KR102319260B1 - Drone for flying over the road and interlocking with traffic lights based on the flight path provided to follow the road and operating method thereof - Google Patents

Abstract

Disclosed are a drone that flies over a road according to a flight path provided to follow the road, and a method of operating the same. In the present invention, when destination location information is received from a user terminal, information on a driving route on a road from a current location point to a point according to the destination location information is generated, and the driving route is based on the information on the driving route. After creating a flight path to fly over the road according to possibility can be minimized.

Description

A drone that flies over a road and interlocks with a traffic light according to a flight path prepared to follow the road and its operation method OPERATING METHOD THEREOF}

The present invention relates to a drone that flies over a road according to a flight path provided to follow the road, and a method of operating the same.

A drone is an unmanned aerial vehicle that can fly automatically by receiving a control signal from a drone control device that is connected via wire or wireless. is becoming

In this regard, the drone user can freely control the flight of the drone according to the purpose of use by controlling the flight direction, flight altitude, etc. of the drone through the drone control device.

In addition, recently, autonomous flying drones that can fly autonomously without user control are also emerging. These autonomous flying drones have a function of reaching the destination through autonomous flight without the user's control when a user sets a predetermined destination, and are mainly used for reconnaissance purposes or unmanned courier services.

However, with the commercialization of drones, the problem that the drone may invade an unauthorized area for safety and security reasons, and the problem that a collision with an object existing in the air, such as another flying vehicle, may occur, etc. Measures to control flight are required.

In particular, if autonomous drones are more widely distributed in the future, the possibility of accidents caused by the flight of autonomous drones can be very high. There is a need for research on the technique.

On the other hand, when each of a plurality of vehicles on the road arrives at an intersection, which is a point where the driving paths intersect in order to smoothly travel along different driving paths, they stop for a while and then drive according to a traffic signal that allows driving in the corresponding direction. do. In other words, by constructing a traffic signal system that alternately activates traffic signals such as a straight forward signal, a stop signal, and a left turn signal to prevent collision accidents between vehicles with different driving directions at the intersection, multiple vehicles can move in different directions. make it possible to drive

Similarly, a method of preparing a traffic signal system such as a traffic signal system on the road can be considered in the air in which the drone is flying. You can consider creating a route.

Therefore, it is necessary to study a technology for controlling the flight of the drone so that the drone can effectively fly over the road according to the flight path prepared to follow the road.

In the present invention, when destination location information is received from a user terminal, information on a driving route on a road from a current location point to a point according to the destination location information is generated, and the driving route is based on the information on the driving route. After creating a flight path to fly over the road according to to minimize the possibility.

A drone flying over a road according to a flight path prepared to follow the road according to an embodiment of the present invention is road map data for generating a driving route - The road map data is a plurality of existing on the road according to the road map data Includes location information of each of the traffic lights and identification information of a traffic light control device that controls each of the plurality of traffic lights. When the destination location information is received from the location information acquisition unit and the user terminal, information on the first driving route on the road from the point according to the current location information to the point according to the destination location information is obtained with reference to the road map data. A flight path generation unit that generates, a flight path generation unit that generates information on a first flight path for flying over a road according to the first travel path based on the information on the first travel path, and the first flight and a flight controller for controlling the drone to fly according to the first flight path based on the information on the path.

In addition, the operating method of a drone flying over a road according to a flight path prepared to follow the road according to an embodiment of the present invention is road map data for generating a driving route - the road map data is a road according to the road map data Maintaining a road map data storage unit in which - including location information of each of the plurality of traffic lights present on the image and identification information of a traffic light control device for controlling each of the plurality of traffic lights; Obtaining the current location information of the drone, when the destination location information is received from the user terminal, the first driving on the road from the point according to the current location information to the point according to the destination location information with reference to the road map data Generating information on a route, generating information on a first flight path for flying over a road according to the first travel route based on the information on the first travel route, and the first flight path and controlling the drone to fly according to the first flight path based on the information on the .

In the present invention, when destination location information is received from a user terminal, information on a driving route on a road from a current location point to a point according to the destination location information is generated, and the driving route is based on the information on the driving route. After creating a flight path to fly over the road according to possibility can be minimized.

1 is a diagram illustrating a structure of a drone flying over a road according to a flight path provided to follow the road according to an embodiment of the present invention.
2 is a flowchart illustrating a method of operating a drone flying over a road according to a flight path provided to follow the road according to an embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. These descriptions are not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. While describing each drawing, like reference numerals are used for similar components, and unless otherwise defined, all terms used in this specification, including technical or scientific terms, refer to those of ordinary skill in the art to which the present invention belongs. It has the same meaning as is commonly understood by those who have it.

In this document, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated. In addition, in various embodiments of the present invention, each of the components, functional blocks or means may be composed of one or more sub-components, and the electrical, electronic, and mechanical functions performed by each component are electronic. A circuit, an integrated circuit, an ASIC (Application Specific Integrated Circuit), etc. may be implemented with various well-known devices or mechanical elements, and may be implemented separately or two or more may be integrated into one.

On the other hand, the blocks in the accompanying block diagram or steps in the flowchart are computer program instructions that are loaded in a processor or memory of equipment capable of data processing, such as a general-purpose computer, a special-purpose computer, a portable notebook computer, and a network computer, and perform specified functions. can be interpreted as meaning Since these computer program instructions may be stored in a memory provided in a computer device or in a memory readable by a computer, the functions described in the blocks of the block diagrams or the steps of the flowcharts are produced as articles of manufacture containing instruction means for performing the same. could be In addition, each block or each step may represent a module, segment, or portion of code comprising one or more executable instructions for executing the specified logical function(s). It should also be noted that, in some alternative embodiments, it is also possible for the functions recited in blocks or steps to be executed out of the prescribed order. For example, two blocks or steps shown one after another may be performed substantially simultaneously or in the reverse order, and in some cases, some blocks or steps may be omitted.

1 is a diagram illustrating a structure of a drone flying over a road according to a flight path provided to follow the road according to an embodiment of the present invention.

1, a drone 110 flying over a road according to a flight path prepared to follow the road according to an embodiment of the present invention includes a road map data storage unit 111, a location information acquisition unit 112, It includes a travel path generation unit 113 , a flight path generation unit 114 , and a flight control unit 115 .

The road map data storage unit 111 stores road map data for generating a driving route.

Here, the road map data includes location information of each of a plurality of traffic lights existing on a road according to the road map data and identification information of a traffic light control device for controlling each of the plurality of traffic lights.

The location information acquisition unit 112 acquires current location information of the drone 110 through GPS.

When the destination location information is received from the user terminal 140 , the driving route generator 113 refers to the road map data and refers to the first location on the road from the point according to the current location information to the point according to the destination location information. Generate information about the driving route.

The flight path generator 114 generates information on the first flight path for flying over the road according to the first travel path based on the information on the first travel path.

Thereafter, the flight controller 115 controls the drone 110 to fly according to the first flight path based on the information on the first flight path.

At this time, according to an embodiment of the present invention, the flight control unit 115 is configured to prevent accidents caused by collisions between the drones 110 , and the traffic light confirmation unit 116 , the traffic signal information receiver 117 , and the flight direction are confirmed. It may include a unit 118 and a traffic light following control unit 119 .

When the drone 110 starts to fly according to the first flight path, the traffic light check unit 116 refers to the road map data from the current flight position of the drone 110 based on the flight direction of the drone 110 . Check that traffic lights exist within a predetermined separation distance.

When it is confirmed that the first traffic light 150 among the plurality of traffic lights exists within the separation distance from the current flight position of the drone 110, the traffic signal information receiver 117 refers to the road map data to the first traffic light Identification information of the first traffic light control device 160 that controls 150 is checked, and the first traffic light control device 160 is accessed based on the identification information of the first traffic light control device 160 to control the first traffic light Receive traffic signal information from device 160 .

For example, the traffic signal information receiving unit 117 receives the traffic signal information such as a 'go straight signal', a 'stop signal', a 'left turn signal', a 'right turn signal' and a 'U-turn signal' from the first traffic light control device 160 . can receive

When the traffic signal information is received from the first traffic light control device 160, the flight direction check unit 118 confirms the flight direction at a point according to the location information of the first traffic light 150 from the first flight path. .

For example, the flight direction at a point according to the location information of the first traffic light 150 may include 'front', 'rear', 'left direction' and 'right direction'.

At this time, according to an embodiment of the present invention, the flight direction check unit 118 is a first traffic light control device in the process of confirming the flight direction based on the traffic signal information received from the first traffic light control device 160 As a configuration for authenticating 160 , it includes an OTP storage unit 120 , an authentication number storage unit 121 , a feedback correlation coefficient request unit 122 , an authentication performing unit 123 , and a flight direction confirmation processing unit 124 . can do.

The OTP storage unit 120 stores a predetermined OTP (One Time Password) generating function that is pre-shared with a traffic light control device for controlling each of the plurality of traffic lights.

Here, OTP means a one-time authentication number that is randomly generated instead of a fixed password, and the OTP generation function is a function that can be predetermined by a developer. Based on the current time value, n (n is a natural number of 2 or more) digits It may be set to generate a one-time authentication number of

The authentication number storage unit 121 stores different n-digit authentication numbers that are different from each other according to the type of traffic signal that can be expressed through a traffic light.

Here, the n-digit authentication numbers according to the type of the traffic signal are authentication numbers that are pre-shared with a traffic light control device that controls each of the plurality of traffic lights.

For example, assuming that n is '5', information may be stored in the authentication number storage unit 121 as shown in Table 1 below.

traffic signal types '5' digit verification number straight signal 1 2 3 4 5 stop sign 23456 left turn signal 34567 right turn signal 45678 U-turn signal 56789

When the traffic signal information is received from the first traffic light control device 160 , the feedback correlation coefficient request unit 122 checks the current traffic signal being expressed through the first traffic light 150 based on the traffic signal information. It requests transmission of a feedback correlation coefficient according to the current traffic signal to the first traffic light control device 160 .

Here, the correlation coefficient means a numerical value indicating the degree of correlation between two variables, and may be calculated according to Equation 1 below.

은 두 변수 사이의 상관 계수로 -1에서 1 사이의 값을 가지며, 두 변수

,

에 대해 m(m은 2이상의 자연수)개의 측정값 (

,

), (

,

), ..., (

,

)이 있는 경우,

는 변수

의

번째 측정값을 의미하고,

는 변수

의

번째 측정값을 의미한다. 그리고,

는 변수

의 m개의 측정값들에 대한 평균값,

는 변수

의 m개의 측정값들에 대한 평균값을 의미하며,

의 절대값이 클수록 두 변수 사이의 상관 관계의 정도가 강하고, 0으로 근접할수록 두 변수 사이의 상관 관계의 정도가 약한 것으로 볼 수 있다.here,

is the correlation coefficient between two variables, with a value between -1 and 1,

,

m (m is a natural number greater than or equal to 2) measured values (

,

), (

,

), ..., (

,

), if there is

is a variable

of

means the second measurement,

is a variable

of

means the second measurement. and,

is a variable

the average value of the m measurements of

is a variable

means the average value of m measured values of

The larger the absolute value of , the stronger the degree of correlation between the two variables, and the closer to 0, the weaker the degree of correlation between the two variables.

For example, assuming that the current traffic signal being expressed through the first traffic light 150 is a 'stop signal', the feedback correlation coefficient requesting unit 122 receives traffic signal information from the first traffic light control device 160 . , After checking the 'stop signal' that is the current traffic signal being expressed through the first traffic light 150 based on the traffic signal information, the feedback correlation coefficient according to the 'stop signal' is transmitted to the first traffic light control device 160 . can request

At this time, according to an embodiment of the present invention, the first traffic light control device 160 is currently based on the OTP generation function stored in the first traffic light control device 160 in response to the request for transmission of the feedback correlation coefficient. After generating a first one-time authentication number according to the time value, and confirming the first authentication number according to the current traffic signal, n numbers constituting the first one-time authentication number and n numbers constituting the first authentication number A first correlation coefficient for indicating a degree of correlation between numbers may be calculated and transmitted to the drone 110 .

In relation to this, according to the above-described example, the first traffic light control device 160 stores the OTP generation function stored in the first traffic light control device 160 in response to a request for transmission of the feedback correlation coefficient according to the 'stop signal'. It is possible to generate a first one-time authentication number according to the current time value based on the.

At this time, if '11111' is generated as the first one-time authentication number, the first traffic light control device 160 is a 'stop signal' among n-digit authentication numbers according to the type of the traffic signal as shown in Table 1 above. After checking '23456', which is the first authentication number according to The first correlation coefficient may be calculated according to Equation 1 above.

If it is assumed that the first correlation coefficient is calculated as 'R', the first traffic light control apparatus 160 may transmit the first correlation coefficient 'R' to the drone 110 .

When the first correlation coefficient is received from the first traffic light control device 160 as a feedback correlation coefficient according to the current traffic signal, the authentication performing unit 123 generates the OTP generation function stored in the OTP storage unit 120 . n pieces constituting the first one-time authentication number after generating the first one-time authentication number according to the current time value based on the current time value, and confirming the first authentication number according to the current traffic signal from the authentication number storage unit 121 Authentication for the first traffic light control device 160 by calculating a correlation coefficient between numbers and n numbers constituting the first authentication number, and checking whether the calculated correlation coefficient and the first correlation coefficient are the same carry out

In relation to the foregoing, when 'R', which is the first correlation coefficient, is received as a feedback correlation coefficient according to the 'stop signal' from the first traffic light control device 160 according to the above-described example, the authentication performing unit 123 is configured to store the OTP Based on the OTP generation function stored in 120, '11111' may be generated as the first one-time authentication number according to the current time value, and '11111' may be generated from the authentication number storage unit 121 as shown in Table 1 above. After checking '23456', which is the first authentication number according to the 'stop signal', '11111' which is '5' numbers constituting the first one-time authentication number and '5' numbers constituting the first authentication number A correlation coefficient between '23456' may be calculated, and authentication of the first traffic light control apparatus 160 may be performed by checking whether the calculated correlation coefficient and the first correlation coefficient 'R' are the same.

In this way, when the authentication for the first traffic light control device 160 is completed, the flight direction confirmation processing unit 124 confirms the flight direction at a point according to the location information of the first traffic light 150 from the first flight path .

That is, the flight direction check unit 118 trusts only the traffic signal information received from the first traffic light control device 160 for which authentication has been completed and confirms the flight direction, thereby causing an accident of the drone 110 due to an external disturbance signal. can be supported to prevent

Thereafter, the traffic light following control unit 119 generates a traffic light following control command related to progress and stop in the flight direction based on the traffic signal information, and controls the flight of the drone 110 according to the traffic light following control command do.

For example, as the authentication for the first traffic light control device 160 is completed, the flight direction at a point according to the location information of the first traffic light 150 from the first flight path by the flight direction confirmation processing unit 124 is When it is confirmed as 'forward', the traffic light following control unit 119 generates a traffic light following control command to instruct the drone 110 to stop flying to 'forward' when a 'stop signal' is received as the traffic signal information. Thus, the flight of the drone 110 can be controlled. Thereafter, if the 'going straight signal' is received again as the traffic signal information, the traffic light following control unit 119 regenerates a traffic light following control command instructing the drone 110 to proceed to the 'forward' flight of the drone 110 ) to control the flight.

In addition, according to an embodiment of the present invention, the drone 110 prevents collision with other drones by sharing information about the flight path with other drones located nearby during flight, thereby preventing a collision with other drones and sharing the flight path. It may further include a drone confirming unit 125 and a flight path transmitting unit 126 as a configuration for smoothly flying with each other based on the .

The drone check unit 125 identifies at least one drone 170 located within a predetermined radius of the current flight position of the drone 110 .

The flight path transmitter 126 identifies at least one first drone 171 , 172 that is predetermined to be capable of sharing flight path information among the at least one drone 170 , and then at least one first drone It transmits information about the first flight path to (171, 172).

At this time, according to an embodiment of the present invention, the flight path transmission unit 126 is configured to identify at least one first drone 171 , 172 , and a matrix storage unit 127 for authentication, a random matrix generation unit ( 128 ), a feedback requesting unit 129 , an arithmetic matrix calculating unit 130 , and an information transmitting unit 131 .

The authentication matrix storage unit 127 stores a predetermined number of k x k (k is a natural number equal to or greater than 2) for authentication.

Here, the authentication matrix is pre-distributed to drones that are predetermined to allow sharing of flight path information.

The random matrix generator 128 generates a random matrix of (k+t) x k (t is a natural number less than k) composed of random component values.

The feedback requesting unit 129 transmits the random matrix to each of the at least one drone 170, and each of the at least one drone 170 is a kxk identification matrix generated based on the random matrix and the authentication matrix. Ask for feedback.

For example, assuming that k is '6' and t is '3', the authentication matrix storage unit 127 may store an authentication matrix of '6' x '6', and a random matrix generator ( 128) may generate a random matrix of '9' x '6' composed of random component values.

Thereafter, the feedback requesting unit 129 transmits the random matrix of '9' x '6' to each of the at least one drone 170 , and transmits the random matrix and the authentication matrix to each of the at least one drone 170 . It is possible to request feedback of the identification matrix of '6' x '6' generated based on .

The operation matrix operator 130 generates a kxk transformation matrix by removing components of t rows existing at a preset first position in the random matrix, and then generates a Hadamard product between the authentication matrix and the transformation matrix. ) to create a kxk operation matrix.

Here, the Hadamard product refers to the operation of multiplying each component in a matrix of the same size, and when there is a matrix named '[abc]' and '[xyz]' can be expressed as '[ax by cz]'.

For example, as in the example described above, k is '6', t is '3', and t rows existing at a first preset position in the random matrix are '1 row', '3 row', '5' In the case of 'row', the arithmetic matrix operation unit 130 removes the components located in 'Row 1', 'Row 3', and 'Row 5' from the random matrix of '9' x '6' to obtain '6' x A transformation matrix of '6' can be created. Then, the operation matrix operator 130 calculates the Hadamard product between the authentication matrix of '6' x '6' and the transformation matrix of '6' x '6' to obtain an operation matrix of '6' x '6' can create

The information transmitter 131 calculates and feeds back the same matrix as the operation matrix as the identification matrix based on the random matrix and the authentication matrix according to the feedback request of the identification matrix among the at least one drone 170 . After identifying as at least one first drone (171, 172), the information on the first flight path is transmitted to at least one first drone (171, 172).

At this time, according to an embodiment of the present invention, when a feedback request of the identification matrix is received from the drone 110 , the at least one first drone 171 , 172 is present in the first position in the random matrix. After generating the transformation matrix by removing the components of t rows, the Hadamard product between the authentication matrix and the transformation matrix is calculated to generate the identification matrix identical to the operation matrix, and the identification matrix is transferred to the drone 110 . feedback may have been given.

That is, according to the above-described example, when a feedback request for the identification matrix of '6' x '6' is received from the drone 110 , the at least one first drone 171 , 172 receives the '9' x ' '6' x '6' after generating the transformation matrix of '6' x '6' by removing components located in 'Row 1', 'Row 3', and 'Row 5' from the random matrix of 6' By calculating the Hadamard product between the authentication matrix of and the transformation matrix of '6' x '6' to generate the identification matrix of '6' x '6', which is the same as the operation matrix of '6' x '6', The identification matrix of '6' x '6' may be fed back to the drone 110 .

Then, the information transmitter 131 calculates the same matrix as the '6' x '6' operation matrix among the at least one drone 170 as the identification matrix of '6' x '6' and feeds back the drone. After identification as at least one of the first drones 171 and 172 , information on the first flight path may be transmitted to the at least one first drone 171 and 172 .

At this time, according to an embodiment of the present invention, the drone 110 uses a V2X (Vehicle to Everything)-based communication protocol to communicate with the first traffic light control device 160 and at least one first drone 171 and 172 . communication can be performed.

Here, V2X is an abbreviation of Vehicle to Everything, and refers to a communication technology that exchanges information such as traffic information with other vehicles and other infrastructures such as roads through wired/wireless networks.

2 is a flowchart illustrating a method of operating a drone flying over a road according to a flight path provided to follow the road according to an embodiment of the present invention.

In step S210, road map data for generating a driving route (the road map data includes location information of each of a plurality of traffic lights existing on a road according to the road map data and traffic light control for controlling each of the plurality of traffic lights) It maintains a road map data storage in which device identification information is stored.

In step S220, the current location information of the drone is acquired through GPS.

In step S230, when the destination location information is received from the user terminal, information on the first driving route on the road from the point according to the current location information to the point according to the destination location information is obtained with reference to the road map data. create

In step S240, information on a first flight path for flying over a road according to the first travel path is generated based on the information on the first travel path.

In step S250, the drone is controlled to fly along the first flight path based on the information on the first flight path.

At this time, according to an embodiment of the present invention, in step S250, when the drone starts to fly along the first flight path, referring to the road map data, based on the flight direction of the drone, Checking whether a traffic light exists within a predetermined separation distance from the current flight position, if it is confirmed that the first traffic light among the plurality of traffic lights exists within the separation distance from the current flight position of the drone, refer to the road map data to check the identification information of the first traffic light control device for controlling the first traffic light, and access the first traffic light control device based on the identification information of the first traffic light control device to receive a traffic signal from the first traffic light control device Receiving information, when the traffic signal information is received from the first traffic light control device, confirming a flight direction at a point according to the location information of the first traffic light from the first flight path and the traffic signal information based on , generating a traffic light following control command related to progress and stopping in the flight direction, and controlling the flight of the drone according to the traffic light following control command.

At this time, according to an embodiment of the present invention, the step of confirming the flight direction is a predetermined OTP generating function (the OTP generating function is a current time value) shared in advance with a traffic light control device for controlling each of the plurality of traffic lights. (a function that can generate an n-digit one-time authentication number based on maintaining an authentication number storage unit in which numbers (n-digit authentication numbers according to the type of traffic signal are authentication numbers that are pre-shared with a traffic light control device for controlling each of the plurality of traffic lights) are stored; When the traffic signal information is received from the first traffic light control device, the current traffic signal being expressed through the first traffic light is checked based on the traffic signal information, and then feedback according to the current traffic signal to the first traffic light control device requesting transmission of a correlation coefficient; a first correlation coefficient as a feedback correlation coefficient according to the current traffic signal from the first traffic light control device (the first correlation coefficient is the first correlation coefficient by the first traffic light control device transmission of the feedback correlation coefficient In response to a request, a first one-time authentication number is generated according to a current time value based on the OTP generation function stored in the first traffic light control device, and after confirming the first authentication number according to the current traffic signal, the second 1 When a correlation coefficient calculated to indicate a degree of correlation between n numbers constituting the one-time authentication number and n numbers constituting the first authentication number is received), it is stored in the OTP storage unit, Generates the first one-time authentication number according to the current time value based on the OTP generation function, and after confirming the first authentication number according to the current traffic signal from the authentication number storage unit, the first one-time authentication number n numbers constituting the number and n constituting the first authentication number performing authentication for the first traffic light control device by calculating a correlation coefficient between the numbers and confirming whether the calculated correlation coefficient and the first correlation coefficient are the same; and authentication for the first traffic light control device When this is completed, it may include the step of confirming the flight direction at a point according to the location information of the first traffic light from the first flight path.

In addition, according to an embodiment of the present invention, the method of operating the drone includes the steps of: identifying at least one drone located within a predetermined radius of the current flight position of the drone; The method may further include transmitting information on the first flight path to the at least one first drone after identifying at least one first drone that is predetermined to be capable of sharing information on the route.

At this time, according to an embodiment of the present invention, the step of transmitting the information on the first flight path is a predetermined kxk authentication matrix (the authentication matrix is a drone predetermined to enable sharing of flight path information) Maintaining a matrix storage unit for authentication in which is stored), generating a (k+t) x k random matrix composed of random component values, and adding the random matrix to each of the at least one drone while transmitting to the at least one drone, requesting feedback of a kxk identification matrix generated based on the random matrix and the authentication matrix to each of the at least one drone, t rows existing at a preset first position in the random matrix After generating a kxk transformation matrix by removing components of Based on the random matrix and the authentication matrix, a drone fed back by calculating the same matrix as the operation matrix as the identification matrix is identified as the at least one first drone, and then the at least one first drone is used as the first drone. It may include transmitting information about the flight path.

In the above, a method of operating a drone flying over a road according to a flight path prepared to follow the road according to an embodiment of the present invention has been described with reference to FIG. 2 . Here, the operating method of the drone flying over the road according to the flight path provided to follow the road according to an embodiment of the present invention is a drone flying over the road according to the flight path prepared to follow the road described with reference to FIG. 1 . Since it may correspond to the configuration of the operation 110 , a more detailed description thereof will be omitted.

The operating method of a drone flying over a road according to a flight path prepared to follow the road according to an embodiment of the present invention may be implemented as a computer program stored in a storage medium for execution through combination with a computer.

In addition, the operating method of the drone flying over the road according to the flight path prepared to follow the road according to an embodiment of the present invention is implemented in the form of a computer program command for execution through combination with a computer, and is stored in a computer readable medium. can be recorded. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the present invention, or may be known and available to those skilled in the art of computer software. Examples of the computer readable recording medium include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floppy disks. - includes magneto-optical media, and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like.

As described above, the present invention has been described with specific matters such as specific components and limited embodiments and drawings, but these are provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , various modifications and variations are possible from these descriptions by those of ordinary skill in the art to which the present invention pertains.

Therefore, the spirit of the present invention should not be limited to the described embodiments, and not only the claims to be described later, but also all those with equivalent or equivalent modifications to the claims will be said to belong to the scope of the spirit of the present invention. .

110: A drone flying over a road according to a flight path prepared to follow the road
111: road map data storage unit 112: location information acquisition unit
113: travel path generation unit 114: flight path generation unit
115: flight control unit 116: traffic light confirmation unit
117: traffic signal information receiving unit 118: flight direction confirmation unit
119: traffic light tracking control unit 120: OTP storage unit
121: authentication number storage unit 122: feedback correlation coefficient request unit
123: authentication performing unit 124: flight direction confirmation processing unit
125: drone confirmation unit 126: flight path transmission unit
127: matrix storage unit for authentication 128: random matrix generation unit
129: feedback request unit 130: arithmetic matrix operation unit
131: information transmission unit
140: user terminal
150: first traffic light
160: first traffic light control device
170: at least one drone
171, 172: at least one first drone

Claims (12)

In the drone flying over the road according to the flight path provided to follow the road,
Road map data for generating a driving route - The road map data includes location information of each of a plurality of traffic lights existing on a road according to the road map data and identification information of a traffic light control device for controlling each of the plurality of traffic lights contains - a road map data storage unit in which is stored;
a location information acquisition unit configured to acquire current location information of the drone through GPS;
When destination location information is received from the user terminal, driving route generation for generating information on a first driving route on a road from a point according to the current location information to a point according to the destination location information with reference to the road map data wealth;
a flight path generator for generating information on a first flight path for flying over a road according to the first travel path based on the information on the first travel path;
a flight controller for controlling the drone to fly according to the first flight path based on the information on the first flight path;
a drone confirmation unit for identifying at least one drone located within a predetermined radial distance based on the current flight position of the drone; and
A flight path for transmitting information on the first flight path to the at least one first drone after identifying at least one first drone that is predetermined to be capable of sharing flight path information among the at least one drone transmission unit
including,
The flight path transmission unit
A matrix for authentication of a predetermined kxk (k is a natural number greater than or equal to 2) - the authentication matrix is pre-distributed to the drones that are predetermined to allow sharing of flight path information - a matrix storage unit for authentication in which the stored;
a random matrix generator for generating a random matrix of (k+t) x k (t is a natural number less than k) composed of random component values;
a feedback requesting unit for requesting feedback of a kxk identification matrix generated based on the random matrix and the authentication matrix to each of the at least one drone while transmitting the random matrix to each of the at least one drone;
After generating a kxk transformation matrix by removing components of t rows existing at a preset first position in the random matrix, a Hadamard product between the authentication matrix and the transformation matrix is calculated to calculate kxk an arithmetic matrix arithmetic unit generating a matrix; and
According to the feedback request of the identification matrix among the at least one drone, the same matrix as the operation matrix is calculated as the identification matrix based on the random matrix and the authentication matrix and fed back to the at least one first drone. After identification, the information transmitter transmits information on the first flight path to the at least one first drone
A drone flying over a road along a flight path designed to follow a road comprising According to claim 1,
The flight controller
When the drone starts flying according to the first flight path, check the traffic light to check whether a traffic light exists within a predetermined separation distance from the current flight position of the drone based on the flight direction of the drone with reference to the road map data wealth;
When it is confirmed that the first traffic light among the plurality of traffic lights exists within the separation distance from the current flight position of the drone, the identification information of the first traffic light control device for controlling the first traffic light with reference to the road map data a traffic signal information receiving unit which confirms and receives traffic signal information from the first traffic light control device by accessing the first traffic light control device based on the identification information of the first traffic light control device;
When the traffic signal information is received from the first traffic light control device, a flight direction check unit for confirming a flight direction at a point according to the location information of the first traffic light from the first flight path; and
Based on the traffic signal information, a traffic light following control unit for controlling the flight of the drone according to the traffic light following control command by generating a traffic light following control command related to whether to proceed or stop in the flight direction
A drone flying over a road along a flight path designed to follow a road comprising 3. The method of claim 2,
The flight direction confirmation unit
A predetermined OTP (One Time Password) generation function shared in advance with a traffic light control device that controls each of the plurality of traffic lights - The OTP generation function is a one-time password of n (n is a natural number greater than or equal to 2) digits based on the current time value A function that can generate an authentication number - OTP storage unit in which is stored;
Different n-digit authentication numbers according to the type of traffic signal that are predetermined to be able to be expressed through the traffic light - The n-digit authentication number according to the type of the traffic signal is a traffic light control device for controlling each of the plurality of traffic lights It is an authentication number that is shared in advance with the authentication number storage unit in which this is stored;
When the traffic signal information is received from the first traffic light control device, after checking the current traffic signal being expressed through the first traffic light based on the traffic signal information, the first traffic light control device according to the current traffic signal a feedback correlation coefficient requesting unit requesting transmission of a feedback correlation coefficient;
A first correlation coefficient as a feedback correlation coefficient according to the current traffic signal from the first traffic light control apparatus - The first correlation coefficient is the first traffic light control apparatus in response to a request for transmission of the feedback correlation coefficient to control the first traffic light Generates a first one-time authentication number according to the current time value based on the OTP generation function stored in the device, and identifies the first authentication number according to the current traffic signal When - means a correlation coefficient calculated to indicate the degree of correlation between numbers and n numbers constituting the first authentication number - is received, based on the OTP generation function stored in the OTP storage unit, the current After generating the first one-time authentication number according to the time value, and confirming the first authentication number according to the current traffic signal from the authentication number storage unit, n numbers constituting the first one-time authentication number and the second an authentication performing unit for performing authentication on the first traffic light control device by calculating a correlation coefficient between n numbers constituting one authentication number and checking whether the calculated correlation coefficient and the first correlation coefficient are the same; and
When the authentication for the first traffic light control device is completed, the flight direction confirmation processing unit for confirming the flight direction at a point according to the location information of the first traffic light from the first flight path
A drone flying over a road along a flight path designed to follow a road comprising delete delete In the operating method of a drone flying over a road according to a flight path provided to follow the road,
Road map data for generating a driving route - The road map data includes location information of each of a plurality of traffic lights existing on a road according to the road map data and identification information of a traffic light control device for controlling each of the plurality of traffic lights comprising - maintaining a road map data storage unit in which is stored;
obtaining current location information of the drone through GPS;
generating information on a first driving route on a road from a point according to the current location information to a point according to the destination location information with reference to the road map data when the destination location information is received from the user terminal;
generating information on a first flight path for flying over a road according to the first travel path based on the information on the first travel path;
controlling the drone to fly according to the first flight path based on the information on the first flight path;
identifying at least one drone located within a predetermined radius distance based on the current flight position of the drone; and
Transmitting information on the first flight path to the at least one first drone after identifying at least one first drone that is predetermined to be capable of sharing flight path information among the at least one drone
including,
The step of transmitting information about the first flight path is
A matrix for authentication of a predetermined kxk (k is a natural number greater than or equal to 2) - The authentication matrix is pre-distributed to predetermined drones as it is possible to share flight path information - Maintains the stored authentication matrix storage to do;
generating a random matrix of (k+t) x k (t is a natural number less than k) composed of random component values;
while transmitting the random matrix to each of the at least one drone, requesting feedback of a kxk identification matrix generated based on the random matrix and the authentication matrix to each of the at least one drone;
After generating a kxk transformation matrix by removing components of t rows existing at a preset first position in the random matrix, a Hadamard product between the authentication matrix and the transformation matrix is calculated to calculate kxk generating a matrix; and
In response to a feedback request of the identification matrix among the at least one drone, a drone fed back by calculating the same matrix as the operation matrix as the identification matrix based on the random matrix and the authentication matrix is used as the at least one first drone Transmitting information on the first flight path to the at least one first drone after identification
A method of operating a drone that flies over a road according to a flight path prepared to follow the road comprising a. 7. The method of claim 6,
The step of controlling the drone to fly is
when the drone starts flying according to the first flight path, confirming whether a traffic light exists within a predetermined separation distance from the current flight position of the drone based on the flight direction of the drone with reference to the road map data;
When it is confirmed that the first traffic light among the plurality of traffic lights exists within the separation distance from the current flight position of the drone, the identification information of the first traffic light control device for controlling the first traffic light with reference to the road map data confirming, and receiving traffic signal information from the first traffic light control device by accessing the first traffic light control device based on the identification information of the first traffic light control device;
When the traffic signal information is received from the first traffic light control device, confirming a flight direction at a point according to the location information of the first traffic light from the first flight path; and
Controlling the flight of the drone according to the traffic light following control command by generating a traffic light following control command related to whether to proceed or stop in the flight direction based on the traffic signal information
A method of operating a drone that flies over a road according to a flight path prepared to follow the road comprising a. 8. The method of claim 7,
The step of confirming the flight direction is
A predetermined OTP (One Time Password) generation function shared in advance with a traffic light control device that controls each of the plurality of traffic lights - The OTP generation function is a one-time password of n (n is a natural number greater than or equal to 2) digits based on the current time value is a function capable of generating an authentication number - maintaining an OTP storage unit in which is stored;
Different n-digit authentication numbers according to the type of traffic signal that are predetermined to be able to be expressed through the traffic light - The n-digit authentication number according to the type of the traffic signal is a traffic light control device for controlling each of the plurality of traffic lights is an authentication number shared in advance with - maintaining the stored authentication number storage;
When the traffic signal information is received from the first traffic light control device, after checking the current traffic signal being expressed through the first traffic light based on the traffic signal information, the first traffic light control device according to the current traffic signal requesting transmission of a feedback correlation coefficient;
A first correlation coefficient as a feedback correlation coefficient according to the current traffic signal from the first traffic light control apparatus - The first correlation coefficient is the first traffic light control apparatus in response to a request for transmission of the feedback correlation coefficient to control the first traffic light Generates a first one-time authentication number according to the current time value based on the OTP generation function stored in the device, and identifies the first authentication number according to the current traffic signal When - means a correlation coefficient calculated to indicate the degree of correlation between numbers and n numbers constituting the first authentication number - is received, based on the OTP generation function stored in the OTP storage unit, the current After generating the first one-time authentication number according to the time value, and confirming the first authentication number according to the current traffic signal from the authentication number storage unit, n numbers constituting the first one-time authentication number and the second performing authentication for the first traffic light control device by calculating a correlation coefficient between n numbers constituting one authentication number and checking whether the calculated correlation coefficient and the first correlation coefficient are the same; and
When the authentication for the first traffic light control device is completed, confirming the flight direction at a point according to the location information of the first traffic light from the first flight path
A method of operating a drone that flies over a road according to a flight path prepared to follow the road comprising a. delete delete A computer-readable recording medium recording a computer program for executing the method of any one of claims 6, 7 or 8 through combination with a computer. A computer program stored in a storage medium for executing the method of any one of claims 6, 7 or 8 in combination with a computer.

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