KR102560568B1 - Flight path determination method, flight path managing server and system - Google Patents

Abstract

A method for setting a path of an aircraft, performed by a flight path management server, includes the steps of monitoring information on a predetermined flight space including a plurality of layers, each layer including a plurality of cells, receiving a request for setting a flight path from at least one air vehicle, calculating a flight path of the air vehicle based on the information on the flight space and the request for setting the flight path, and transmitting information on the calculated flight path to at least one air vehicle, wherein the flight path is connected to at least one of the plurality of cells. path, and can be calculated so that only one aircraft flies in each cell during a predetermined time period.

Description

Method for setting the path of an aircraft carried out in a flight path management server, flight path management server and system

The present invention relates to a method for setting a path of an aircraft performed in a flight path management server, a flight path management server, and a system.

Recently, the need for unmanned aerial vehicles in environments where it is difficult for humans to work has increased. The use of unmanned aerial vehicles is also very wide, such as acquiring aerial images in disaster/disaster areas that are difficult to access, inspecting power lines, or performing various missions in battlefield situations.

As the application field using unmanned air vehicles expands, it is expected that the number and number of operations of unmanned air vehicles operating at the same time will rapidly increase, and as a result, the risk of collision of the unmanned air vehicles may increase.

Currently, studies on collision avoidance methods of unmanned aerial vehicles are mainly implemented in a method of implementing a collision avoidance means in the unmanned aerial vehicle itself, and a method of avoiding a forward flying obstacle through image processing or sensor technology is representative.

Since such an image processing or sensing technology-dependent anti-collision method is based on image or sensor information, it is inevitable to limit the operating speed of the aircraft by the processing speed of the image or sensor information processor, and it is difficult to maintain a constant speed of the unmanned aerial vehicle, and it is highly likely to deteriorate the quality of flight. For example, when an unmanned air vehicle transports cargo vulnerable to external shocks, loss of cargo may occur due to unexpected sudden shaking or shock due to obstacles appearing in uncertain situations.

Korean Patent Publication No. 2010-0093917 discloses a configuration for receiving a selection command for a specific point, detecting location information of the input specific point, calculating flight path information, and transmitting the calculated flight path information to the flight device.

It is intended to provide aircraft with information about a flight path capable of non-collision, high-speed flight to a target point without collision between aircraft. However, the technical problem to be achieved by the present embodiment is not limited to the technical problems described above, and other technical problems may exist.

As a technical means for achieving the above-described technical problem, a method for setting a path of an aircraft performed in a flight path management server according to a first aspect of the present invention includes monitoring information on a predetermined flight space including a plurality of layers, each layer including a plurality of cells, receiving a request for setting a flight path from at least one flight vehicle, calculating a flight path of the aircraft based on the information on the flight space and the request for setting the flight path, and Transmitting information to the at least one aircraft, wherein the flight path is a path connected to one or more of the plurality of cells, and may be calculated so that only one aircraft flies in each cell during a predetermined time.

In addition, the flight path management server for setting the path of the aircraft according to the second aspect of the present invention manages information about a preset flight space including a plurality of layers, each layer including a cell information management module including a plurality of cells, a communication module that communicates with at least one aircraft, and a flight path calculation module that calculates a flight path of the aircraft based on information on the flight space, wherein the flight path is a path to which one or more of the plurality of cells are connected, and the flight path is a path connected to one or more of the plurality of cells, Only one vehicle in each cell can be counted to fly.

In addition, a system for setting a path of an aircraft according to a third aspect of the present invention includes a flight path management server and at least one aircraft, wherein the flight path management server monitors information about a preset flight space including a plurality of layers, each layer includes a plurality of cells, calculates a flight path of the flight vehicle based on information on the flight space and a request for setting a flight path received from the at least one flight vehicle, and transmits information about the calculated flight path to the at least one flight vehicle. The at least one aircraft transmits a flight path setting request to the flight path management server, performs a flight based on the flight path, and transmits the position of the at least one flight vehicle to the flight path management server while performing the flight.

The above-described means for solving the problems is only illustrative and should not be construed as limiting the present invention. In addition to the exemplary embodiments described above, there may be additional embodiments described in the drawings and detailed description.

According to any one of the above-described problem solving means of the present invention, it is possible to provide a path capable of high-speed, non-collision flight to a target point without collision between aircraft.

1 is a configuration diagram of a system for setting a path of an air vehicle according to an embodiment of the present invention.
2 is a block diagram of the flight path management server shown in FIG. 1 according to one embodiment of the present invention.
3 is a diagram illustrating a flight space including a plurality of layers and a plurality of cells according to an embodiment of the present invention.
4 is a diagram for explaining a method for setting a collision-free flight path between cells according to an embodiment of the present invention.
5 is a diagram for explaining a method of entering between cells according to an embodiment of the present invention.
6 is a diagram illustrating an information management table for a flight space according to an embodiment of the present invention.
7 is a flowchart illustrating a method for setting a path of an aircraft according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail so that those skilled in the art can easily practice the present invention with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be “connected” to another part, this includes not only the case where it is “directly connected” but also the case where it is “electrically connected” with another element interposed therebetween. In addition, when a certain component is said to "include", this means that it may further include other components without excluding other components unless otherwise stated.

In this specification, a "unit" includes a unit realized by hardware, a unit realized by software, and a unit realized using both. Further, one unit may be realized using two or more hardware, and two or more units may be realized by one hardware.

In this specification, some of the operations or functions described as being performed by a terminal or device may be performed instead by a server connected to the terminal or device. Likewise, some of the operations or functions described as being performed by the server may also be performed in a terminal or device connected to the corresponding server.

Hereinafter, specific details for the implementation of the present invention will be described with reference to the accompanying configuration diagram or process flow chart.

1 is a configuration diagram of a system for setting a path of an air vehicle according to an embodiment of the present invention.

Referring to FIG. 1 , a system for setting a path of an aircraft may include a flight path management server 100 and an aircraft 110 . However, since the route setting system of FIG. 1 is only one embodiment of the present invention, the present invention is not limitedly interpreted through FIG. 1, and may be configured differently from FIG. 1 according to various embodiments of the present invention.

For example, in FIG. 1, the aircraft 110 is shown as being included in the route setting system of the aircraft, but instead of the aircraft 110, other devices installed on the aircraft 100 or program modules installed in the device may be included in the route setting system.

The flight path management server 100 may monitor information about a predetermined flight space including a plurality of layers. Here, each layer divides the flight space into a plurality of layers at intervals of a predetermined range, and each layer may include a plurality of cells. At this time, each cell may be set to a predetermined space sufficient for the vehicle to fly sufficiently at the highest speed.

Specifically, the flight path management server 100 may monitor flight space information including at least one of information about time intervals allocated to flight paths of each cell and current occupancy information of each cell through communication between vehicles 110 or through a base station installed in each cell, and update information about the flight space.

Flight path management server 100 may calculate the flight path of the aircraft 110 based on the information on the flight space and the flight path setting request received from at least one aircraft 110 . Here, the flight path setting request may include at least one of information about the aircraft 110 (eg, aircraft identification number, etc.), flight start time, flight start location, and flight end location.

The flight path management server 100 may calculate a flight path from the flight start position of the aircraft 110 to the flight end position based on a plurality of cells not occupied by other aircraft. Here, the flight path is a path connected to one or more of a plurality of cells, and may be a path calculated so that only one aircraft flies in each cell for a predetermined time.

The flight path management server 100 may transmit information about the calculated flight path to the vehicle 110 .

The aircraft 110 may transmit a flight path setting request to the flight path management server 100 .

The aircraft 110 performs flight based on the information on the flight path received from the flight path management server 100, and transmits the location of the aircraft 110 to the flight path management server 100 while flying.

In general, each component of the vehicle path setting system of FIG. 1 is connected through a network 120. A network refers to a connection structure capable of exchanging information between nodes such as terminals and servers, and examples of such networks include, but are not limited to, 3GPP (3rd Generation Partnership Project), LTE (Long Term Evolution), WIMAX (World Interoperability for Microwave Access), Wi-Fi, 3G, 4G, 5G, etc.

Hereinafter, the operation of each component of the flight path setting system of FIG. 1 will be described in more detail.

FIG. 2 is a block diagram of the flight path management server 100 shown in FIG. 1 according to one embodiment of the present invention.

Referring to FIG. 2 , the flight path management server 100 may include a cell information management module 200 , a communication module 210 , a flight path calculation module 220 and a DB 230 . However, the flight path management server 100 shown in FIG. 2 is only one implementation example of the present invention, and various modifications are possible based on the components shown in FIG. 2 .

The cell information management module 200 may manage information about a preset flight space including a plurality of layers. Here, each layer may include a plurality of cells. Here, the information on the flight space may include one or more of information about a time interval allocated to each cell to a flight path and current occupancy information of each cell.

The cell information management module 200 allocates a flight time interval to each of the cells based on the flight start time at which the aircraft 110 flies, for each cell selected as the flight path of the aircraft 110, and the allocated flight time. Occupancy information of the selected cell can be managed according to the interval.

In this regard, a description of the preset flight space will be given with reference to FIG. 3 for a moment.

3 is a diagram illustrating a flight space including a plurality of layers and a plurality of cells according to an embodiment of the present invention.

Referring to FIG. 3 , the cell information management module 200 may classify and manage the sky over a specific region as a flight space set with a plurality of layers and a plurality of cells included in each layer.

For example, the cell information management module 200 manages layer information selected as a flight path of the aircraft 110, selected cell information, information about time intervals allocated to each selected cell, current occupancy information of each cell, and the like. can do.

For example, when an aircraft requests a flight path from a departure cell 300 to an arrival cell 301, the cell information management module 200 may select a shortest flight path among a plurality of flight paths from the departure cell 300 to the arrival cell 301, and manage layer and cell information included in the selected flight path. At this time, each cell selected as the flight path may be composed of a cell not occupied by another aircraft at the time the aircraft flies in each cell.

Referring back to FIG. 2 , the communication module 210 may communicate with at least one aircraft 110 . For example, the communication module 210 may receive a flight path setting request from at least one aircraft 110 . Here, the flight route setting request may include at least one of information about the aircraft 110 (eg, an identification number of the aircraft), a flight start time, a flight start location, and a flight end location.

Also, the communication module 210 may communicate with a base station installed in each cell.

The flight path calculation module 220 may calculate the flight path of the aircraft 110 based on the information about the flight space. Here, the flight path may be a path connected to one or more of a plurality of cells. In addition, each cell included in the flight path may be calculated so that only one aircraft flies during a predetermined time.

For example, the flight path calculation module 220 based on the information on the flight space, only for the cells in which the occupancy information is "non-occupied" at the time the flight vehicle 110 flies each cell from the flight start time. The flight path of the vehicle 110 can be calculated.

The flight path calculation module 220 may calculate a plurality of paths from a flight start position to a flight end position at a flight start time based on information about a time interval allocated to a flight path of each cell.

For example, the flight path calculation module 220 avoids the time interval allocated to the flight path of each occupied cell, based on the flight start time of the aircraft 110, from the flight start position to the flight end position. A plurality of routes can be calculated.

The flight path calculation module 220 may select a shortest path among a plurality of paths using a Dijkstra Algorithm or an A* Algorithm.

Specifically, the flight path calculation module 220 maps each cell to a node in order to calculate a plurality of paths, and sets the state of the node to occupied or non-occupied for each time based on information about a time interval in which each cell is allocated to the flight path.

In addition, the flight path calculation module 220 may calculate a plurality of paths by constructing a spanning tree targeting nodes set as non-occupied based on the states of nodes set for each time period.

The flight path calculation module 220 may set a flight path including information about a gate to which the aircraft 110 will move when the aircraft 110 moves between cells. Here, the boundary between each cell may be divided into a plurality of gates.

In this regard, a method for setting a collision-free flight path between cells will be briefly described through FIG. 4, and a method for entering between cells will be briefly described through FIG. 5.

4 is a diagram for explaining a method for setting a collision-free flight path between cells according to an embodiment of the present invention.

Referring to FIG. 4 , in order to ensure no collision between cells, a boundary between neighboring cells may be divided into a plurality of intervals having a preset range of intervals, and a layer gate may be allocated for each layer moving in a certain cell.

In addition, since an exit gate (exit gate) and an entry gate (entrance gate) are required for one cell, the boundary of one cell is divided into an entry gate and an exit gate, and layer gates can be assigned to each of the entry gate and exit gate as many as the number of layers.

For example, when there are 5 layers, the exit gates 400 to 404 based on cell A may include the 5 layer gates 400 to 404 . Also, based on cell A, the inlet gates 405 to 409 may include five layer gates 405 to 409 .

Also, based on cell B, the inlet gates 400 to 404 may include five layer gates 400 to 404 . Also, based on cell A, the exit gates 405 to 409 may include five layer gates 405 to 409 .

In a flight space composed of a plurality of layers, when the aircraft 110 moves between two adjacent cells, collision between aircraft can be prevented by establishing the principle of right or left gate based on the starting cell.

When the aircraft 110 moves between two adjacent cells existing on the same layer, the flight path management server 100 may set a constant travel direction. For example, when the aircraft 110 moves from cell A existing in layer 1 to cell B of the same layer, the aircraft 110 can be set to use the first gate 400 of the exit gate in principle for the aircraft 110 to pass on the right, and when the aircraft 110 moves from cell B to cell A, the aircraft 110 passes on the left in principle ) can be set to use.

When the aircraft 110 moves between different layers, the flight path management server 100 may set the aircraft 110 to move through a gate corresponding to the number of the layer to which the destination cell belongs. According to the principle that there must be only one aircraft occupying one cell at a specific time, the route can be set so that there is only one aircraft entering the destination cell. For example, when the aircraft 110 needs to depart from cell A of layer 2 and move to cell B of layer 4, the flight route management server 100 allows the aircraft 110 to use gate 4 of the exit gate 403.

The gate setting method described with reference to FIG. 4 is only one embodiment of the present invention. For example, each gate setting method may be set according to a predetermined criterion as described above, and may be changed in real time based on flight space information when describing a flight path.

5 is a diagram for explaining a method of entering between cells according to an embodiment of the present invention.

Referring to FIG. 5 , the flight path management server 100 may calculate an entry distance 504 between cells. If the layer 502 to which the cell 500 currently occupied by the aircraft belongs and the layer 503 to which the next cell 501 to move belongs are different, the entry distance 504 between cells sufficient to minimize the loss of speed of the aircraft is required.

This entry distance 504 can be calculated using the maximum speed of the vehicle and the height of the layer. That is, the entry distance may be d = f (maximum speed of the vehicle, height of the layer).

Here, the height of the layer may be defined by a function using the average meteorological conditions (eg, wind direction, wind speed, temperature, etc.) of the flight area and the ability of aircraft to maintain a stable flight altitude as factors. In addition, the height of the layer should be more than twice the average level flight altitude error range of the aircraft to avoid the risk of collision between aircraft flying normally in the adjacent layer.

Referring back to FIG. 2 , the communication module 210 may transmit information about the flight path calculated by the flight path calculation module 220 to the vehicle 110 . At this time, each cell included in the flight path transmitted to the aircraft 110 may be the shortest path composed of cells not occupied by other aircraft at the time the aircraft 110 flies.

The communication module 210 may receive the position of the aircraft 110 on the flight path along which the aircraft 110 moves from the flight start time of the aircraft 110 to the flight end position of the aircraft 110 from the aircraft 110. At this time, the position of the aircraft 110 may include layer and cell information in which the aircraft 110 is located.

The cell information management module 200 may update the occupancy information of each cell based on the position of the aircraft 110 received from the base station installed in the vehicle 110 or each cell.

For example, the cell information management module 200 may update the cell set to the occupied state of each cell to the non-occupied state after the vehicle 110 completes the flight of each cell.

The DB 230 stores data input and output between components inside the flight path management server 100, and inputs and outputs data between components outside the flight path management server 100 and the flight path management server 100. For example, the DB 230 may store information on a preset flight space. In addition, the DB 230 may store a cell occupancy information table for each time of the vehicle. An example of the DB 230 includes a hard disk drive, a read only memory (ROM), a random access memory (RAM), a flash memory, and a memory card existing inside or outside the flight path management server 100.

On the other hand, those skilled in the art will fully understand that each of the cell information management module 200, communication module 210, flight path calculation module 220, and DB 230 may be separately implemented or one or more of them may be integrated and implemented.

6 is a diagram illustrating an information management table for a flight space according to an embodiment of the present invention.

Referring to FIG. 6 , the information management table 600 for the flight space may store occupancy information of each cell for each of a plurality of cells assigned to the flight path of the aircraft. The information management table 600 for such a flight space may include information about a time interval allocated to a flight path for a cell selected as a flight path.

For example, the flight start position of the aircraft 110 is the first cell, the flight end position is the sixth cell, and the first cell, the second cell, the fifth cell, and the sixth cell are calculated in layer 1 as the flight path of the aircraft 110. The flight path management server 100 may allocate a time interval of flight to each cell based on the speed of the aircraft 110, and set the cell state of the time interval of the flight to an occupied state.

In addition, the flight path management server 100 may update the occupancy state of each cell allocated as a flight path to an unoccupied state when the vehicle 110 completes the flight of each cell.

The flight path management server 100 may calculate a flight path based on the information management table 600 for the flight space.

7 is a flowchart illustrating a method for setting a path of an aircraft according to an embodiment of the present invention.

The route setting method of the aircraft 110 according to the embodiment shown in FIG. 7 includes steps that are processed time-sequentially in the flight path management server 100 and the aircraft 110 according to the embodiment shown in FIGS. 1 to 6 . Therefore, even if the contents are omitted below, the description of the flight path management server 100 and the aircraft 110 of FIGS. 1 to 6 can be applied to the method of setting the path of the aircraft 110 according to the embodiment shown in FIG.

Referring to FIG. 7 , in step S701, the flight path management server 100 may monitor information about a preset flight space including a plurality of layers. Here, each of the plurality of layers may include a plurality of cells. Each layer may be composed of a plurality of layers at intervals of a predetermined range in the flight space. Here, the information on the flight space may include one or more of information about a time interval allocated to each cell to a flight path and current occupancy information of each cell. Here, in each cell, a boundary between cells may be divided into a plurality of gates.

In step S703, the flight path management server 100 may receive a flight path setting request from at least one aircraft 110. Here, the flight route setting request may include at least one of information about the vehicle 110, flight start time, flight start location, and flight end location.

In step S705, the flight path management server 100 may calculate the flight path of the aircraft 110 based on the flight space information and the flight path setting request. Here, the flight path is a path connected to one or more of a plurality of cells, and may be a path calculated so that only one aircraft flies in each cell for a predetermined time. In addition, the flight path may include information about gates through which the aircraft 110 will pass when moving between cells.

In step S707, the flight path management server 100 may transmit information about the flight path calculated in step S705 to at least one aircraft 110.

Although not shown in FIG. 7 , the flight path management server 100 may receive the location of the aircraft 110 from the vehicle 110 and update occupancy information of each cell based on the location of the vehicle 110 .

Although not shown in FIG. 7, in step S705, the flight path management server 100 calculates a plurality of routes from the flight start position to the flight end position at the flight start time based on information about the time interval allocated to the flight path of each cell. In addition, the flight path management server 100 may select the shortest path among a plurality of calculated paths. Here, the shortest path may be selected based on the Dijkstra algorithm or the A-Star algorithm.

Although not shown in FIG. 7, in step S705, the flight path management server 100 maps each cell to a node and sets the state of the node to occupied or non-occupied for each time based on information about the time interval allocated to the flight path of each cell. In addition, the flight path management server 100 may configure a spanning tree targeting nodes set to be non-occupied based on the state of nodes set for each time period.

In the foregoing description, steps S701 to S707 may be further divided into additional steps or combined into fewer steps, depending on an embodiment of the present invention. Also, some steps may be omitted if necessary, and the order of steps may be changed.

An embodiment of the present invention may be implemented in the form of a recording medium including a program stored in a medium executed by a computer or instructions executable by a computer.

Computer readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media. Also, computer readable media may include both computer storage media and communication media. Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, or other transport mechanism, and includes any information delivery media.

The above description of the present invention is for illustrative purposes, and those skilled in the art may understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the claims to be described later rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts thereof should be construed as being included in the scope of the present invention.

100: flight route management server
110: aircraft

Claims (18)

In the method of setting the path of the flight vehicle performed in the flight path management server,
Monitoring information on a preset flight space including a plurality of layers, wherein each layer includes a plurality of cells;
Receiving a flight path setting request from at least one aircraft;
calculating a flight path of the aircraft based on the information about the flight space and the flight path setting request;
Transmitting information about the calculated flight path to the at least one vehicle
Including,
The flight path is a path connected to one or more of the plurality of cells, and is calculated so that only one aircraft flies in each cell during a predetermined time period,
Calculating the flight path,
calculating a plurality of routes from a flight start position to a flight end position at a flight start time based on information about a time interval allocated to a flight path of each cell; and
Selecting the shortest path among the plurality of paths
including,
The step of calculating the plurality of paths,
mapping each of the cells to a node;
setting the state of the node to be occupied or unoccupied for each time based on the information about the time interval allocated to the flight path of each cell; and
Constructing a spanning tree targeting nodes set as non-occupied based on the state of the node set for each time period
A method for setting an aircraft path, comprising:
According to claim 1,
The information on the flight space includes at least one of information about a time interval allocated to the flight path of each cell and current occupancy information of each cell.
According to claim 2,
Receiving the position of the aircraft from the aircraft;
Updating occupancy information of each cell based on the position of the vehicle
To further include, the flight vehicle path setting method.
According to claim 1,
Wherein each layer divides the flight space into a plurality of layers at intervals of a predetermined range.
According to claim 2,
The flight path setting request includes at least one of information about the flight vehicle, the flight start time, the flight start location, and the flight end location.
delete delete According to claim 1,
Wherein the shortest path is selected based on the Dijkstra Algorithm or the A* Algorithm.
According to claim 1,
In each of the cells, the boundary between the cells is divided into a plurality of gates,
Wherein the flight path includes information about gates through which the flight will pass when moving between cells.
In the flight path management server for setting the path of the aircraft,
A cell information management module that manages information about a predetermined flight space including a plurality of layers, each layer including a plurality of cells;
A communication module for performing communication with at least one air vehicle; and
A flight path calculation module for calculating a flight path of the aircraft based on the information on the flight space.
Including,
The flight path is a path connected to one or more of the plurality of cells, and is calculated so that only one aircraft flies in each cell during a predetermined time period,
The flight path calculation module calculates a plurality of paths from the flight start position to the flight end position at the flight start time based on the information about the time interval allocated to the flight path of each cell, selects the shortest path among the plurality of paths,
The flight path management server, wherein the flight path calculation module maps each cell to a node, sets the state of the node to be occupied or unoccupied for each time based on information about the time interval allocated to the flight path of each cell, and constructs a spanning tree targeting nodes set as non-occupied based on the state of the node set for each time, thereby calculating the plurality of routes.
According to claim 10,
The communication module receives a flight path setting request from at least one aircraft,
To transmit information on the calculated flight path to the at least one flight vehicle, the flight path management server.
According to claim 11,
The flight path management server, wherein the information on the flight space includes at least one of information about a time interval allocated to the flight path of each cell and current occupancy information of each cell.
According to claim 12,
The communication module receives the position of the aircraft from the aircraft,
Wherein the cell information management module updates the occupancy information of each cell based on the position of the aircraft, the flight path management server.
According to claim 12,
The flight route setting request includes at least one of information about the flight vehicle, the flight start time, the flight start location, and the flight end location.
delete According to claim 10,
The shortest path is selected based on the Dijkstra Algorithm or the A* Algorithm, the flight path management server.
According to claim 10,
In each of the cells, the boundary between the cells is divided into a plurality of gates,
The flight path management server that includes information about the gate to which the flight will move when moving between cells.
In the system for setting the path of the aircraft,
flight path management server; and
at least one aircraft
Including,
The flight route management server,
Monitoring information about a preset flight space including a plurality of layers, each layer including a plurality of cells,
Calculate a flight path of the vehicle based on the information about the flight space and a flight path setting request received from the at least one vehicle;
configured to transmit information about the calculated flight path to the at least one aircraft;
The at least one aircraft,
Sending a flight path setting request to the flight path management server;
Perform flight based on the flight path;
configured to transmit the location of the at least one aircraft to the flight path management server while performing the flight;
The flight path is a path connected to one or more of the plurality of cells, and is calculated so that only one aircraft flies in each cell during a predetermined time period,
The flight path management server calculates a plurality of routes from the flight start position to the flight end position at the flight start time based on information about the time interval allocated to the flight path of each cell, selects the shortest path among the plurality of routes,
The flight path management server maps each of the cells to a node, sets the state of the node to be occupied or unoccupied for each time based on information about a time interval allocated to the flight path of each cell, and calculates the plurality of routes by constructing a spanning tree targeting nodes set as non-occupied based on the state of the node set for each time.

Images