© 2019 Taylor & Francis Group, London. In recent years, infrastructure deterioration is remarkable in Japan. Measures against the deterioration of the infrastructure are serious issues. Inspection and management of bridges, tunnels, etc. are carried out periodically by management organizations. This work is often done at high altitudes. In addition, there are lack of personnel involved in checks and work. In recent years, it is expected that utilization of universal availability unmanned aerial vehicles (drone) is possible. In this research, we proposed spraying repair materials to concrete structures using drone. Specifically, repair materials were sprayed on wall structures and tunnels using drone. As a result, it turned out that it is difficult to make the drones fly stably. It also turned out that repaired material sprayed was “unevenness”. Therefore, we devised further measures for stable flight. We report the experimental results with the signature of 2D sensor and LED which measures the distance between the drone and the structure by the equipment installed in the drone and the possibility of the application.