METHOD FOR INSPECTION OF CLOSED UNDERGROUND MINES USING UNMANNED AERIAL VEHICLES Russian patent published in 2019 - IPC G05D1/00 

FIELD: aviation.

SUBSTANCE: invention relates to a method for inspection of closed underground mines using unmanned aerial vehicles. For this purpose, at least three unmanned aerial vehicles (UAVs) equipped with payload for survey are used to obtain survey data. At that, the first UAV is driving, the rest are driven. Leading drone occupies the lower altitude train, the second UAV – intermediate, the third – upper. Permissible drone distance from limit flight limits are determined by flight safety and presence of stable connection. At that, the second UAV is a relay of data over the radio channel from the first UAV to the third UAV, which is also connected via radio channel to the ground base control station, transmitting obtained data of the tracking of the slave UAV and receiving commands of flight control or change of flight program. At that, if stable communication is not provided, all drone are returned to starting position.

EFFECT: higher quality of inspection of closed underground mines by non-destructive methods, increased range of examinations.

1 cl, 6 dwg