KR102629012B1 - Method and apparatus for setting flight path of drone - Google Patents

Abstract

A drone flight path setting method and device is disclosed that analyzes the flight error of a drone and selectively expands or reduces the airspace of the drone based on the results of this analysis, thereby managing the skyway more efficiently. A method of setting a flight path reflecting the airspace of a drone in a flight path setting device according to an embodiment includes receiving flight data collected from the drone from the drone; Comparing the received flight data with a pre-planned flight path of the drone and calculating a path error score indicating the degree to which the drone deviates from the pre-planned flight path; adjusting a preset airspace of the drone based on the path error score; and generating a new flight path for the drone based on the adjusted airspace and destination of the drone.

Description

Method and apparatus for setting flight path of drone}

The present invention relates to a technology for setting a drone flight path, and more specifically, to a method and device for setting a drone flight path by allocating airspace to the drone based on the drone's flight error analyzed through flight data.

Currently, the development of drones with various functions is underway. For example, various drones have been developed, such as video recording drones, agricultural drones, delivery drones, and air quality measurement drones, and some of them are actually used in the field.

Furthermore, technology has emerged to remotely control and control drones using mobile communication networks. To elaborate, drones were previously controlled through short-distance wireless communication such as Bluetooth communication, but in order to remotely control and control drones located at a longer distance, technology for controlling drones using a mobile communication network has emerged. The patent document below discloses a drone control system and method using an LTE network.

Meanwhile, as drones are applied to parcel delivery, etc., technology to prevent drone collisions has emerged. To prevent drone collisions, the drone's flight schedule is managed on a central server, and the central server adjusts the flight schedule so that the drones do not fly the same route at the same time.

However, the central server considers whether a drone collision will occur based only on the drone's flight path and flight time, and does not take the drone's flight characteristics into consideration at all. Additionally, existing drone control technology does not take into account the air space secured during drone flight at all.

Accordingly, there is a need for technology to control the flight path of the drone more efficiently, taking into account drone flight characteristics and airspace.

Korean Patent Publication No. 10-2018-0061514

The purpose of the present invention is to provide a method and device for setting a drone flight path that analyzes the flight error of a drone and selectively expands or reduces the airspace of the drone based on the results of this analysis, thereby managing the skyway more efficiently. .

Other objects and advantages of the present invention can be understood from the following description and will be more clearly understood by practicing the present invention. Additionally, it will be readily apparent that the objects and advantages of the present invention can be realized by the means and combinations thereof indicated in the patent claims.

A method of setting a flight path reflecting the airspace of a drone in a flight path setting device according to an embodiment includes receiving flight data collected from the drone from the drone; Comparing the received flight data with a pre-planned flight path of the drone and calculating a path error score indicating the degree to which the drone deviates from the pre-planned flight path; adjusting a preset airspace of the drone based on the path error score; and generating a new flight path for the drone based on the adjusted airspace and destination of the drone.

The step of adjusting the airspace includes reducing the preset airspace of the drone if the route error score is less than or equal to a first score, and reducing the preset airspace of the drone if the route error score exceeds the first score and is less than or equal to the second score. is maintained, and if the path error score exceeds the second score, the preset airspace of the drone may be expanded.

The step of calculating the path error score compares the received flight data with the pre-planned flight path, and selects the total number of times the drone deviates from the pre-planned flight path, the total time it deviates, or the total distance it deviates from. The path error score can be calculated using one or more.

The step of calculating the path error score is to compare the received flight data with the pre-planned flight path and calculate the path error score using the area and time during which the drone deviates from the pre-planned flight path. You can.

The deviation area is a two-dimensional reference area and may be the sum of the deviation area in the latitude/longitude plane, the deviation area in the longitude/altitude plane, and the deviation area in the latitude/altitude plane.

The pre-planned flight path includes the preset airspace, and in calculating the path error score, the route error score may be calculated by comparing the preset airspace of the drone with the received flight data.

The calculating step and the adjusting step may be repeated for each flight of the drone, or may be repeated using flight data from multiple flights of the drone at regular time periods.

The method includes checking wind speed occurring in the flight path; And it may further include a step of correcting the path error score by applying a meteorological weight inversely proportional to the strength of the confirmed wind speed to the path error score.

The method may further include correcting the route error score based on the GPS error rate.

Creating a new flight path for the drone includes receiving the departure point, destination, and flight time of the drone, and checking the flight path of another drone scheduled to fly at the flight time; and generating a flight path from the starting point to the destination so that the adjusted airspace of the drone does not pass through the airspace of the other drone.

The method may further include differentially charging a service fee for the drone according to the size of the airspace allocated to the drone.

According to one embodiment, a flight path setting device that sets a flight path reflecting the airspace of a drone includes: a data collection unit that receives flight data collected from the drone from the drone; an error analysis unit that compares the received flight data with a pre-planned flight path of the drone and calculates a path error score indicating the degree to which the drone deviates from the pre-planned flight path; an airspace setting unit that adjusts a preset airspace of the drone based on the path error score; and a flight path generator that generates a new flight path for the drone based on the adjusted airspace of the drone and the drone's destination.

The airspace setting unit reduces the airspace of the drone if the path error score is less than or equal to a first score, and maintains the airspace of the drone if the path error score exceeds the first score and is less than or equal to the second score, and maintains the airspace of the drone. If the score exceeds the second score, the airspace of the drone can be expanded.

The error analysis unit compares the received flight data with the pre-planned flight path, and uses one or more of the total number of times the drone deviates from the pre-planned flight path, the total time it deviates, and the total distance it deviates from. The path error score can be calculated.

The error analysis unit may compare the received flight data with the pre-planned flight path and calculate the path error score using the area and time during which the drone deviated from the pre-planned flight path.

The deviation area is a two-dimensional reference area and may be the sum of the deviation area in the latitude/longitude plane, the deviation area in the longitude/altitude plane, and the deviation area in the latitude/altitude plane.

The pre-planned flight path includes the preset airspace, and the error analysis unit may calculate the path error score by comparing the preset airspace of the drone with the received flight data.

The error analysis unit and the airspace setting unit may adjust the airspace of the drone by calculating a path error score for each flight of the drone or at regular time periods.

The error analysis unit may check the wind speed occurring in the flight path and apply a weather weight inversely proportional to the strength of the confirmed wind speed to the route error score to correct the route error score.

The error analysis unit may correct the route error score based on the GPS error rate.

The flight path generator receives the departure point, destination, and flight time of the drone, checks the flight path of another drone scheduled to fly at the flight time, and then causes the airspace of the set drone to avoid the airspace of the other drone, A flight path from the departure point to the destination can be created.

The flight path setting device may further include a service charging unit that differentially charges service usage fees for the drone according to the size of the airspace allocated to the drone.

The present invention collects and analyzes drone flight data, analyzes the drone's flight errors such as the number of flight path departures, drone departure time, departure distance, and departure area, and selectively selects the drone's airspace based on the results of this analysis. There is an advantage in managing the skyway more efficiently by zooming in or out.

In addition, the present invention has the advantage of analyzing the drone's flight error more accurately by correcting the drone's flight error by reflecting weather conditions and GPS errors.

In addition, the present invention takes into account the flight characteristics of the drone, setting a wider airspace for drones that do not fly accurately on a designated path, and setting a narrower airspace for drones that fly through a relatively accurate path, thereby enabling the flight of the drone. It also has the effect of actively allocating airspace based on characteristics.

In addition, the present invention allocates a relatively small airspace to drones with good performance and a relatively large airspace to drones with poor performance, while charging service usage fees differentially, thereby increasing the profits of airspace management operators and providing limited airspace. Allows more drones with excellent performance to fly in space.

The following drawings attached to this specification illustrate preferred embodiments of the present invention, and serve to further understand the technical idea of the present invention along with specific details for carrying out the invention. Therefore, the present invention is described in such drawings. It should not be interpreted as limited to the specific details.
Figure 1 is a diagram showing a system environment to which a flight path setting device is applied according to an embodiment of the present invention.
Figure 2 is a diagram showing the configuration of a flight path setting device according to an embodiment of the present invention.
Figure 3 is a diagram showing flight path information according to an embodiment of the present invention.
FIGS. 4A to 4D are diagrams illustrating a method of calculating the area where a drone leaves the airspace according to an embodiment of the present invention.
Figure 5 is a diagram showing the actual flight position of a drone according to an embodiment of the present invention.
Figure 6 is a diagram illustrating airspaces of different sizes.
Figure 7 is a flowchart illustrating a method of calculating a path error score of a drone by analyzing flight data received from a drone in a flight path setting device, according to an embodiment of the present invention.
Figure 8 is a flowchart illustrating a method of calculating a path error score of a drone by analyzing flight data received from a drone in a flight path setting device according to another embodiment of the present invention.
Figure 9 is a flowchart illustrating a method of generating a flight path by reflecting airspace in a flight path setting device according to an embodiment of the present invention.
Figure 10 is a diagram showing the configuration of a flight path setting device according to another embodiment of the present invention.

The above-described purpose, features and advantages will become clearer through the following detailed description in conjunction with the accompanying drawings, and accordingly, those skilled in the art will be able to easily implement the technical idea of the present invention. There will be. Additionally, in describing the present invention, if it is determined that a detailed description of known technologies related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. Hereinafter, a preferred embodiment according to the present invention will be described in detail with reference to the attached drawings.

Figure 1 is a diagram showing a system environment to which a flight path setting device is applied according to an embodiment of the present invention. As shown in FIG. 1, the flight path setting device 200 according to an embodiment of the present invention communicates with the drone 100 through the network 300. The network 300 includes a mobile communication network, a wired communication network, a short-range wireless communication network, etc., and since it corresponds to a well-known common technology in the present invention, detailed description will be omitted.

The drone 100 is an unmanned flying vehicle and is equipped with a mobile communication module and a GPS receiver capable of communicating with the network 300. Additionally, the drone 100 can perform autonomous flight to the destination according to the movement path. The drone 100 receives a flight path including sequential latitude/longitude GPS coordinates and altitude from the origin to the destination from the flight path setting device 200, and performs autonomous flight by comparing this flight path with the current location. It can be done. Preferably, the flight path may further include time, and in this case, the flight path data may be composed of (x, y, z, t). Where (x, y) is latitude/longitude, z is altitude, and t is time.

Additionally, the drone 100 can receive control commands from a drone operating device (not shown in the drawing) and perform operations according to these control commands. In addition, when the drone 100 starts flying, the drone 100 continuously measures the current location (i.e., GPS coordinates of latitude/longitude, altitude) at regular intervals using a GPS receiver until the flight ends. Flight data in which positions are recorded in time is transmitted to the flight path setting device 200. Altitude can be measured with a GPS receiver or with a dedicated altitude sensor. Meanwhile, the drone 100 checks its current location and the position on the flight path, and if it is confirmed that it deviates from the flight path, it re-enters the flight path and flies according to the planned path.

The flight path setting device 200 analyzes the flight data received from the drone 100, determines the flight error of the drone 100, and then sets the airspace of the drone 100 according to the flight error. The airspace refers to a spatial area in the sky where the drone 100 can move without being invaded by other drones 100 when flying. The flight path setting device 200 can set the flight path of each drone based on the airspace for each drone so that the airspaces of the drones do not overlap each other.

Figure 2 is a diagram showing the configuration of a flight path setting device according to an embodiment of the present invention. As shown in FIG. 2, the flight path setting device 200 includes a data collection unit 210, an error analysis unit 220, an airspace setting unit 230, a flight path creation unit 240, and a database 250. These components can be implemented through a combination of hardware and software. In addition, the flight path setting device 200 may include one or more processors and memory, and may include a data collection unit 210, an error analysis unit 220, an airspace setting unit 230, and a flight path creation unit 240. may be stored in the memory in the form of a program executed by the processor. The flight path setting device 200 may be mounted on a cloud computing system, in which case the data collection unit 210, error analysis unit 220, airspace setting unit 230, and flight path creation unit 240 are virtual. It can be implemented in the cloud computing system in machine form.

The database 250 is a storage means such as memory or a disk device, and stores flight data of the drone 100. Additionally, the database 250 may store airspace set for each drone. Additionally, the database 250 may store coordinate information about the no-fly zone. The no-fly zone may include areas where high-rise buildings are located, military areas, security areas, hazardous material storage areas, etc. Additionally, the database 250 stores flight path information for each drone 100. In the flight path information, GPS coordinates and altitudes of the planned latitude/longitude representing the movement path from the departure point to the destination, and flight times are recorded. For example, flight path information is a set of points in sky space, and each point can be expressed as (latitude, longitude, altitude, time).

Figure 3 is a diagram showing flight path information according to an embodiment of the present invention. Referring to Figure 3, the drone 100 is assigned flight path information with the first point as the starting point and the nth point as the destination. . Each point is expressed as (latitude, longitude, altitude, time). For example, the first point is expressed as (X ₀ , Y ₀ , Z ₀ , T ₀ ), the second point is expressed as (X ₁ , Y ₁ , Z ₁ , T ₁ ), and the third point is It is expressed as (X ₂ , Y ₂ , Z ₂ , T ₂ ), and the nth point is expressed as (X _n-1 , Y _n-1 , Z _n-1 , T _n-1 ). The drone 100 flies at (X, Y, Z) coordinates (latitude, longitude, altitude) corresponding to the time (T) of each point.

The data collection unit 210 receives flight data from the drone 100 and stores it in the database 250. The flight data includes time, latitude/longitude GPS coordinates, and altitudes indicating the flight path that the drone 100 actually traveled.

The error analysis unit 220 compares the flight path provided by the drone 100 with the flight data received from the drone 100, analyzes the difference between the planned flight path and the actual flown path, and A score for path error is calculated, which represents the degree of deviation from the flight path.

In one embodiment, the error analysis unit 220 compares the planned GPS coordinates and altitude included in the flight path provided by the drone 100 with the actual moved GPS coordinates and altitude included in the flight data, and compares the drone ( Check the total number of times the drone deviates from the planned flight path, the total distance the drone deviates from the planned flight path, and the total time the drone 100 deviates from the planned flight path. The time of departure from the planned flight path can be calculated as the interval between the points of departure from the planned flight path. The error analysis unit 220 compiles the total number of times that the drone 100 deviates from the flight path, the total distance that the drone 100 deviates from the flight path, and the total time that the drone 100 deviates from the flight path, and calculates the flight path error. Calculate the score for Predefined weights may be applied to each of the total number of deviations, the total distance of deviations, and the total time of deviations, and the error analysis unit 220 may calculate the total number of deviations to which the weights are applied and the total number of deviations. The score for the flight path error (hereinafter referred to as 'route error score') can be calculated by adding up the distance and the total time of departure. Preferably, the error analysis unit 220 determines the corresponding The total number of times the drone 100 has left the relevant airspace, the total distance it has left, and the total time it has left the airspace can be calculated.

In another embodiment, the error analysis unit 220 determines the planned GPS coordinates and altitude included in the flight path provided by the drone 100, and the actual moved GPS coordinates and altitude of the drone 100 included in the flight data. By comparing, the time and area in which the drone 100 deviated from the planned flight path can be confirmed, and the score for the flight path error can be calculated using the deviated time and area. The error analysis unit 220 calculates the two-dimensional reference area as the deviation area. The area of the two-dimensional reference is calculated using latitude, longitude, and altitude, the deviation area in the xy plane of latitude/longitude (A), the deviation area in the xz plane of latitude/altitude (B), and the deviation area in the latitude/altitude xz plane, and It can be defined as the sum of the deviation areas (C) in the yz plane of altitude. Preferably, the error analysis unit 220 determines the corresponding The area and time during which the drone 100 leaves the relevant airspace can be calculated.

FIGS. 4A to 4D are diagrams illustrating a method of calculating the area where a drone leaves the airspace according to an embodiment of the present invention.

Figure 4a is a diagram showing sky space, with latitude expressed as the x-axis, longitude as the y-axis, and altitude as the z-axis. In FIG. 4A, reference number 410 represents the planned flight path of the drone 100, and reference number 420 represents the actual flight path of the drone 100. At this time, the planned flight path 410 is the airspace of the drone 100 and may be in the form of a three-dimensional cylinder or a four-dimensional square pillar, but in this embodiment, it is expressed as a line segment for convenience of explanation. The deviation area is the sum of the deviation area (A) in the xy plane of latitude/longitude, the deviation area (B) in the xz plane of latitude/altitude, and the deviation area (C) in the yz plane of longitude/altitude. can be defined.

FIG. 4B shows the planned flight path 410a and the actual flight path 420a of the drone 100 in the xy plane of latitude/longitude. That is, in FIG. 4A, the planned flight path 410 and the actual flight path 420 of the drone 100 are projected onto the xy plane. When the drone 100 deviates from the planned flight path 410a at time t1 and then re-enters the planned flight path 410a at time t2, the planned flight path 410a in the xy plane during the departure time t2-t1 ) and the actual flight path (420a) becomes the departure area (A). Preferably, the departure area (A) can be calculated as the sum of the small squares 430a in units of 1 second during the departure time. However, this is only an example and the unit time can be adjusted.

FIG. 4C shows the planned flight path 410b and the actual flight path 420b of the drone 100 in the xz plane of latitude/altitude. That is, in FIG. 4A, the planned flight path 410 and the actual flight path 420 of the drone 100 are projected onto the xz plane. When the drone 100 deviates from the planned flight path 410b at time t1 and then re-enters the planned flight path 410b at time t2, the planned flight path 410b on the xz plane during the departure time t2-t1 ) and the actual flight path (420b) becomes the departure area (B). Preferably, the departure area (B) can be calculated as the sum of the small squares 430b in units of 1 second during the departure time. However, this is only an example and the unit time can be adjusted.

FIG. 4D shows the planned flight path 410c and the actual flight path 420c of the drone 100 in the yz plane of longitude/altitude. That is, in FIG. 4A, the planned flight path 410 and the actual flight path 420 of the drone 100 are projected onto the yz plane. When the drone 100 deviates from the planned flight path 410c at time t1 and then re-enters the planned flight path 410c at time t2, the planned flight path 410c in the yz plane during the departure time t2-t1 ) and the actual flight path (420c) becomes the departure area (C). Preferably, the departure area (C) can be calculated as the sum of the small squares 430c in units of 1 second during the departure time. However, this is only an example and the unit time can be adjusted.

The error analysis unit 220 calculates the departure time T (=t2-t1) and the departure area (A+B+C) by the method described with reference to FIGS. 4A to 4D, and then calculates the departure time T (=t2-t1) and the departure area (A+B+C) as shown in Equation 1 below. The flight path error score S can be calculated as follows.

(Equation 1)

S=α×T + β×(A + B + C)

Here, α and β are weights and are values greater than 0. A value greater than 1 is applied as a weight to relatively important factors, and a value less than 1 is applied as a weight to factors of relatively low importance. For example, α can be applied as 0.8 and β as 1.2. Alternatively, if time and deviation area are viewed as equal factors, both α and β can be 1.

In another embodiment, the error analysis unit 220 determines the total number of times the drone 100 deviates from the planned flight path, the total distance the drone 100 deviates from the planned flight path, and the total number of times the drone 100 deviates from the planned flight path. The flight path error score can be calculated by considering both the total time deviated and the total area deviated. The error analysis unit 220 may calculate the flight path error score S by applying weights to each of the total number of deviations, total distance of departure, total time of departure, and total area of departure, as shown in Equation 2 below.

(Equation 2)

S=α×number of times + β×area + γ×time + δ×distance

Here, α, β, γ, and δ are weights and are values greater than 0. A value greater than 1 is applied as a weight to relatively important factors, and a value less than 1 is applied as a weight to factors of relatively low importance. For example, even if the total departure area of the first drone is the same as the total departure area of the second drone, if the total departure time of the first drone is shorter than the total departure time of the second drone, the flight performance of the first drone will be the same as that of the second drone. It can be seen that it is not better than 2 drones. In other words, it can be seen that the second drone follows the planned airspace relatively better than the first drone. Therefore, in this case, the value of β can be set smaller than the value of γ so that time has a greater impact on the error score. In this way, the weights can be appropriately adjusted depending on the situation.

In calculating the path error score, the error analysis unit 220 may calculate the path error score by normalizing the total number of deviations, total distance of deviation, total deviation time, and total deviation area. The normalization method is explained using the total number of departures as an example. The error analysis unit 220 accumulates and stores the number of departures compared to the planned flight path of all drones 100, normalizes them to Z-Score, and calculates the number of departures in the bottom 5% (i.e., Z score) as the number of departures. Set it as the minimum value and set the number of departures in the top 5% (i.e. Z score) as the maximum number of departures. Here, the upper and lower % are illustrative, and the controller can set the upper and lower % depending on the operation situation of the drone 100 and can be changed according to the control situation. Z-Score normalization is standardizing to a normal distribution with a mean of 0 and a standard deviation of 1. After setting the minimum number of departures (A _min ) and the maximum number of departures (A _max ) in this way, when the total number of departures from a specific flight path of a specific drone (100) is calculated, the total number of departures is normalized by Z-Score Calculate the Z score (A _in ). And the error analysis unit 220 can calculate the maximum-minimum normalization value (A _n ) of the total number of departures as shown in Equation 3 below. The maximum-minimum normalization value (A _n ) below has a value between 0 and 100.

(Equation 3)

A _n = (A _in - A _min ) × 100 / (A _max - A _min )

Here, if the value of A _in is greater than A _max , it is calculated as A _max , and if the value of A _in is less than A _min , it is calculated as A _min .

In the way described above, if we calculate the maximum-minimum normalized value of each factor of total number of departures, total distance of departures, total time of departures, and total area of departures, each factor will have a value between 0 and 100, and therefore each The final path error score is calculated by adding weights to the maximum-minimum normalized values of the factors.

The error analysis unit 220 checks the wind speed shown on the flight path at the time the drone 100 flew, and further applies a weather weight according to the wind speed to the path error score according to the strength of the wind speed, thereby obtaining a path error score. can also be corrected. The weather weight is multiplied by the path error score to correct the path error score. A meteorological weight may be applied to the route error score so that the stronger the wind speed, the lower the route error score. To elaborate, if the wind speed is strong, the number of times the drone 100 deviates from the flight path will increase not depending on the drone's performance but depending on the external environment (i.e., wind), and accordingly, the drone 100 will be operated in a weather environment with strong wind speed. When analyzing the flight data of the drone 100, the number of times the drone 100 deviates from the path is analyzed to be relatively high, and as a result, the path error score will appear relatively high. That is, even if it is the same drone 100, when the drone 100 is operated in a weather environment with strong wind speed, the path error score of the drone 100 appears high, and conversely, when the drone 100 is operated in a weather environment with weak wind speed, the path error score of the drone 100 appears high. When operated, the path error score of the drone 100 will appear low. In order to minimize the change in the path error score due to wind speed, which is an external environment, and to objectively calculate the error score according to the flight performance of the drone 100, the error analysis unit 220 determines the date and time the drone 100 flew. The path error score may be corrected by checking the wind speed and applying a weather weight inversely proportional to the strength of the wind speed to the path error score. That is, when the wind speed is strong, the error analysis unit 220 applies a weather weight inversely proportional to the strength of the wind speed to the route error score so that the increase in the route error score depending on the wind speed can be offset. For example, if there is little wind (i.e., below a certain threshold), the weather weight can be set to '1' so that the path error score is applied as is, and if the wind speed is above a certain level, the drone Considering that 100 frequently deviates from the planned route, a weather weight of less than '1' may be applied to the path error score so that the error score can be lowered in proportion to the wind speed intensity.

Additionally, the error analysis unit 220 may correct the path error score by applying the GPS error rate to the path error score. For example, if the GPS error rate is 2%, 2% of the route error score can be added to the route error score for correction. Preferably, the error analysis unit 220 may correct the path error score by simultaneously reflecting the GPS error rate and the wind speed.

The airspace setting unit 230 allocates the airspace for the drone 100. As previously explained, airspace refers to a spatial area in the sky where the drone 100 can move without being invaded by other drones 100 when flying. When the drone 100 flies for the first time, the airspace setting unit 230 provides the maximum error that the drone 100 deviates from the flight path based on the flight path planned using the flight data of the drone 100 collected for a predetermined time. Assign the radius to the reference airspace. Figure 5 is a diagram showing the actual flight position of the drone according to an embodiment of the present invention, showing the planned flight position and actual flight position of the drone 100 when the drone 100 is viewed from the direction in which the drone 100 is flying. indicates. In FIG. 5, the point 510 located at the center is the planned flight position of the drone 100, and the remaining points are the actual flight positions of the drone 100. The distance (r) from the drone's planned flight position 510 to the furthest actual flight position can be determined as the radius of the first reference airspace of the drone 100.

After assigning an initial reference airspace to the drone 100, the airspace setting unit 230 may readjust the airspace of the drone 100 at regular intervals based on the error score calculated by the error analysis unit 220. Preferably, the airspace setting unit 230 can readjust the previous airspace using the flight data of the previous flight every time the drone 100 flies, or adjust the previous airspace at regular time intervals (e.g., a month). By collecting them, the previous airspace can be realigned.

The airspace setting unit 230 refers to Table 1 below, checks the degree of expansion or reduction of the flight airspace corresponding to the path error score of the drone, and maintains, expands or expands the existing airspace of the drone 100 according to this change. By zooming out, the airspace of the drone 100 can be set.

Table 1 below illustrates a table mapping the path error score and the drone's airspace change status. The airspace setting unit 230 can set the airspace of the drone 100 with reference to Table 1 below.

Taking Table 1 as an example, the airspace setting unit 230 determines that the flight level of the drone is '1' if the path error score calculated by the error analysis unit 220 is 10 or less, and the currently set drone The airspace of the drone 100 can be reduced so that the airspace of the drone 100 is reduced by 90%. In addition, if the path error score calculated by the error analysis unit 220 exceeds 10 and is less than 20, the airspace setting unit 230 determines that the drone has a flight level of '2' and maintains the set airspace of the drone 100 as is. It can be maintained, and if the path error score exceeds 20 and is less than 30 (i.e., if the drone's flight level is '3'), the airspace of the drone 100 is expanded so that the set airspace of the drone 100 is 110%. can do. If the path error score exceeds 30 and is less than or equal to 40 (i.e., if the flight level of the drone is '4'), the airspace setting unit 230 sets the airspace of the drone 100 to 120%. The airspace can be expanded, and if the path error score exceeds 30 and is less than 40 (i.e., if the flight level of the drone is '5'), the airspace of the set drone 100 is set to 130%. Airspace can be expanded.

The airspace may be cylindrical, as described with reference to FIG. 4, or may be in the form of a square duct, but is not necessarily limited thereto.

Figure 6 is a diagram illustrating airspaces of different sizes. Referring to FIG. 6, the airspace of the drone 100 may be assigned a default width of W1 based on the flight path. Alternatively, as described above, the maximum error radius based on the flight path can be assigned as the width of the airspace using flight data of the drone 100 collected over a certain period of time. If the drone 100 frequently deviates from the planned flight path, the drone 100 may be assigned airspace W2, which has a larger width than W1. Conversely, if the drone 100 rarely deviates from the planned flight path, the airspace of the drone 100 may be allocated to W3, which has a smaller width than W1. The airspace of the drone 100 is not indefinitely reduced or expanded, and the lower limit of the airspace that is no longer reduced and the upper limit of the airspace that is no longer expanded can be set in advance.

The flight path generator 240 receives the departure point information, destination information, and flight time of the drone 100, and creates a flight path from the departure point to the destination based on the received information. At this time, the flight path generator 240 checks the no-fly zone stored in the database 250, and has a flight path from the origin to the destination, but has a flight path with sequential coordinates that does not pass through the no-fly zone. can be created. In addition, the flight path generator 240 checks the flight schedule of another drone having the same flight time and the flight path and airspace of this other drone 100 in the database 250, and determines whether the airspace of the drone 100 scheduled to fly is The above flight path can be created to avoid violating the airspace of other drones. That is, the flight path generator 240 generates a flight path for the drone 100 so that the airspace of the drone 100 scheduled to fly does not overlap with the airspace of other drones on the same flight schedule. Preferably, the flight path of the drone 100 is created so that the distance between the airspace of the drone 100 scheduled to fly and the airspace of other drones is greater than a certain distance.

For example, _the airspace at _the time T ₀ of the drone 100 scheduled to fly is called _a circle with a radius of W _O distance centered on the flight coordinates ( If the airspace at time ₀ is _a circle with _{a radius of distance W' 0 centered} on the flight _coordinates ( The flight path of the drone 100 scheduled to fly is created so that is greater than or equal to a predetermined critical distance (q).

Figure 7 is a flowchart illustrating a method of calculating a path error score of a drone by analyzing flight data received from a drone in a flight path setting device, according to an embodiment of the present invention.

Referring to FIG. 7, the drone 100 receives a flight path in which sequential coordinates from the origin to the destination are recorded from the flight path setting device 200, and then performs a flight according to the flight path. That is, the flight path generator 240 of the flight path setting device 200 creates a flight path that ensures a safe flight path for the drone 100 that does not overlap the airspace of other drones through a process as shown in FIG. 9, which will be described later. It is generated and provided to the drone 100, and the drone 100 performs autonomous flight by comparing the coordinates and altitude included in the flight path with the coordinates and altitude currently measured through the GPS receiver. The drone 100, which has started flying, collects GPS coordinates and altitudes of latitude/longitude using a GPS receiver during flight, and generates flight data including the collection time, and the collected GPS coordinates and altitudes of latitude/longitude. and transmits it to the flight path setting device 200.

Then, the data collection unit 210 of the flight path setting device 200 receives the flight data from the drone 100 and stores it in the database 250 (S701). Next, the error analysis unit 220 compares the flight path provided to the drone 100 by the flight path generator 240 with the flight data received from the drone 100, and compares the planned flight path and the actual flown path. Analyze errors between Specifically, the error analysis unit 220 compares the GPS coordinates and altitudes included in the flight path provided by the drone 100 with the actual moved GPS coordinates and altitudes included in the flight data, and compares the GPS coordinates and altitudes included in the flight data. ) Check the total number of times the drone deviated from the planned flight path, the total distance the drone deviated from the planned flight path, and the total time the drone 100 deviated from the planned flight path (S703, S705, S707). In one embodiment, the error analysis unit 220 may calculate the number of departures, departure distance, and departure time based on the preset airspace of the drone 100.

The error analysis unit 220 compiles the total number of times that the drone 100 deviates from the planned flight path, the total distance that the drone deviates from the planned flight path, and the total time that the drone 100 deviates from the planned flight path, and determines the route. Calculate the error score (S709). Predefined weights may be applied to each of the total number of deviations, the total distance of deviations, and the total time of deviations, and the error analysis unit 220 may calculate the total number of deviations to which the weights are applied and the total number of deviations. The route error score can be calculated by adding up the distance and the total deviation time. Meanwhile, the error analysis unit 220 may calculate the path error score by using only a part of the total number of deviations, the total distance of deviation, and the total time of deviation without using all of them. Preferably, the error analysis unit 220 calculates a maximum-minimum normalization value for each of the total number of deviations, the total distance of deviation, and the total time of deviation, and applies a weight to the maximum-minimum normalization values. Thus, the path error score can be calculated.

Next, the error analysis unit 220 checks the wind speed appearing on the flight path of the drone 100 at the time the drone 100 flew, in conjunction with the Korea Meteorological Administration server, and determines the path error score according to the strength of the wind speed. The path error score is selectively corrected to lower or maintain the original state (S711). As described above, the error analysis unit 220 adds a weather weight inversely proportional to the strength of the wind speed to the path error score to offset the reflection of external environmental variables (i.e., wind speed) in the path error score. By applying this, the path error score is selectively corrected. A meteorological weighting factor that causes the route error score to decrease as the wind speed becomes stronger is applied to the route error score.

Next, the airspace setting unit 230 sets the airspace of the drone 100 by maintaining the airspace of the drone 100 the same as before or expanding or reducing the airspace based on the calculated error score (S713). Specifically, if the calculated error score is less than or equal to the first score, the airspace setting unit 230 reduces the airspace of the drone 100 by a preset ratio, and if the calculated error score exceeds the first score, the airspace setting unit 230 reduces the airspace of the drone 100 by a preset ratio. If the score is 2 or less, the airspace of the drone (100) is maintained as before. Meanwhile, if the calculated error score exceeds the second score, the airspace setting unit 230 expands the airspace of the drone 100 by a preset ratio.

Meanwhile, the set airspace of the drone 100 can be referred to when setting the airspace of another drone having the same model as the drone 100.

In addition, if the error analysis unit 220 has already calculated the path error score of the drone 100 several times previously, the airspace setting unit 230 checks the average of the path error scores and calculates the average of the path error scores. Based on this, the airspace of the drone 100 can be maintained as is, expanded or reduced.

Figure 8 is a flowchart illustrating a method of calculating a path error score of a drone by analyzing flight data received from a drone in a flight path setting device according to another embodiment of the present invention.

Referring to FIG. 8, the drone 100 receives a flight path in which sequential coordinates from the origin to the destination are recorded from the flight path setting device 200, and then performs a flight according to the flight path. That is, the flight path generator 240 of the flight path setting device 200 creates a flight path that ensures a safe flight path for the drone 100 that does not overlap the airspace of other drones through a process as shown in FIG. 9, which will be described later. It is generated and provided to the drone 100, and the drone 100 performs autonomous flight by comparing the coordinates and altitude included in the flight path with the coordinates and altitude currently measured through the GPS receiver. The drone 100, which has started flying, collects GPS coordinates and altitudes of latitude/longitude using a GPS receiver during flight, and generates flight data including the collection time, and the collected GPS coordinates and altitudes of latitude/longitude. and transmits it to the flight path setting device 200.

Then, the data collection unit 210 of the flight path setting device 200 receives the flight data from the drone 100 and stores it in the database 250 (S801). Next, the error analysis unit 220 compares the flight path provided to the drone 100 by the flight path generator 240 with the flight data received from the drone 100, and compares the planned flight path and the actual flown path. Analyze errors between Specifically, the error analysis unit 220 compares the GPS coordinates and altitudes included in the flight path provided by the drone 100 with the actual moved GPS coordinates and altitudes included in the flight data, and compares the GPS coordinates and altitudes included in the flight data. ) Check the time and area of departure from the planned flight path (S803, S805). In one embodiment, the error analysis unit 220 may calculate the departure time and departure area based on the preset airspace of the drone 100. The error analysis unit 220 calculates the area of the two-dimensional reference as the deviation area. The two-dimensional reference area is the deviation area in the xy plane of latitude/longitude (A), the deviation area in the xz plane of latitude/altitude (B), and the deviation area in the yz plane of longitude/altitude (C) It can be defined as the sum of . Preferably, the error analysis unit 220 determines the corresponding The area and time at which the drone 100 leaves the relevant airspace can be calculated.

The error analysis unit 220 calculates a path error score by combining the time and area during which the drone 100 deviates from the planned flight path (S807). Predefined weights may be applied to each of the departure time and departure area, and the error analysis unit 220 may calculate the path error score by adding the weighted departure time and departure area. Preferably, the error analysis unit 220 may calculate a maximum-minimum normalization value for each of the departure time and the departure area, and calculate a path error score by applying a weight to the maximum-minimum normalization value.

Next, the error analysis unit 220 checks the wind speed appearing on the flight path of the drone 100 at the time the drone 100 flew, in conjunction with the Korea Meteorological Administration server, and determines the path error score according to the strength of the wind speed. The path error score is selectively corrected to lower or maintain the original state (S809). As described above, the error analysis unit 220 adds a weather weight inversely proportional to the strength of the wind speed to the path error score to offset the reflection of external environmental variables (i.e., wind speed) in the path error score. By applying this, the path error score is selectively corrected. A meteorological weighting factor that causes the route error score to decrease as the wind speed becomes stronger is applied to the route error score.

Next, the airspace setting unit 230 sets the airspace of the drone 100 by maintaining the airspace of the drone 100 the same as before or expanding or reducing the airspace based on the calculated error score (S811). Specifically, if the calculated error score is less than or equal to the first score, the airspace setting unit 230 reduces the airspace of the drone 100 by a preset ratio, and if the calculated error score exceeds the first score, the airspace setting unit 230 reduces the airspace of the drone 100 by a preset ratio. If the score is 2 or less, the airspace of the drone (100) is maintained as before. Meanwhile, if the calculated error score exceeds the second score, the airspace setting unit 230 expands the airspace of the drone 100 by a preset ratio.

Although different embodiments are described in FIGS. 7 and 8, in another embodiment, the error analysis unit 220 calculates the total number of times the drone 100 deviates from the planned flight path and the planned flight of the drone 100. The flight path error can be calculated by considering the total distance deviated from the route, the total time the drone 100 deviated from the planned flight path, and the total area deviated from the planned flight path. The error analysis unit 220 may calculate the flight path error by applying weights to each of the total number of departures, total distance of departure, total departure time, and total departure area.

In the embodiment referring to FIGS. 7 and 8, the error analysis unit 220 checks the wind speed shown on the flight path at the time and time when the drone 100 flew, and adds the path error score to the wind speed according to the strength of this wind speed. The route error score is corrected by applying the corresponding weather weight. As another embodiment, the error analysis unit 220 may correct the path error score by applying the GPS error rate to the path error score. For example, if the GPS error rate is 2%, 2% of the route error score can be added to the route error score for correction. GPS error rate and wind speed can also be considered simultaneously.

In addition, in the embodiment referring to FIGS. 7 and 8, in readjusting the airspace of the drone 100 based on the path error score, the first reference airspace of the drone uses flight data of the drone 100 collected for a predetermined time. Therefore, based on the planned flight path, the maximum error radius at which the drone 100 deviates from the flight path can be set as the initial reference airspace.

Figure 9 is a flowchart illustrating a method of generating a flight path by reflecting airspace in a flight path setting device according to an embodiment of the present invention.

Referring to FIG. 9, the flight path generator 240 receives the departure point information, destination information, and flight time of the drone 100 from the drone operator (S901). Next, the flight path generator 240 checks the no-fly zone stored in the database 250 and also checks the flight path of another drone flying at the same time as the flight time of the drone 100 (S903) .

Next, the flight path generator 240 checks the currently set airspace of the drone 100 and the airspace of another drone (S905). In addition, the flight path generator 240 does not pass through the no-fly zone, the airspace of the drone does not overlap with the airspace of other drones flying at the same time, and GPS sequential latitude/longitude from the departure point to the destination. Create a flight path where coordinates and altitudes are recorded (S907). in other words. The flight path generator 240 generates the flight path so that the airspace of the drone 100 does not pass through (avoid) the dangerous area and the airspace of other drones 100 that already have flight plans.

Subsequently, the flight path generator 240 stores the generated flight path together with the identification information of the drone 100 in the database 250 and provides the flight path to the drone 100. Accordingly, the drone 100 is induced to fly (S909).

Figure 10 is a diagram showing the configuration of a flight path setting device according to another embodiment of the present invention. Components with the same reference numerals as those described with reference to FIG. 2 in the flight path setting device 200 of the embodiment described with reference to FIG. 10 perform the same functions and operations in this embodiment. As shown in FIG. 10, the flight path setting device 200 further includes a service charging unit 1010.

The service charging unit 1010 may charge the owner of the drone 100 a service fee for using the airspace of the drone 100 and store the fee information in the database 250. The service charging unit 1010 may differentially charge service usage fees to the owner of the drone 100 according to the size of the airspace allocated to the drone 100.

The service charging unit 1010 charges a basic fee when a predetermined standard airspace is assigned to the drone 100, and when the size of the airspace allocated to the drone 100 changes compared to the standard airspace, an additional fee is added to the basic fee. The service usage fee can be increased by adding additional services, or the service usage fee can be reduced by applying a discount to the basic fee. Here, the reference airspace may be the same for all drones 100 or may vary depending on the size or type of drone 100. If the standard airspace varies depending on the size or type of the drone 100, existing fees may also be different for each standard airspace.

An example of flexible operation of service usage fees depending on the size of airspace is shown in [Table 2] below. According to [Table 2] below, if the standard airspace is allocated, that is, if the airspace is maintained, the basic fee is charged, and if the size of the airspace allocated to the drone 100 is reduced by 90% compared to the standard airspace, the basic fee is charged. A 20% discount applies. On the other hand, if the size of the airspace allocated to the drone 100 increases by 110% compared to the standard airspace, an additional charge of 5% is applied to the basic fee, and the surcharge increases as the size of the allocated airspace increases.

When charging service usage fees, the service charging unit 1010 may differentially apply service usage fees depending on the flight distance of the drone 100 as well as the size of the airspace. The service charging unit 1010 may increase the service fee as the flight distance increases, and may decrease the service fee as the flight distance decreases. Therefore, when the size of the allocated airspace is the same, the service fee may increase as the flight distance increases, and the service fee may decrease as the flight distance decreases.

According to the embodiment with reference to FIG. 10, it is possible to increase the profits of operators managing airspace while enabling the operation of more drones 100 within a limited space. In particular, the drone 100, which is allocated a relatively larger airspace due to many flight errors, does not perform as well and reduces the space in which other drones can fly, so it is reasonable to charge a more expensive service fee. Conversely, the drone 100 is assigned a relatively larger airspace due to flight errors. The drone 100, which is allocated a relatively smaller airspace due to its small number of drones, has good performance and secures space for other drones to fly, so it is reasonable to charge a low service fee. By charging a relatively low service fee for drones with good performance compared to drones with poor performance, there is an effect of encouraging the development of drones (100) with good performance, allowing more drones (100) to fly in a small space. .

While this specification includes many features, such features should not be construed as limiting the scope of the invention or the scope of the claims. Additionally, features described in individual embodiments herein may be combined and implemented in a single embodiment. Conversely, various features described in a single embodiment herein may be implemented individually or in combination as appropriate in various embodiments.

Although operations in the drawings are illustrated in a particular order, it should not be understood that such operations are performed in a particular order as shown, or that they are performed in a sequential order, or that all of the described operations are performed to achieve a desired result. . Multitasking and parallel processing can be advantageous in certain environments. In addition, it should be understood that the division of various system components in the above-described embodiments does not require such division in all embodiments. The program components and systems described above may generally be implemented as a package in a single software product or multiple software products.

The method of the present invention as described above can be implemented as a program and stored in a computer-readable form on a recording medium (CD-ROM, RAM, ROM, floppy disk, hard disk, magneto-optical disk, etc.). Since this process can be easily performed by a person skilled in the art to which the present invention pertains, it will not be described in further detail.

The present invention described above is capable of various substitutions, modifications and changes without departing from the technical spirit of the present invention to those of ordinary skill in the technical field to which the present invention pertains. It is not limited by the drawings.

100: Drone 200: Flight path setting device
210: data collection unit 220: error analysis unit
230: airspace setting unit 240: flight path creation unit
250: Database 300: Network
410: airspace 420, 510: flight path
430: Breakaway area
1010: Service charging department

Claims (22)

A flight path setting method for setting a flight path reflecting the airspace of a drone in a flight path setting device, comprising:
Receiving flight data collected by the drone from the drone;
Comparing the received flight data with a pre-planned flight path of the drone and calculating a path error score indicating the degree to which the drone deviates from the pre-planned flight path;
adjusting a preset airspace of the drone based on the path error score; and
A flight path setting method including the step of creating a new flight path for the drone based on the adjusted airspace and destination of the drone. According to paragraph 1,
The step of adjusting the airspace is,
If the route error score is less than or equal to the first score, the preset airspace of the drone is reduced, and if the route error score exceeds the first score and is less than or equal to the second score, the preset airspace of the drone is maintained, and the route error score is A flight path setting method characterized by expanding the preset airspace of the drone when exceeds the second score. According to paragraph 1,
The step of calculating the path error score is,
By comparing the received flight data with the pre-planned flight path, the path error score is calculated using one or more of the total number of times the drone deviates from the pre-planned flight path, the total time it deviates, or the total distance it deviates from. A flight path setting method characterized by calculating. According to paragraph 1,
The step of calculating the path error score is,
A flight path setting method comprising comparing the received flight data with the pre-planned flight path and calculating the path error score using the area and time during which the drone deviates from the pre-planned flight path. According to clause 4,
The deviated area is,
A flight path setting method characterized in that the two-dimensional reference area is the sum of the deviation area in the latitude/longitude plane, the deviation area in the longitude/altitude plane, and the deviation area in the latitude/altitude plane. According to any one of claims 3 to 5,
The pre-planned flight path includes the preset airspace,
The step of calculating the path error score is,
A flight path setting method comprising calculating the path error score by comparing the preset airspace of the drone and the received flight data. According to paragraph 1,
The calculating step and the adjusting step are,
A flight path setting method characterized in that it is repeated for each flight of the drone, or repeated using flight data of multiple flights of the drone at regular time periods. According to paragraph 1,
Confirming wind speed occurring in the flight path; and
A flight path setting method further comprising: applying a weather weight inversely proportional to the strength of the confirmed wind speed to the path error score to correct the path error score. According to paragraph 1,
Flight route setting method further comprising correcting the route error score based on the GPS error rate. According to paragraph 1,
The step of creating a new flight path for the drone is,
Receiving the departure point, destination, and flight time of the drone, and checking the flight path of another drone scheduled to fly at the flight time; and
A flight path setting method comprising: generating a flight path from the departure point to the destination so that the adjusted airspace of the drone does not pass through the airspace of another drone. According to paragraph 1,
A flight path setting method further comprising differentially charging a service fee for the drone according to the size of the airspace allocated to the drone. In the flight path setting device that sets the flight path reflecting the airspace of the drone,
A data collection unit that receives flight data collected from the drone from the drone;
an error analysis unit that compares the received flight data with a pre-planned flight path of the drone and calculates a path error score indicating the degree to which the drone deviates from the pre-planned flight path;
an airspace setting unit that adjusts a preset airspace of the drone based on the path error score; and
A flight path setting device including a flight path generator that generates a new flight path for the drone based on the adjusted airspace of the drone and the drone's destination. According to clause 12,
The airspace setting unit,
If the path error score is less than or equal to the first score, the airspace of the drone is reduced, and if the path error score exceeds the first score and is less than or equal to the second score, the airspace of the drone is maintained, and the path error score is the second score. A flight path setting device that expands the airspace of the drone when it exceeds . According to clause 12,
The error analysis unit,
By comparing the received flight data with the pre-planned flight path, the path error score is calculated using one or more of the total number of times the drone deviates from the pre-planned flight path, the total time it deviates, and the total distance it deviates from. A flight path setting device characterized in that. According to clause 12,
The error analysis unit,
A flight path setting device that compares the received flight data with the pre-planned flight path and calculates the path error score using the area and time during which the drone deviates from the pre-planned flight path. According to clause 15,
The deviated area is,
A flight path setting device characterized in that the two-dimensional reference area is the sum of the deviation area in the latitude/longitude plane, the deviation area in the longitude/altitude plane, and the deviation area in the latitude/altitude plane. According to any one of claims 14 to 16,
The pre-planned flight path includes the preset airspace,
The error analysis unit,
A flight path setting device that calculates the path error score by comparing the preset airspace of the drone with the received flight data. According to clause 12,
The error analysis unit and the airspace setting unit,
A flight path setting device that adjusts the airspace of the drone by calculating a path error score for each flight of the drone or at regular time periods. According to clause 12,
The error analysis unit,
A flight path setting device characterized in that it checks the wind speed occurring in the flight path and corrects the path error score by applying a weather weight inversely proportional to the strength of the confirmed wind speed to the path error score. According to clause 12,
The error analysis unit,
A flight path setting device characterized in that the route error score is corrected based on the GPS error rate. According to clause 12,
The flight path generator,
After receiving the departure point, destination, and flight time of the drone, and checking the flight path of another drone scheduled to fly at the flight time, the airspace of the set drone avoids the airspace of the other drone, from the departure point to the destination. A flight path setting device characterized in that it generates a flight path. According to clause 12,
A flight path setting device further comprising a service charging unit that differentially charges service usage fees for the drone according to the size of the airspace allocated to the drone.