Method for displaying inspection route generation process on user interface of computer in method for displaying, on user interface of computer, facility inspection process using drone

Abstract

The present invention relates to a method for displaying, on a user interface, a process of generating, on the user interface, a 3D map composed of point clouds from using point cloud information acquired through a drone traveling around a facility, and generating an inspection route along which the drone can travel, on the basis of the generated 3D map and a 2D map obtained by viewing the 3D map from an arbitrary point.

Description

A method of displaying the process of inspecting facilities using a drone on a computer user interface, including the process of creating an inspection route on a computer user interface.

[0001] The present invention relates to a method for displaying a process of inspecting a facility using a drone on a user interface of a computer, and in inspecting a crack formed in a facility using a drone, a 3D map composed of point clouds is generated on a user interface using point cloud information acquired by a drone driving around the facility, and an inspection route along which the drone can be driven is generated based on the generated 3D map and a 2D map in a state of viewing the 3D map from an arbitrary point, and further, an inspection result acquired by the drone driving along the inspection route is generated on the user interface.

[0002]

[0003] Facility inspections typically involve personnel using heavy equipment to visually assess the structure for cracks, efflorescence, water leaks, and exposed rebar. This process is not only time-consuming and labor-intensive, but also carries the risk of hazardous accidents such as falls. Therefore, with the goal of reducing labor costs, numerous facility inspection technologies utilizing unmanned robots are currently being reported.

[0004] Typically, robotic facility inspections involve human operators directly controlling the robots and collecting inspection data (video and sensor data). Therefore, robotic facility inspections typically require skilled operators to perform inspections and manually collect data. This method is time-consuming and labor-intensive, and carries the risk of collisions with the facility, leading to its current limited use in field testing.

[0005] Looking at the related prior art, Korean Patent Registration No. 10-2192686, the prior art discloses a technical feature that can increase efficiency in terms of manpower and time by allowing the drone control center operator to control the drone by defining the drone's mission in advance for remote inspection of various facilities, thereby allowing the drone to be operated remotely without having to visit the site where the drone measuring the facility is located, and by performing the tasks that were performed on site at the drone control center.

[0006] However, even in the above-described conventional technology, there is still a problem of time and manpower consumption as the control skills of a skilled pilot are required for facility inspection.

[0007] Furthermore, even if facility inspection is carried out by drone operation by skilled pilots, there is a limit to drone operation through adjustment because the entire structure of the facility cannot be grasped, and even if an inspection route on which the drone can be operated is created, it is limited to an inspection route that can be confirmed on the screen or by sight according to the movement of the drone at the pilot's location, and additional time and manpower are consumed because the inspection results obtained according to the operation of the drone must be re-analyzed, and even if the inspection results are analyzed, there is a problem in that the accuracy is bound to be very low.

[0008] Therefore, in order to minimize the consumption of time and manpower in facility inspection, increase the accuracy of facility inspection, and at the same time increase the efficiency and convenience of facility inspection, there is an urgent need for research on methods that can facilitate the process of facility inspection using drones and easily check the progress of the inspection.

[0009]

[0010] In order to solve the problems of the above-mentioned conventional technology, to minimize the consumption of time and manpower in facility inspection, to increase the accuracy of facility inspection, and at the same time to increase the efficiency and convenience of facility inspection, we propose a method that can facilitate the process of inspecting facilities using drones and to easily check the progress of the process.

[0011]

[0012] In order to solve the problems according to the above-described prior art, a method of displaying the process of inspecting a facility using a drone on a computer user interface (UI), a method of displaying the process of generating an inspection route on the user interface (UI),

[0013] (b) a step in which a 3D map of the facility composed of a point cloud is displayed on one side of the user interface (UI), and a 2D map is displayed on the other side of the user interface (UI) in a state in which the 3D map is viewed from an arbitrary point of the user interface (UI);

[0014] (d) a step of creating a 2D inspection range formed by a line of a certain length or a certain area on the 2D map;

[0015] (e) a step of creating a 3D inspection range in which the 2D inspection range is reflected on the 3D map; and

[0016] (f) It may include a step of generating an inspection route expressed in a predetermined form as an inspection route along which the drone icon moves in the 3D inspection range on the 3D map and the 2D inspection range on the 2D map.

[0017]

[0018] Preferably, (c) after step (b), the method further includes a step of specifying a range of heights for inspection on the 3D map in the user interface (UI),

[0019] After the above step (c), the above step (d) is performed,

[0020] In the above step (e), a 3D inspection range in which the range of the inspection height is reflected in the 2D inspection range can be created on the 3D map.

[0021]

[0022] Preferably, in the step (c), a specific height on the 3D map is further specified in the user interface (UI),

[0023] The portion of the point cloud corresponding to the specific height on the above 3D map and the above 2 map is expressed to be distinct from other portions,

[0024] The color of the portion of the point cloud corresponding to the specific height on the 3D map is the same as the color of the portion of the point cloud corresponding to the specific height on the 2D map,

[0025] In the above step (d), the 2D inspection range may include a portion of the point cloud corresponding to the specific height on the 2D map.

[0026]

[0027] Preferably, the portion of the point cloud corresponding to the upper height and lower height among the range of the inspection heights on the 3D map is expressed to be distinguished from other portions,

[0028] The above specific height corresponds to a height within the range of the above inspection heights,

[0029] The above 3D map is configured so that the specific height can be changed,

[0030] In the above user interface (UI), when the 3D map and the 2D map are displayed simultaneously, the shape of the 2D map may change as the specific height on the 3D map changes.

[0031]

[0032] Preferably, (g) after step (f), the method further includes a step of moving the drone icon along the inspection path on the 3D map,

[0033] In the above step (f), the inspection path is created with a number of inspection points expressed in a predetermined form positioned at regular intervals.

[0034] In the above step (g), during the process of the drone icon moving along the inspection path, the color of the inspection point may be configured to change as the drone icon passes through the inspection point.

[0035]

[0036] By means of the above-described problem-solving means, a 3D map composed of point clouds is generated in a user interface using point cloud information acquired by a drone driving around a facility, and an inspection route along which the drone can drive is generated based on the generated 3D map and a 2D map in a state of looking at the 3D map from an arbitrary point, so that the process of inspecting the facility can be easily carried out and the progress can be easily confirmed.

[0037] Furthermore, the photographed information acquired by a drone traveling along a designated inspection route around a facility is calculated by a predetermined program, and the calculated inspection results are displayed on a user interface, thereby making it easy to check inspection results with increased accuracy.

[0038]

[0039] FIGS. 1 to 9 are drawings showing a state in which a process of inspecting a facility using a drone according to the present invention is displayed on a user interface of a computer.

[0040]

[0041] Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings. Throughout this process, the thickness of lines and the sizes of components depicted in the drawings may be exaggerated for clarity and convenience. Furthermore, the terms described below are defined based on their functions in the present invention and may vary depending on the intent or custom of the user or operator. Therefore, the definitions of these terms should be based on the overall content of this specification.

[0042]

[0043] 1. Steps for creating a 3D map in the user interface

[0044] Referring to Fig. 1, a method of displaying the process of inspecting a facility using a drone on a computer user interface (UI) is described, in which the process of generating a 3D map is displayed on the user interface.

[0045] Drones scan structures by driving autonomously or manually around them, and the scanned data can be transmitted to a computer. Equipped with IMU sensors, GPS sensors, and LiDAR sensors, drones using SLAM technology scan structures. Point cloud information is acquired through scanning, and this point cloud information is transmitted to a computer, where a 3D map composed of the point cloud can be generated on the computer's user interface.

[0046]

[0047] Specifically, when a drone is represented as a drone icon of a predetermined form on a computer user interface, and location information of the drone acquired by a GPS sensor or the like mounted on the drone is transmitted to the computer in real time or periodically, a drone icon linked to a drone driving around a facility can be configured to move on the user interface according to the drone's driving. In other words, the drone's driving can be represented by the movement of the drone icon on the user interface.

[0048] Furthermore, since the drone driving around the facility and the drone icon on the user interface are linked, not only is the drone's driving expressed by the drone icon, but the drone can also be driven by moving the drone icon on the user interface.

[0049]

[0050] As the drone flies around the facility, scanned information about the facility is acquired, and the scanned information about the facility can be transmitted from the drone to a computer in real time or periodically.

[0051] As the drone flies, points that make up a point cloud are created based on scanned information about the facility that is transmitted to the computer in real time or periodically, and as the number of points created in this way accumulates, a 3D map of the facility composed of the point cloud can be created.

[0052] That is, as the drone icon is moved in the user interface, a 3D map of the facility composed of point clouds can be generated.

[0053]

[0054] Considering the SLAM technology, IMU sensors, GPS sensors, and lidar sensors installed on drones, scanning the entirety of a wide area of ​​a facility from a fixed location without moving is limited. Scanning is only possible for portions of the facility within a certain distance from the drone, so scanning the entire facility requires the drone to move throughout the facility. Accordingly, the points that make up the point cloud in the user interface may be generated within a certain distance from the drone icon.

[0055] That is, as the scanned information acquired while the drone is flying (and thus the drone icon on the user interface moves) is transmitted to the computer in real time or periodically, points are generated on the user interface. The scanned information on the facility may be scanned information on the facility located within a certain distance from the drone. Accordingly, the points on the user interface may also be points generated within a certain distance from the drone icon.

[0056] In the user interface, points are generated only within a certain distance from the drone icon. However, as the drone icon moves, points are continuously generated within a certain distance from the moving drone icon. Ultimately, points are generated within the entire range of the drone icon movement in the user interface, and the number of generated points is accumulated to form a point cloud.

[0057] The drone icon can be adjusted to move in the user interface, allowing the drone's flight to be adjusted accordingly.

[0058] Points that make up a point cloud can be generated in the direction in which the drone icon is moved in the user interface.

[0059] That is, points are created within a certain distance from the drone icon, and as the drone icon moves in the user interface, points can be created in the direction of movement of the drone icon.

[0060] The direction in which the drone icon moves in the user interface can be adjusted, and accordingly the direction in which the drone flies can be adjusted.

[0061] The entire facility can be roughly examined, and the drone icon can be moved to the required location in the user interface (the area where the drone has not flown and thus has not been scanned yet, and the point cloud configuration in the user interface is incomplete), so that a point cloud for the entire facility can be generated in the user interface.

[0062]

[0063] As the number of points generated from the user interface accumulates, a 3D map of the generated facility can be configured to rotate at a certain angle based on the center of the user interface.

[0064] By closely examining the 3D map of the facility generated in the user interface from various angles, you can determine which parts of the entire 3D map of the facility have not yet been generated as point clouds.

[0065] If a point cloud has not yet been generated for the entire structure of a facility in the user interface, and thus the 3D map for the entire facility is not yet complete, the drone icon can be moved to the part where the point cloud has not yet been generated (thereby, the drone will fly to the part of the facility where the point cloud has not been generated and scan that part of the facility), so that a point cloud corresponding to that part can be generated in the user interface. In this way, a 3D map for the entire facility can be completed.

[0066] Figure 1 illustrates the process of generating a 3D map of a facility by gradually clarifying the point cloud as the drone icon moves in the user interface. The blue shapes in Figure 1 represent the moving drone icon, while the orange and red areas represent the point cloud being generated as the generated points accumulate.

[0067]

[0068] 2. The step where the inspection route for the autonomous drone is created in the user interface.

[0069] Referring to FIGS. 2 to 7, a method of displaying a process of inspecting a facility using a drone on a computer user interface, including a process of generating an inspection route, is described.

[0070] A 3D map of a facility composed of a point cloud may be displayed on one side of the user interface, and a 2D map, which is viewed from any point on the user interface, may be displayed on the other side of the user interface. Preferably, the 2D map may be displayed as a top-down view of the 3D map.

[0071] Figure 2 illustrates the state in which 3D maps and 2D maps are displayed in the user interface. Among the point clouds representing facilities on the 3D map and 2D map, the white portion represents the point cloud forming a horizontal plane at the height of the point where the initial drone icon is located.

[0072]

[0073] Afterwards, a range of heights and specific heights for inspection on the 3D map can be specified in the user interface.

[0074] An inspection route can be created on a 3D map of the user interface, location information about the created inspection route can be transmitted from the computer to the drone, and based on the location information about the transmitted inspection route, the drone can drive and take pictures of facilities using a camera mounted on the drone.

[0075] Therefore, in order to take pictures of the parts of the facility that need inspection first, an inspection route along which the drone must travel needs to be created on a 3D map.

[0076] Because of the three-dimensional nature of the 3D map, specifying the area requiring inspection on a three-dimensionally constructed 3D map can be inaccurate due to the fact that it can vary depending on the viewing angle. To minimize this inaccuracy, a 2D inspection area corresponding to a specific height on the 3D map is designated, and a 3D inspection area reflecting this 2D inspection area is generated on the 3D map.

[0077] Accordingly, in order to specify the range that requires inspection on the 3D map, a range of inspection heights and a specific height can be specified first.

[0078] The inspection height range refers to the height range of the facility that requires inspection. For example, if inspection is required within a height range of 13m to 24m from the initial drone position, the inspection height range can be specified on the 3D map as 13m to 24m. The inspection height range can be specified by entering a numerical value or by moving an arbitrary bar shape. Furthermore, any method that allows the inspection height range to be specified on the 3D map is of course possible.

[0079] A specific height is a specific height that can be distinguished from other areas on both 3D and 2D maps. For example, a specific height could be designated as 15 meters based on the point where the drone was first positioned within a facility.

[0080] This specific height may be a height within the range of the inspection heights described above.

[0081] You can specify a specific height by entering a height number, or you can specify a range of specific heights by moving an arbitrary bar shape. Furthermore, any method that allows you to specify a specific height on a 3D map is of course possible.

[0082] A portion of a point cloud corresponding to a specific height on a 3D map and a 2D map can be expressed to be distinct from other portions. Since a 2D map is linked to a 3D map, when a specific height is specified on the 3D map, it is reflected in the 2D map, so that a portion of a point cloud corresponding to a specific height on the 2D map can be expressed to be distinct from other portions. Of course, the color of a portion of a point cloud corresponding to a specific height on the 3D map and the color of a portion of a point cloud corresponding to a specific height on the 2D map can be expressed identically.

[0083] Similarly, the portions of the point cloud corresponding to the upper and lower heights of the inspection height range on the 3D map can be expressed to be distinct from the other portions.

[0084] A specific height on a 3D map can be configured to be changeable. When a 3D map and a 2D map are displayed simultaneously, the shape of the 2D map can be changed as the specific height on the 3D map is changed. That is, on the 2D map, a portion of the point cloud corresponding to a specific height specified on the 3D map is expressed to be distinct from other portions, and when a specific height specified on the 3D map is changed, the shape of the portion of the point cloud corresponding to the changed specific height may be different from the shape of the portion of the previous point cloud. Accordingly, on the 2D map, a portion of the point cloud corresponding to the changed specific height is expressed to be distinct from other portions, and the shape of the 2D map can be changed.

[0085] Since the range of inspection heights and specific heights are expressed to be distinct from other parts on the 3D map and 2D map, it is possible to clearly distinguish which part to select as the inspection range, and thus the range requiring inspection can be accurately designated thereafter.

[0086] Figure 3 illustrates a 3D map and a 2D map with a specified height range and a specific height. The red color clearly distinguishes the upper and lower heights of the inspection height range in the 3D map, while the white area represents a specific height. The white area in the 2D map represents the point cloud forming the horizontal plane at the specific height.

[0087]

[0088] A 2D inspection range formed by a line of a certain length or a certain area can be created on the 2D map when a range of inspection heights is specified on the 3D map and a specific height is specified on the 3D map and the 2D map. A line of a certain length can be configured to be formed by clicking on one point and another point with the mouse, and a certain area can be configured to be formed by dragging with the mouse.

[0089] A 2D inspection range formed on a 2D map can be reflected in the inspection height range on the 3D map, and a 3D inspection range can be created on the 3D map. That is, a 3D inspection range of a certain plane can be formed on the 3D map by reflecting the inspection height range on a line of a certain length on the 2D map, or a 3D inspection range of a certain three-dimensional range can be formed by reflecting the inspection height range on a certain area on the 2D map.

[0090] Figure 4 illustrates a state in which a 3D inspection range is displayed on a 3D map and a 2D inspection range is displayed on a 2D map. On the 2D map, a 2D inspection range (range displayed in green) is formed that includes a portion of a point cloud corresponding to a specific height displayed in white, and on the 3D map, a 3D inspection range (range displayed in green) is formed in which the inspection height range is reflected in the 2D inspection range. Naturally, the 3D inspection range can include the 2D inspection range.

[0091]

[0092] Thereafter, with the inspection range accurately designated on the 3D map and 2D map, an inspection route (an inspection route along which the drone travels around the facility) along which the drone icon moves within the designated inspection range on the 3D map and 2D map can be generated through the operation of a program to which a predetermined algorithm is applied. The operation of the program to which a predetermined algorithm is applied, which is configured to generate an inspection route, follows the prior art.

[0093] Figure 5 illustrates a state in which an inspection route is formed in a 3D inspection range and a 2D inspection range on a 3D map and a 2D map.

[0094]

[0095] Once location information for the generated inspection route has been transmitted from the computer to the drone, the drone can operate autonomously based on the received location information. Specifically, the drone receives location information for each inspection point along the inspection route from the computer, and based on this location information, it navigates to each inspection point, allowing autonomous operation.

[0096] As the drone autonomously moves along the inspection route around the designated facility based on the location information about the inspection route it received, the drone icon can be displayed as moving along the inspection route on the 3D map of the user interface.

[0097] Figure 6 illustrates the state of a drone icon moving on a 3D map and a 2D map. A certain shape expressed in white on the 3D map and the 2D map represents a drone icon.

[0098]

[0099] On the 3D map and 2D map of the user interface, an inspection route can be created with multiple inspection points positioned at regular intervals. When a drone icon moves through multiple inspection points on the 3D map and 2D map, the color of the inspection point can be configured to change when the drone icon passes through one of the inspection points.

[0100] As the drone autonomously flies along a designated inspection route around the facility, the drone's location information is transmitted to a computer, and the drone icon can be configured to move along the inspection route on a 3D map and a 2D map of the computer's user interface.

[0101] If the drone icon cannot complete the entire inspection route at once and returns to its original position and then moves along the inspection route on the 3D map and 2D map again after a certain period of time (i.e., if the drone cannot drive the entire designated inspection route around the facility at once and must return to its original position and then drive along the designated inspection route again after a certain period of time), it is configured to move only by passing through the remaining inspection points that have not been passed through, excluding the inspection points that have already been passed through, without moving from the beginning again. In order to confirm this on the 3D map and 2D map, the inspection points that have already been passed through need to be expressed separately from the inspection points that have not been passed through.

[0102] Figure 7 illustrates the state of the drone icon moving on the 3D map and 2D map. Among the numerous inspection points that make up the inspection route on the 3D map and 2D map, the color of the inspection points already passed by the drone icon (dark orange) is expressed differently from the color of the other inspection points (light orange) so that they can be distinguished from each other.

[0103]

[0104] 3. The stage where inspection results for facilities based on information acquired through drones are generated in the user interface.

[0105] Referring to FIGS. 8 and 9, a method of displaying a process of generating a point-by-point result for a facility on a user interface of a computer among the methods of inspecting a facility using a drone is described.

[0106] As described above, after a 3D map and a 2D map of a facility composed of a point cloud are displayed in the user interface and an inspection route is created along which a drone icon moves, the drone autonomously follows the designated inspection route around the facility based on information about the inspection route transmitted from the computer.

[0107] As the drone autonomously navigates along the inspection route, cameras mounted on the drone can capture images of areas of the facility requiring inspection. The captured images can then be transmitted from the drone to a computer.

[0108] When an inspection completion path expressed in a predetermined format on a 3D map of the user interface is created, a photographed image of a portion of a facility matching the inspection completion path can be displayed on the user interface.

[0109] That is, while the inspection completion route, which is the inspection route that the drone has already passed through autonomously, is displayed in a predetermined format on a 3D map, images of parts of the facility captured by the camera mounted on the drone while the drone is driving along the inspection completion route can be displayed on the user interface.

[0110] You can check the inspection completion route expressed in a certain format on the 3D map of the user interface to see if the area requiring inspection is correct, and you can check the images taken by cameras mounted on drones traveling along the inspection completion route on the user interface to see if the area requiring inspection has been properly captured.

[0111] Figure 8 illustrates a state in which a predetermined inspection completion route is expressed on a 3D map and a number of images captured by a camera mounted on a drone traveling along the inspection completion route are displayed. The portion highlighted in blue on the 3D map represents the inspection completion route on the 3D map.

[0112]

[0113] After the captured image is displayed on the user interface, an inspection result image for a portion of the facility showing multiple cracks in the captured image can be automatically displayed on the user interface through a calculation by a program to which a predetermined algorithm is applied. The calculation by the program to which a predetermined algorithm is applied to detect cracks in the captured image follows the prior art.

[0114] Cracks can be detected in captured images through the operation of a program using a specific algorithm, and an inspection result image displaying the detected cracks can be displayed. The cracks displayed in the inspection result image can be distinguished by color from other areas within the image. Therefore, cracks occurring in areas of the facility requiring inspection can be clearly identified.

[0115] Furthermore, a plurality of crack confirmation ranges each including a plurality of cracks can be expressed on the inspection result image, and the borders of the cracks and the crack confirmation ranges can be expressed in a way that they can be distinguished from each other by color on the inspection result image.

[0116] A crack identification range can be expressed that includes each of the multiple cracks displayed on the inspection result image. A single crack can be expressed as a single crack identification range that includes each of these cracks. By distinguishing multiple cracks occurring in a facility requiring inspection, each individual crack can be clearly identified.

[0117] Furthermore, the inspection result image may be expressed in such a way that the sequential number of each crack corresponds to each of the multiple crack identification ranges. The sequential number of the cracks included in each crack identification range may be expressed near the boundary of each crack identification range. Any method that allows the sequential numbering to be expressed so that each crack can be identified separately among multiple cracks is of course possible.

[0118] These sequences are matched with the crack list displayed in the user interface. That is, a crack list in which the sequences of the cracks are listed in order can be expressed in a predetermined format in the user interface. Furthermore, the sequence of the cracks is expressed in the crack list, and the length, thickness, shape, etc. of the crack corresponding to the sequence of the crack can be expressed in connection with the sequence of the crack. Each crack that has occurred in a part of the facility requiring inspection can be clearly identified, and furthermore, the type, thickness, length, distance, etc. of each crack that has occurred can be clearly confirmed in the user interface.

[0119] Figure 9 shows an inspection result image in which a plurality of cracks and a plurality of crack confirmation ranges including each of the plurality of cracks are expressed, and a crack list in which the type, thickness, length, and distance of each of the plurality of cracks are expressed.

[0120]

[0121] While the present invention has been described with reference to the embodiments illustrated in the drawings to facilitate understanding and reproduction by those skilled in the art, these are merely exemplary, and those skilled in the art will appreciate that various modifications and equivalent embodiments are possible based on the embodiments of the present invention. Therefore, the scope of protection of the present invention should be defined by the claims.

Claims

1. In a method of displaying the process of inspecting a facility using a drone on a computer user interface (UI), a method of displaying the process of creating an inspection route on a computer user interface (UI), (b) a step in which a 3D map of the facility composed of a point cloud is displayed on one side of the user interface (UI), and a 2D map is displayed on the other side of the user interface (UI) in a state in which the 3D map is viewed from an arbitrary point of the user interface (UI); (d) a step of creating a 2D inspection range formed by a line of a certain length or a certain area on the 2D map; (e) a step of creating a 3D inspection range in which the 2D inspection range is reflected on the 3D map; and (f) A method including a step of generating an inspection route expressed in a predetermined form as an inspection route along which the drone icon moves in the 3D inspection range on the 3D map and the 2D inspection range on the 2D map.

2. In paragraph 1, (c) After the step (b), a step is further included in which a range of the height for inspection on the 3D map is specified in the user interface (UI), After the above step (c), the above step (d) is performed, In the above step (e), a method for generating a 3D inspection range in which the range of the inspection height is reflected in the 2D inspection range on the 3D map.

3. In paragraph 2, In the above step (c), a specific height on the 3D map is further specified in the user interface (UI), The portion of the point cloud corresponding to the specific height on the above 3D map and the above 2 map is expressed to be distinct from other portions, The color of the portion of the point cloud corresponding to the specific height on the 3D map is the same as the color of the portion of the point cloud corresponding to the specific height on the 2D map, In the above step (d), the 2D inspection range includes a portion of the point cloud corresponding to the specific height on the 2D map.

4. In paragraph 3, On the above 3D map, the portion of the point cloud corresponding to the upper and lower heights of the inspection height range is expressed to be distinguished from other portions, The above specific height corresponds to a height within the range of the above inspection heights, The above 3D map is configured so that the specific height can be changed, A method in which the shape of the 2D map changes as the specific height on the 3D map changes while the 3D map and the 2D map are displayed simultaneously in the user interface (UI).

5. In paragraph 1, (g) After the step (f), a step is further included in which the drone icon is moved along the inspection path on the 3D map. In the above step (f), the inspection path is created with a number of inspection points expressed in a predetermined form positioned at regular intervals. A method configured such that, during the process of the drone icon moving along the inspection path in the above step (g), the color of the inspection point changes as the drone icon passes through the inspection point.

Images