least one photographing point information including a part or all of the manhole location information based on the manhole location information and the river facility information, at least one photographing point information including a part or all of the river facility information, manhole location information, An information generating unit (120) for generating at least one photographing point information among at least one photographing point information including a part or all of the facility information;
A drones controller 130 for flying the drones 100 according to the flight path information;
A photographic equipment control unit (140) for controlling the photographic equipment (102) before or after the drones (100) reach a certain manhole in accordance with the photographed point information to minimize power consumption;
If manholes are opened or broken, damage to river facilities is apparent, etc., identification of manholes and river facilities requiring re-inspection based on inspection images taken by the imaging equipment 102 150);
A re-check information generating unit for generating re-check information composed of manhole location information of each manhole requiring re-inspection based on the manhole location information and the river facility information and river facility information of each river facility requiring re- 160);
Based on the sewerage route information, the river road information, and the re-check information, the location of each of the manhole and river facilities identified as needing to be re-inspected by the identification unit 150 is summed up, and the drones 100 return A re-check path generation unit 170 for generating re-check flight path information of a minimum distance that can be re-inspected;
An arithmetic unit 180 for calculating an estimated power consumption amount of the drones 100 based on an expected flying distance according to the flight path information and a predicted driving time of the photographing apparatus 102 according to the photographing point information;
When the current power remaining amount is less than the estimated power consumption amount, the distance available to the drone (100) is calculated, and the current coordinates of the drone (100) are compared with the current power remaining amount of the battery A landing point information generating unit (200) for generating landing point information by reflecting the information on the landing point information;
A landing signal generator 210 for stopping and driving the drones 100 when the drones 100 reach a landing point according to the landing point information; And a control unit,
A charging device provided at any one of the plurality of landing points to wirelessly charge the drones; And a dron for manhole and river facility inspection.
delete The method according to claim 1,
The drones (100)
Wherein the controller is configured to perform an inspection based on the flight path information, return to a start point, and re-check based on the re-check flight path information.
The method according to claim 1,
The drones (100)
When the present power remaining amount is less than the estimated power consumption amount, a warning signal generating unit generates an alert signal to be displayed externally by comparing the current power remaining amount of the battery mounted on the drones 100 with the estimated power consumption amount before flying the drones 100 (190); And a dron for manhole and river facility inspection.
delete The method according to claim 1,
The drill for checking manhole and river facilities,
And a terrestrial terminal unit 220 having a display unit capable of displaying images and the like and having an input unit capable of controlling the drones 100 and having a communication unit capable of performing bidirectional communication with the wireless communication equipment 103 Features drone for manhole and river facility inspection.

Images