JP2019209861A - Facility inspection system - Google Patents

Abstract

To provide a facility inspection system that can inspect a facility such as an electric power substation using an unmanned aircraft.SOLUTION: A facility inspection system includes: a drone 21 that flies toward a facility on the basis of a predetermined flight route to inspect the facility; and a number one marker device 22-1 that is installed in at least one place of the facility and transmits a laser beam for guiding the drone 21. Upon receiving the laser beam from the number one marker device 22-1, the drone 21 flies to continue to receive the laser beam and travels toward the number one marker device 22-1 of the facility.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an equipment inspection system for inspecting equipment using a drone (unmanned aerial vehicle).

  Electric utilities regularly inspect substations to ensure a stable supply of electricity. In conventional substation patrol work, the number of patrols is set at 2 times / month in accordance with safety regulations. At this time, the patrolman works near the special high-voltage electrical equipment at the substation. However, since there is a risk of an electric shock from a patrolman, it is necessary to perform patrols with two patrolmen who have knowledge about electrical equipment such as transformers and circuit breakers.

  Some automate these patrols. For example, there is a technique using a drone that is an unmanned aircraft for patrol automation (see, for example, Patent Document 1). In this technology, a drone wirelessly communicates a free-running route from a controller terminal and flies while photographing the free-running route with a camera.

  This eliminates the need for two patrolmen having knowledge of electrical equipment when patroling a substation.

JP 2017-46328 A

  However, the aforementioned inspection automation technology has the following problems. In other words, with the technology described above, it is possible to set the altitude and flight route of the drone. However, since there are many special high-voltage power receiving facilities installed in the substation and the heights are complexly different, it is not suitable for flying away from the charging part of the special high-voltage power receiving facilities.

  In addition, the conventional technology is not practical for judging abnormalities in substation facilities because it is limited to flying and shooting by drone.

  By the way, in substation patrol work, the abnormality of equipment and devices is determined from the appearance and numerical data of the eyes of the patrolman. For this reason, there is a problem that an abnormality of a device or an apparatus cannot be accurately determined when an abnormal part is overlooked or an erroneous reading of numerical data of instruments occurs. In addition, there is a problem that abnormalities cannot be detected promptly by two / month patrols.

  An object of the present invention is to provide an equipment inspection system that enables inspection of equipment such as a substation using an unmanned aerial vehicle.

  In order to solve the above problems, the invention of claim 1 is directed to an unmanned aircraft that flies toward a facility based on a predetermined flight route and inspects the facility, and is installed in at least one location of the facility. A sign device that transmits laser light for guiding the unmanned aircraft, and when the unmanned aircraft receives the laser light from the sign device, the unmanned aircraft flies to continuously receive the laser light and It is an equipment inspection system characterized by going to the sign device.

  In the first aspect of the invention, the unmanned aerial vehicle flies toward the equipment based on a predetermined flight route and inspects the equipment. At this time, when the unmanned aerial vehicle receives the laser beam from the marker device, the unmanned aircraft flies to continue receiving the laser beam and travels toward the facility marker device.

  According to a second aspect of the present invention, in the equipment inspection system according to the first aspect, the flight route of the unmanned aerial vehicle is created so as to fly in order at locations where the respective marking devices are installed. A laser beam is transmitted to a signing device installed in front of the flight route.

  According to the first aspect of the invention, it is possible to inspect equipment such as a substation using an unmanned aerial vehicle. In particular, since the unmanned aerial vehicle flies linearly and accurately toward the sign device that emits laser light, it is possible to reliably inspect the place where the sign device is installed. For example, even in a substation where a number of special high-voltage power receiving facilities are installed and the height is complicated, it is possible to check the facilities by flying an unmanned aerial vehicle avoiding the charging part of the special high-voltage power receiving facility.

  According to invention of Claim 2, each location of facilities, such as a substation in which the sign apparatus is installed, can be inspected in order using an unmanned aerial vehicle.

It is a block diagram which shows the equipment inspection system by embodiment of this invention. It is a block diagram which shows an example of a marking device. It is a figure which shows an example of the laser beam transmitted. It is a figure which shows the other example of the laser beam transmitted. It is a block diagram which shows an example of a drone. It is an external appearance perspective view which shows an example of a drone. It is a figure which shows an example of a flight route. It is a figure for demonstrating a flight route.

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

  An example of an equipment inspection system according to this embodiment is shown in FIG. In this embodiment, an example of patroling a substation of an electric power company is taken as an example. This equipment inspection system includes a support system 11 installed in a management department of an electric power company. Furthermore, the equipment inspection system includes a drone 21 used in the substation, a number 1 marking device 22-1 to a number 19 marking device 22-19, and a communication device 23. In this embodiment, the A device and the B device are installed in the substation, and the A device and the B device are inspection targets. In this embodiment, the unmanned aerial vehicle is the drone 21, but a helicopter that flies by radio control can also be used.

  The communication device 23 is provided in the substation. The communication device 23 is connected to a communication network NW such as the Internet, and can exchange various data with the support system 11. The communication device 23 also has a wireless communication function based on Wi-Fi (registered trademark). This enables mutual communication between the drone 21 and the 1st labeling device 22-1 to 19th labeling device 22-19 in the substation. Furthermore, although not shown in the figure, the portable terminal possessed by the patrolman can also transmit and receive data with the communication device 23 and Wi-Fi.

  For example, when receiving a patrol start notification indicating the patrol start from the patrolperson's mobile terminal, the communication device 23 transmits the patrol start notification to the support system 11. In this case, the patrol start notification is transmitted from the communication device 23 to the support system 11 via the communication network NW. Thereafter, when the communication device 23 receives an operation start instruction for the first labeling device 22-1 from the support system 11, the communication device 23 transmits the operation start instruction to the drone 21 and the first labeling device 22-1.

  In this way, the communication device 23 is a variety of signals, notifications, etc. between the drone 21 in the substation, the 1st sign device 22-1 to the 19th sign device 22-19, the mobile terminal of the patrolman, and the support system 11. Enables sending and receiving.

  The number 1 labeling device 22-1 is installed in the A device, which is equipment in the substation, and at the first inspection location in the substation. For example, as shown in FIG. 2, the number 1 labeling device 22-1 includes a laser transmission unit 22a, a proximity radio wave transmission unit 22b, a wireless communication unit 22c, a processing unit 22d, and a power supply unit 22e.

  The power supply unit 22e is a power supply device that supplies electricity to the laser transmission unit 22a to the processing unit 22d. In FIG. 2, the description of the power supply line for supplying electricity from the power supply unit 22e is omitted.

  The wireless communication unit 22c has a wireless communication function using the communication device 23 and Wi-Fi. Accordingly, the wireless communication unit 22c performs mutual communication with the support system 11. For example, when receiving the operation start instruction from the communication device 23, the wireless communication unit 22c sends the operation start instruction to the processing unit 22d. Further, when receiving the operation end instruction from the communication device 23, the wireless communication unit 22c sends the operation end instruction to the processing unit 22d. The operation start instruction and the operation end instruction are received from the support system 11 via the communication network NW and the communication device 23 by the wireless communication unit 22c.

  The processing unit 22d performs processing related to the number 1 labeling device 22-1. For example, when the processing unit 22d receives an operation start instruction from the wireless communication unit 22c, the processing unit 22d controls the laser transmission unit 22a to start laser beam transmission and controls the proximity radio wave transmission unit 22b to start transmission of proximity radio waves. To do.

  Further, when the processing unit 22d receives an operation end instruction from the support system 11 via the wireless communication unit 22c, the processing unit 22d controls the laser transmission unit 22a to end the transmission of the laser light and also controls the proximity radio wave transmission unit 22b to perform proximity. Stop sending radio waves.

  The proximity radio wave transmission unit 22b transmits a radio wave (proximity radio wave) for indicating that the 1st labeling device 22-1 is near to the drone 21 approaching the 1st labeling device 22-1. In this case, the proximity radio wave transmission unit 22b performs transmission start and transmission end of the proximity radio wave under the control of the processing unit 22d.

  The laser transmitter 22a transmits a laser beam for guiding the drone 21. In this case, the laser transmitter 22a starts and ends the transmission of laser light under the control of the processing unit 22d.

  The direction in which the laser transmitter 22a transmits the laser light is set in advance. For example, when the drone 21 moves from the start point and moves to a predetermined position, the transmission direction of the laser light is set so that the laser light is transmitted toward the predetermined position. This transmission direction is adjusted when the number 1 labeling device 22-1 is installed in the A device. The laser beam transmitted by the laser transmitter 22a has, for example, a conical shape as shown in FIG. 3 and a linear shape as shown in FIG. Further, at the start of the transmission of the laser light, the shape may be widened as shown in FIG. 3, and then narrowed down to a straight line as shown in FIG.

  The above is the configuration of the number 1 labeling apparatus 22-1. The other No. 2 labeling devices 22-2 to 19-19 are the same as the No. 1 labeling device 22-1 except that the laser beam transmission direction is different from that of the No. 1 labeling device 22-1. Therefore, these explanations are omitted. The 19th marking device 22-19 is installed at the starting point of the drone 21. Next, the configuration of the drone 21 will be described.

  The drone 21 patrols the A device and the B device by flying in the substation. For example, as shown in FIGS. 5 and 6, the drone 21 includes a laser transmission unit 21a, a laser reception unit 21b, a proximity radio wave reception unit 21c, a wireless communication unit 21d, a data collection unit 21e, a position detection unit 21f, and a processing unit 21g. , A flying unit 21h, a storage unit 21i, a power supply unit 21j, a camera 21k, a thermo camera 21m, a light 21n, and a microphone 21p.

  The power supply unit 21j is a power supply device / battery that supplies electricity to the laser transmission unit 21a to the storage unit 21i. In FIG. 2, the description of the power supply line for supplying electricity from the power supply unit 21j is omitted. In addition, for example, a charging terminal is provided in the lower part of the main body of the drone 21, and the power supply unit 21j is charged by contacting the charging terminal of the charging station.

  The laser transmission unit 21a is a device that transmits laser light. In this embodiment, the laser transmission unit 21a is a transmitter that transmits laser light as needed under the control of the processing unit 21g. Laser light can be transmitted in all directions.

  The laser receiver 21b is a receiver that receives the laser light from the number 1 labeling device 22-1 to the number 19 labeling device 22-19. A plurality of laser receiving units 21b are arranged around the main body of the drone 21, and laser light from all directions. Can be received. When receiving the laser beam, the laser receiving unit 21b sends a laser reception signal to the processing unit 21g. In this case, when the laser beam having the spread shown in FIG. 3 is transmitted, the range of the laser beam is widened, and the laser receiving unit 21b can easily receive the laser beam. Further, when laser light is not received from the number 1 labeling device 22-1 to number 19 labeling device 22-19 for a predetermined time or longer, it is regarded as a path abnormality and the path is corrected by GPS to a predetermined position (starting point, etc.) Head for.

  The proximity radio wave receiving unit 21c receives the proximity radio waves from the 1st labeling device 22-1 to the 19th labeling device 22-19. When the proximity radio wave reception unit 21c receives the proximity radio wave, the proximity radio wave reception unit 21c sends a proximity radio wave reception signal to the processing unit 21g.

  The wireless communication unit 21d performs wireless communication with the communication device 23 using Wi-Fi. Thereby, the radio communication unit 21d performs mutual communication with the support system 11. For example, when the wireless communication unit 21d receives an inspection result signal from the processing unit 21g, the wireless communication unit 21d transmits the inspection result signal to the communication device 23.

  The data collection unit 21e collects data at each inspection location when heading to each inspection location of the 1st labeling device 22-1 to 19th labeling device 22-19. At this time, when the data collection unit 21e receives a collection start signal from the processing unit 21g, the data collection unit 21e starts collecting data. In order to collect data, the data collection unit 21e performs recording for the A device and the B device during the flight, and captures images of the installation locations of the number 1 labeling device 22-1 to number 19 labeling device 22-19. For example, a camera 21k for monitoring the infrared rays from the A device and the B device, and a microphone 21p for recording the sound emitted from the A device and the B device. The data collection unit 21e sends recording data, recording data, thermographic data, and image data from each device to the processing unit 21g.

  The equipment of the data collection unit 21e includes, for example, a thermometer that measures the outside air temperature, in addition to the camera 21k, the thermo camera 21m, and the microphone 21p. The light 21n is illumination that illuminates the surroundings, and is automatically turned on and off according to the brightness of the surroundings.

  The position detector 21f checks the current position of the drone 21. For example, the position detection unit 21f checks the longitude and latitude of the current position by GPS (Global Positioning System), and checks the altitude of the drone 21 by an altimeter. The position detection unit 21f sends a position signal composed of longitude, latitude, and altitude to the processing unit 21g as needed.

  The storage unit 21i is a storage device for storing various data. In this embodiment, the storage unit 21 i stores a flight route in the substation of the drone 21 in advance. The flight route is created based on the position information of the number 1 labeling device 22-1 to number 19 labeling device 22-19. For example, as shown in FIG. 7, each position information is composed of the longitude, latitude, and altitude of the 1st labeling device 22-1 to 19th labeling device 22-19, and the A device and the B device are arranged in the order in which the drone 21 flies. ing. In the flight route, it is shown whether the place where the 1st labeling device 22-1 to 19th labeling device 22-19 needs to be inspected. The flight route is created in advance using a GPS or an altimeter, and the longitude, latitude, and altitude have an error of several meters to several tens of meters.

  The flying unit 21h is a device for flying the drone 21. In this embodiment, the flying unit 21h controls the rotation of six propellers (only two are shown in FIG. 6 for easy viewing) under the control of the processing unit 21g. As a result, the drone 21 flies toward the respective marking devices based on the flight route stored in the storage unit 21i and the position signal from the position detection unit 21f.

  The processing unit 21g performs control for the flight of the drone 21, processing for transmitting an inspection result signal indicating a patrol result between the A device and the B device, and the like.

  When receiving the operation start instruction from the support system 11 via the wireless communication unit 21d, the processing unit 21g reads the flight route from the storage unit 21i. Then, the processing unit 21g refers to the flight route and controls the flying unit 21h so as to fly the drone 21 toward the number 1 labeling device 22-1 which is the first flight destination. For example, as illustrated in FIG. 3 or FIG. 4, the processing unit 21 g causes the drone 21 to temporarily rise from the start point and then fly toward the number 1 labeling device 22-1.

  At this time, when receiving the laser reception signal from the laser receiving unit 21b, the processing unit 21g controls the flying unit 21h so that the drone 21 flies so that the laser receiving unit 21b maintains the laser light reception state. To do.

  At the same time, the processing unit 21g controls the data collection unit 21e to record sound by the microphone 21p, record by the camera 21k, and detect infrared rays by the thermo camera 21m. When the processing unit 21g receives the recording data, the recording data, and the thermography data from the data collection unit 21e, the processing unit 21g controls the wireless communication unit 21d and transmits these data to the support system 11 as an inspection result signal. In this case, the inspection result signal is transmitted to the support system 11 via the wireless communication unit 21d, the communication device 23, and the communication network NW. The transmission / reception of signals and notifications is the same in the following.

  Thereafter, when the processing unit 21g receives the proximity radio wave reception signal from the proximity radio wave reception unit 21c, the processing unit 21g controls the data collection unit 21e to capture a surrounding image with the camera 21k. When the processing unit 21g receives imaging data from the data collection unit 21e, the processing unit 21g controls the wireless communication unit 21d to transmit the imaging data of the surrounding image to the support system 11 as an inspection result signal.

  Then, when the photographing of the surrounding image by the data collection unit 21e is completed, the processing unit 21g transmits a data collection completion notification to the support system 11. When the processing unit 21g finishes transmitting the data collection end notification, the processing unit 21g causes the drone 21 to fly toward the second marking device 22-2 which is the next flight destination based on the flight route. Thereafter, the processing unit 21g repeats the process in the same manner as when flying to the number 1 labeling apparatus 22-1.

  By the way, when the processing unit 21g determines that the drone 21 has deviated from the flight route based on the position signal from the position detection unit 21f, the processing unit 21g returns from the current position represented by the position signal of the position detection unit 21f to the flight route. The flying unit 21h is controlled. Thereafter, when the drone 21 returns to the flight route and the laser receiving unit 21b receives the laser beam again, the processing unit 21g controls the flying unit 21h so that the laser receiving unit 21b maintains the receiving state of the laser beam. As the drone 21 flies, patrol is resumed.

  On the other hand, when it is determined that the drone 21 has not returned to the flight route based on the position signal from the position detection unit 21f, the processing unit 21g controls the flight unit 21h to return to the start point. Then, the processing unit 21g transmits an alarm signal indicating that the drone 21 has deviated from the flight route to the support system 11.

  The support system 11 performs various processes related to patrol of the substation. For example, the support system 11 receives a patrol start notification from the mobile terminal of the patrolman, or transmits an operation start instruction to the drone 21 and the first marking device 22-1 when a preset time is reached. . Thereafter, when the support system 11 receives the inspection result signal from the drone 21, the support system 11 stores the inspection result signal corresponding to the number 1 labeling apparatus 22-1. Then, if necessary, the sound collected based on the recorded data of the inspection result signal is output, the movement status is displayed based on the recorded data, and the temperature change status is displayed based on the thermographic data.

  Further, when the support system 11 receives another inspection result signal, the support system 11 displays the surrounding image of the first labeling device 22-1 based on the image data of the inspection result signal and corresponds to the first marking device 22-1. Save the test result signal.

  Furthermore, when the support system 11 determines that there is an abnormality in the data based on these inspection result signals, an alarm indicating the abnormality may be issued.

  Thereafter, when receiving the data collection end notification indicating the end of data collection from the drone 21, the support system 11 transmits an operation end instruction to the first labeling device 22-1 and operates on the second labeling device 22-2. Send start instructions.

  When the support system 11 receives an alarm signal from the drone 21, the support system 11 issues an alarm indicating that the drone 21 has deviated from the flight route and returned to the start point, and notifies the person in charge. Further, when the support system 11 has not received an inspection result signal from the drone 21 for a set time or longer, the support system 11 issues an alarm indicating that communication with the drone 21 is not being performed and notifies the person in charge.

  The above is the configuration of the equipment inspection system according to this embodiment. Next, the operation of the equipment inspection system will be described. When patrol the substation, the 1st labeling device 22-1 to the 19th labeling device 22-19 are installed in advance at each inspection point or relay point of the A equipment and B equipment in the substation. At this time, the direction of the laser beam transmitted from the number 1 labeling device 22-1 to number 19 labeling device 22-19 is determined in advance. For example, in the case of the number 1 labeling device 22-1, the laser light transmission direction is directed to a point where the drone 21 once rises from the start point. In the case of the number 2 labeling device 22-2, the transmission direction of the laser light is directed to the number 1 labeling device 22-1. The same applies to the 3rd labeling device 22-3 to 19th labeling device 22-19. The 19th marking device 22-19 is installed at the starting point.

  In such a state, the patrolman sets the drone 21 at the start point and inputs the patrol start from the mobile terminal, for example. Thereby, the portable terminal transmits a patrol start notification to the support system 11. When the support system 11 receives the patrol start notification, the support system 11 instructs the first sign device 22-1 installed in the A device that is the first inspection target in the substation and the drone 21 installed at the start point. Send.

  When receiving the operation start instruction, the first labeling device 22-1 installed in the A device transmits a laser beam in the direction of the drone 21 and transmits a proximity radio wave.

  On the other hand, when the drone 21 receives the operation start instruction from the support system 11, the drone 21 starts flying based on the flight route stored in advance. Since the drone 21 is placed at the start point, the drone 21 once rises and heads for the first marking device 22-1. At this time, when the drone 21 receives the laser beam transmitted by the first marking device 22-1, the drone 21 flies so as to maintain the laser beam reception state. Thereby, the drone 21 flies straightly and accurately toward the number 1 labeling device 22-1 as compared with the flight based on the GPS and the altimeter.

  At the same time, the drone 21 performs voice recording by the microphone 21p, recording by the camera 21k, and infrared detection by the thermo camera 21m, and transmits the recording data, the recording data, and the thermography data to the support system 11 as inspection result signals. . When the support system 11 receives the inspection result signal from the drone 21, the support system 11 stores the inspection result signal corresponding to the first marking device 22-1. Then, if necessary, the sound collected based on the recorded data of the inspection result signal is output, the movement status is displayed based on the recorded data, and the temperature change status is displayed based on the thermographic data.

  Thereafter, when the drone 21 receives the proximity radio wave transmitted from the number 1 labeling device 22-1, the drone 21 takes a surrounding image with the camera 21k. Then, the drone 21 transmits the captured image data of the surrounding image to the support system 11 as an inspection result signal. Further, when the support system 11 receives another inspection result signal, the support system 11 displays the surrounding image of the first labeling device 22-1 based on the image data of the inspection result signal and corresponds to the first marking device 22-1. Save the test result signal. When the support system 11 determines that there is an abnormality in the data based on these inspection result signals, an alarm indicating the abnormality may be issued.

  When the drone 21 finishes shooting the surrounding image, the drone 21 transmits a data collection end notification to the support system 11. When the support system 11 receives the data collection end notification, the support system 11 transmits an operation end notification to the first marking device 22-1 and operates with respect to the second marking device 22-2 which is the next flight destination of the drone 21. Send start instructions.

  When receiving the operation end notification, the first labeling device 22-1 ends the transmission of the laser beam and the proximity radio wave. When receiving the operation start instruction from the support system 11, the second labeling device 22-2 transmits the laser light and the proximity radio wave in the same manner as the first labeling device 22-1.

  The drone 21 sends a data collection end notification to the support system 11 and then flies toward the second sign device 22-2 which is the next flight destination. The subsequent steps are the same as when flying to the number 1 labeling device 22-1. At this time, for example, as shown in FIG. 8, the height at which the drone 21 flies from the first marking device 22-1 to the second marking device 22-2 is set by the second marking device 22-2. It will be determined by the height that is.

  Then, when the drone 21 returns from the third labeling device 22-3 to the first labeling device 22-19 through the 18th labeling device 22-18, that is, when the drone 21 returns to the start point again, the inspection is finished.

  By the way, if it is determined that the drone 21 has deviated from the flight route, the drone 21 flies back from the current position acquired by GPS to the flight route. Thereafter, when the drone 21 returns to the flight route and receives the laser beam again, the drone 21 flies to maintain the laser beam reception state and resumes patrol. On the other hand, when it is determined that the drone 21 has not returned to the flight route, the drone 21 flies back to the start point. Then, an alarm signal is transmitted to the support system 11. When the support system 11 receives an alarm signal from the drone 21, the support system 11 issues an alarm to inform that the drone 21 has deviated from the flight route and returned to the starting point. Further, when the support system 11 has not received an inspection result signal from the drone 21 for a set time or longer, the support system 11 issues an alarm indicating that communication with the drone 21 is not performed.

  Thus, according to this embodiment, it is possible to reliably inspect equipment such as a substation along the flight route using a drone. In other words, the drone 21 flies linearly and accurately toward the laser beam even in a substation where a number of special high-voltage power receiving facilities are installed and the height is complicated, that is, the charged part of the special high-voltage power receiving facility is surely secured. Therefore, the drone 21 can fly and automatically patrol the inside of the substation.

  Further, according to this embodiment, since the drone 21 transmits the recording data, the recording data, the thermographic data, and the image data to the support system 11, it is possible to reliably determine the abnormality of the substation equipment.

  Furthermore, since the drone 21 placed at the start point performs a patrol as necessary by transmitting a patrol start instruction, an abnormality that could not be detected by the conventional two / month patrol is detected. According to the embodiment, it can be quickly discovered.

  Although the embodiment of the present invention has been described above, the specific configuration is not limited to the above embodiment, and even if there is a design change or the like without departing from the gist of the present invention, Included in the invention. For example, in the above-described embodiment, the case of inspecting outdoor substation equipment has been described, but the present invention is also applicable to inspecting equipment in a building. For example, a receiver that receives laser light from the drone 21 and an automatic door through which the drone 21 enters and exits are provided in the building. Then, when the laser light from the drone 21 is received, the automatic door is opened, and when the predetermined time has elapsed or the laser light is received from the drone 21 again, the automatic door is closed as the inspection is completed.

DESCRIPTION OF SYMBOLS 11 Support system 21 Drone 21a Laser transmission part 21b Laser reception part 21c Proximity radio wave reception part 21d Wireless communication part 21e Data collection part 21f Position detection part 21g Processing part 21h Flight part 21i Storage part 22-1 to 22-19 Marking device 22a Laser Transmission unit 22b Proximity radio wave transmission unit 22c Wireless communication unit 22d Processing unit 23 Communication device NW Communication network

Claims (2)

An unmanned aerial vehicle that flies toward a facility based on a predetermined flight route and inspects the facility;
A marking device installed at at least one location of the facility and transmitting a laser beam for guiding the unmanned aircraft;
With
When the unmanned aerial vehicle receives the laser beam from the marking device, the unmanned aircraft flies to continue receiving this laser beam and goes toward the marking device of the facility.
Equipment inspection system characterized by that. The flight route of the unmanned aerial vehicle is created so as to fly in order in the places where the respective marking devices are installed,
Each of the marking devices transmits a laser beam toward a marking device installed in front of the flight route.
The equipment inspection system according to claim 1.

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