KR101391359B1 - Unmanned aerial pest control system using geographic information system and control method thereof - Google Patents

Abstract

The present invention relates to an unmanned aerial pest control system using a geographic information system and a control method thereof. The unmanned aerial pest control system using a geographic information system includes an unmanned aerial vehicle; a remote controller to transmit a control signal to the unmanned vehicle for controlling the unmanned vehicle; a server including a geographic information system having area information on a registration of a ground of a pest requester, and to generate a pest map on which a pest target is displayed based on the geographic information system, to transmit the generated pest map to the remote controller, to receive flight information from the unmanned vehicle performing the pest under control of the remote controller, to generate a pest result map where a pest record is displayed on the pest map based on the flight information, and to calculate a pest cost based on the geographic information system and the flight information.

Description

TECHNICAL FIELD [0001] The present invention relates to an unmanned aerial vehicle control system using a geographic information system,

The present invention relates to an unmanned aerial control system using a geographic information system (GIS) and a control method thereof, and more particularly, to a method for controlling an unmanned aerial vehicle using a geographic information system To an unmanned aerial control system using a geographic information system capable of avoiding obstacles and preventing an accident, and a control method thereof.

Generally, pesticide and fertilizer spraying methods in rural areas are carried out by diluting pesticides or the like in water, spraying them directly in an atomizer, spraying them directly with a plastic bag having a long length, holding the plastic bag at both ends .

However, such a conventional spraying method requires a large number of manpower, has a problem that a worker may be poisoned by pesticides and harm health, and the farmer must step on the farm during the spraying of the pesticide, have.

In addition, the method of spraying the pesticide with the sprayer and the hose requires the operator to spray the hose and spray nozzle connected to the sprayer into the paddy field or the field and spray the pesticide. Therefore, the workability is significantly lowered and the work is inconvenient have.

Meanwhile, in order to solve the above-mentioned problems, a method of spraying medicines such as pesticides by using an unmanned airplane such as an unmanned helicopter is emerging.

However, as described above, the control method using the unmanned airplane is merely a problem that the unmanned airplane does not spray evenly at the place where the medicine is sprayed, because the unmanned airplane sprays the medicine while freely flying over rice fields or fields to be sprayed have.

Therefore, it has been suggested to use the GPS (Global Positioning System) information to confirm the location of rice fields and fields where an unmanned aerial vehicle should spray medicines, and to spray the medicines in the correct positions.

However, in the case of controlling using the GPS information, since the control cost is calculated on the basis of the distance traveled by the UAV, the cost is excessively charged compared to the area sprayed with the drug, There is a problem in that an accident that the aircraft collides with the obstacle due to the obstacle can not be recognized. In addition, it is difficult to grasp the route worked on the same day, precise control information is not recorded, and measures for solving the problem are required.

Korean Patent Publication No. 10-2010-0092199 Japanese Laid-Open Patent Application No. 2008-68711

Accordingly, a problem to be solved by the present invention is to provide an information processing system and a method for controlling an agent on agricultural land through an unmanned airplane, which can precisely control and calculate costs by using a geographic information system and GPS information together, And an unmanned aerial control system using the geographic information system and a control method thereof.

According to an aspect of the present invention, there is provided an unmanned aerial vehicle control system using a geographic information system, the system comprising: an unmanned aerial vehicle; A remote control device for controlling the unmanned airplane by transmitting a control signal to the unmanned airplane; And a geographical information system having registered area information of the land owned by the client, wherein the control system displays a control map indicating an object to be controlled to be controlled based on the geographical information system and transmits the generated control map to the remote control device Wherein the control information receiving unit receives the flight information from the unmanned airplane that has been controlled by the adjustment of the remote control device, generates a control result map displaying the control record on the control map based on the flight information, And a server for calculating a control cost based on the flight information, wherein the control cost is a control cost = A * S + (L / DR) * M * D, A: D of the unmanned airplane 100 when the engine RPM is equal to or higher than a predetermined reference value in a state where the chemical spraying operation is on, L is a total drug amount applied while the engine RPM of the UAV 100 is equal to or greater than a predetermined reference, M is a drug cost per moving distance, and R is a reference value that is a reference value of the additional charge and the deduction charge. Lt; / RTI >

The server may include the obstacle information in the control map based on the geographic information system.

The remote control device may control the unmanned airplane so that the unmanned airplane does not hit an obstacle based on the obstacle information included in the control map.

The server may include eco-friendly area information on the control map based on the geographical information system.

The remote control device may control the unmanned airplane so that the unmanned airplane does not spray the medicine on the environmentally friendly area based on the eco-friendly area information included in the control map.

The remote control device may output a voice warning when the unmanned airplane approaches the eco-friendly area within a certain distance based on the eco-friendly area information included in the control map.

The unmanned aircraft includes: a communication unit that communicates with the remote control device and receives GPS information from a satellite; A driving unit for driving the base by a control signal from the remote control unit; A spraying unit for spraying the medicine; A data portion for recording flight information related to a flight situation; And a control unit for checking the space in which the current gas is flying by using the received GPS information and controlling the data unit to store the flight information.

Therefore, according to the present invention, by applying the geographic information system together with the GPS information, it is possible to confirm the information about the object of the actual owner, actual area, etc., and thereby, the accurate summation of the area of the object to be controlled and the geographical An unmanned aerial control system using an information system and a control method thereof are provided.

In addition, the present invention can prevent a claim that the landowner is overcharged for a reasonable cost of the control, and the unmanned aerial control system using the geographic information system and its control Method is provided.

In addition, since the obstacle can be avoided by using the obstacle information included in the geographical information system, the present invention can provide an unmanned aerial vehicle control system using a geographical information system capable of preventing collision between an unmanned airplane and an obstacle, And a control method thereof are provided.

In addition, during the control work, it is possible to input the work contents such as the position of the object subjected to the control on the remote control device, the type of the applied medicine, the operator who manipulated the unmanned airplane, etc. and transmit it to the server in real time, The unmanned aerial control system using the geographical information system and the control method thereof can be provided.

1 is a control block diagram of an unmanned aerial vehicle control system using a geographic information system according to the first and second embodiments of the present invention,
2A is a view showing an example of a control application list according to an embodiment of the present invention,
FIG. 2B illustrates a process of importing a control application list according to an embodiment of the present invention into a geographic information system,
FIG. 2C is a diagram showing a control map showing an object to be controlled according to an embodiment of the present invention,
FIG. 3A is a diagram illustrating a process of converting a flight record of an unmanned aerial vehicle in the server 300 according to an embodiment of the present invention,
FIG. 3B is a view showing an example of data of a converted flight record according to an embodiment of the present invention,
FIG. 3C is a diagram illustrating a process of loading a control record into a geographic information system according to an embodiment of the present invention,
FIG. 3D is a diagram showing a control result map showing an object to be controlled and a control record according to an embodiment of the present invention,
4 is a flowchart illustrating a process of controlling an unmanned aerial vehicle control system using a geographic information system according to an embodiment of the present invention.
5 is a control block diagram of an unmanned aerial vehicle control system using a geographic information system according to an embodiment of the present invention.
FIG. 6 is a diagram illustrating a web page in which a member registers a control schedule according to an exemplary embodiment of the present invention. Referring to FIG.
FIG. 7 is a diagram illustrating a web page for sharing common control information according to an exemplary embodiment of the present invention. Referring to FIG.

[First Embodiment]

Hereinafter, a first preferred embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a block diagram illustrating an unmanned aerial vehicle control system using a geographical information system according to the present invention. The unmanned aerial vehicle control system includes a UAV 100, a remote controller 200, and a server 300. Although the control system according to the present invention is described as one system for the UAV 100 and the remote controller 200, the plurality of remote controllers 200 and the plurality of remote controllers 200 corresponding to the plurality of UAVs 100, It is needless to say that each of the UAV 100 and the remote control device 200 including the device 200 can perform the control by allocating an area to be controlled among all the objects to be controlled.

The UAV 100 according to the present invention includes a communication unit 10, a driving unit 20, a spray unit 30, a data unit 40, and a control unit 50.

The communication unit 10 communicates with the remote control device 200 and includes an RF transmitting and receiving unit (not shown) for receiving a control signal for the flight or the like of the UAV 100 from the remote control device 200, And a GPS receiving unit (not shown) for receiving GPS data according to the time of the currently flying space.

Further, the communication unit 10 according to the present invention can transmit an obstacle warning signal to the remote control device 200, and a detailed description thereof will be described later.

The driving unit 20 is driven by a control signal from the remote control device 200 to enable the gas to flow, and includes an engine and the like. The driving unit 20 adjusts the position, altitude, speed, attitude and the like of the gas during flight through the GPS data received through the GPS receiver.

The spraying unit 30 is a spraying unit for spraying the spraying agent, which is the pesticide stored in liquid or powder form, and the fertilizer, on the agricultural land to be disaster-affected. The spraying unit 30 includes a storage sprayer for easily supplying the spraying agent, And a plurality of spray nozzles provided at the end of the high-pressure transfer hose to discharge the spraying agent moved through the high-pressure transfer hose to the agricultural land.

The data unit 40 records flight information of a vehicle, and can be implemented as a flight recorder that records information related to flight of a vehicle and includes a memory in which a flight program is stored.

Also, the data unit 40 receives and stores the obstacle information from the server 300. The data unit 40 according to the first embodiment receives obstacle information directly from the server 300 through a connection medium such as a USB. Here, the obstacle information includes terrain information about natural and artificially generated objects (e.g., house, greenhouse, tree, electric pole, wire, etc.) where the gas can hit in flight.

The flight information stored in the data unit 40 includes the flight trajectory of the UAV 100, the time at the spraying time of the spraying unit 30, the flight coordinate values (latitude and longitude) of the spraying point, , Engine RPM (revolution per minute), and so on.

The control unit 50 controls the driving unit 20 to drive the gas in accordance with the control signal received from the remote control device 200 through the communication unit 10 and controls the spray unit 30 to spray the medicament. The control unit 50 confirms the space in which the current gas is flying by using the GPS information received via the GPS receiver and stores the flight information related to the flight status in the data unit 40. [ In particular, the control unit 50 according to the present invention allows the data unit 40 to store the on / off time of the drug dispensing operation of the dispensing unit 30. In addition, the control unit 50 may cause the data unit 40 to store the engine RPM information of the UAV 100.

Meanwhile, the control unit 50 may cause the data unit 40 to store information on the amount of the drug sprayed when the engine RPM of the UAV 100 is higher than a predetermined reference. For this, the control unit 50 acquires drug level information from a gauge (not shown) of a drug tank (not shown) in which the agent is stored when the engine RPM of the UAV 100 is above a predetermined reference, 40). ≪ / RTI > The amount of the drug sprayed while the UAV 100 is away from the ground can be calculated by a predetermined standard or more. Of course, depending on the embodiment, the amount of the drug sprayed may be obtained by using the drug level filled in the drug tank before take-off and the drug level filled in the drug tank after landing. In this case, the amount of the drug sprayed on the ground or sprayed at a predetermined height or lower may be included.

The control unit 50 checks the obstacle information stored in the data unit 40 and transmits the alarm signal to the remote control device 200 to inform the remote control device 200 of an obstacle .

The remote control device 200 is for adjusting the UAV 100. The remote control device 200 according to the first embodiment is implemented as a smart phone, a tablet PC, or the like capable of receiving GPS information from a satellite desirable.

The remote control device 200 downloads a control map indicating the position of the object to be controlled from the server 300 and transmits a control signal to the unmanned airplane 100 so as to spray the control object according to the control map.

The remote control device 200 can know the position of the coordinator, the position of the UAV 100, the movement route, and the like on the current map through the GPS information received from the satellite, and can easily grasp the position of the control object.

In addition, it is also possible to select an object to be controlled in the control map 200 through the remote control device 200, and determine whether the control is performed through color change or the like, the position of the object subjected to the control, the type of the applied drug, And so on. The input information can be transmitted to the server 300 in real time.

Based on the obstacle information included in the control map and the eco-friendly area information, the remote controller 200 can control so that the unmanned airplane 100 does not pass through the area or spray the medicine in the eco-friendly area.

The remote control device 200 may include a speaker (not shown) for outputting a voice warning when the unmanned airplane 100 approaches the environment-friendly area within a predetermined distance based on the environment-friendly area information included in the control map.

The server 300 according to the present invention includes a geographical information system for analyzing and collecting geographical information based on data input to the inputted landmark space and information collected from the satellites into a database. The geographical information system can identify the owner of the room, the registered area, and the official land price using the lot number. Geographic information systems can also provide information about obstacles and environmentally friendly areas. Obstacle information and eco-friendly information can be input by the manager who manages the geographic information system, and the information collected from the terrain information and the satellites is analyzed, so that the information about the position where the natural or artificial object having a certain height or more from the ground is automatically obstructed Information.

The server 300 provides the remote control device 200 with a control map indicating an object to be controlled. 2A to 2C are diagrams showing a process of the server 300 generating a control map.

FIG. 2A is an example of a control application list generated by requesting control. Referring to FIG. 2A, the server 300 generates a control application list by digitizing information about an object to be controlled, which is requested to control the pest control. The control application list includes information on the location of the discussion, the varieties of crops, the applicant, and the area.

FIG. 2B is a diagram for inputting a control application list in the geographic information system, and the server 300 generates a control map indicating the control objects included in the control application list (refer to the red dot shown in FIG. 2C). The control map may be formed of a high-resolution JPG file, and the generated control map is provided to the remote control device 200.

The server 300 according to the first embodiment provides obstacle information to the UAV 100. As described above, the obstacle information is information on the position of an object (for example, a house, a green house, a tree, a telephone pole, a wire, etc.) having a height naturally and artificially generated as the terrain information included in the geographic information system, (Not shown) to the data unit 40 of the UAV 100 connected by USB or the like.

When the control is completed, the server 300 receives the flight information stored in the UAV 100. 3A to 3D are diagrams illustrating a process of inputting flight information of the UAV 100 to the server 300. FIG.

Referring to FIG. 3A, the server 300 executes a program dedicated to a memory card and writes the gps log information, which is flight information stored in the data portion 40 of the UAV 100, to a gpx file Conversion. Here, when the flight information is converted, the option can be selected. For example, an 'all conversion' option that records all flight information, an 'engine RPM 6000 or higher' option that records only flight information after takeoff, an 'engine RPM option' 'Option. Here, it is preferable to obtain the drug spraying flight locus information of the UAV 100 through the 'engine RPM option + spray on' option. The above condition is the case where the engine RPM of the UAV 100 is above a predetermined value, that is, when the airplane is flying over a certain altitude above the ground, and at the same time, the spraying operation of the sprayer 30 is turned on and the medicament is sprayed. In this case, when the engine RPM of the UAV 100 is less than a predetermined value, it is excluded when the sprayer 130 is operated on the ground, and when the spraying operation of the sprayer 130 is off, Since it is not sprayed, it can also be excluded from the drug spraying trajectory.

3B is a view showing data of the converted flight information. Referring to FIG. 3C, the data of the converted flight information includes information such as flight record, date, time, latitude, longitude, spraying, engine RPM, and the like.

FIG. 3C is a diagram for inputting the converted flight information into the geographic information system, and selects any one of the flight information converted into the gpx file. FIG. 3D is a diagram showing a map as a result of the control, and the server 300 generates a control result map showing the control object (indicated by a red dot) and the control record (indicated by a red hatched) using the flight information selected in FIG. 3C do.

The server 300 according to the present invention calculates the control cost according to the area of the object to be controlled based on the flight information when the control work is finished. At this time, the server 300 can apply the geographical information system together with the GPS information to confirm the information about the object to be controlled such as the owner of the room, the registered area, etc., so that the area of the object to be controlled can be accurately calculated, The control cost is calculated. That is, the control cost can be calculated by multiplying the unit cost per unit area of the control object where the control is performed based on the geographic information system and the flight information, by the area of the control object where the control is performed, as shown in Equation 1 below.

&Quot; (1) "

Cost of control = cost per unit area of the target to be controlled * Area of the target to be controlled

(Here, the unit cost per unit area may include a drug cost, a cost required for flying the UAV 100, etc.)

On the other hand, in the case of calculating the total spraying cost by multiplying the total travel distance by the area after converting the travel distance of the UAV 100 through the GPS, multiplying the cost of the pesticide per unit area, the unmanned airplane (100) to the neighboring land owned by the other owner, it may be the case that the client requesting the control has overestimated the area of the land compared to the area of the land, and ultimately the cost is overcharged. In order to solve such a problem, it is more preferable to calculate the control cost according to the following expression (2).

&Quot; (2) "

Control cost = A * S + (L / D-R) * M * D

A: Cost per unit area for each type of spray applied

S: Registered area of land owned by client

D: the moving distance of the UAV 100 when the engine RPM is equal to or greater than a predetermined reference value in a state in which the chemical spraying operation is on

L: total drug amount sprayed when the engine RPM of the unmanned airplane 100 is equal to or higher than a predetermined standard

M: drug cost per moving distance

R: Standard value that becomes standard of additional charge and deduction rate

Here, A includes drug cost per unit area and unmanned helicopter operation cost per unit area. And M can be defined as the cost of spraying agent when moving 1M helicopter. On the other hand, R can be set different criteria for different types of crops to be controlled. For example, crops such as rice, soybean, barley and wheat can be set at 10 ml / m, and vegetables such as potato, sweet potato, garlic, and onion can be set at 21 ml / m. It is also possible that other criteria may be applied according to the embodiment.

More specifically, the moving distance of the unmanned helicopter control system for 3000 square meters is usually calculated to be 750 meters. According to the Pesticide Spraying Guidelines, the amount of medicines used for controlling 3,000 pyeong is listed as 8L for rice, soybean, barley, and wheat, and 16L for other agricultural crops.

Based on this, in case of rice, soybean, barley and wheat, the amount of drug used (8L) according to the spraying guidelines is approximately 10ml / m when divided by the moving distance (750m), and 21ml / m for other crops. Therefore, it can be used as the standard (R) for the surcharge and deduction.

Based on this, if the L / D is 10ml / 1m when the rice control is applied, there is no addition cost or deduction of the control cost, and the discount cost occurs when the amount is less than 10ml / 1m. When a large amount of medicines are contained).

In the case of controlling other crops, there is no additional cost or deduction for L / D of 21ml / m. In case of less than 21ml / m, a discount is incurred. The case where a large amount of money is entered).

As a result, when the L / D exceeds the predetermined standard, the additional charge is applied to the case where the medicine is contained more than the reference, and the cost is reduced. . And, if you are within the predefined reference range, no additional cost or deduction will apply.

4 is a flowchart illustrating a process of controlling an unmanned aerial vehicle control system using a geographic information system according to an embodiment of the present invention.

Referring to FIG. 4, the server 300 generates a control application list by computerizing the information about the control object requested to be controlled (S1). Then, the control application list is applied to the geographic information system to generate the control map indicating the control target (S3).

Then, the server 300 provides the control map generated in step S3 to the remote control device 200 (S5).

Then, the server 300 provides obstacle information or eco-friendly area information of the terrain information included in the geographic information system to the UAV 100 (S7). At this time, the server 300 transmits the obstacle information or the eco-friendly area information to the data part 40 of the UAV 100 connected by USB or the like through a connection unit (not shown).

Then, the remote control device 200 transmits a control signal to the unmanned airplane 100 so as to distribute the medicine to the control object displayed on the control map (S9). The unmanned airplane 100 distributes the medicines to the object to be controlled according to a signal from the remote control device 200 and transmits flight information such as the time at the time of the medicinal sprinkling time and the flight coordinate values using the GPS information to the data unit 40 (S11).

When the control is completed, the flight information of the UAV 100 is input to the server 300, a map is generated as a result of the control, and control information is recorded (S13). Then, based on the flight information, the control cost according to the area of the object subjected to the control is calculated (S15).

Through this, the geographical information system can be applied along with the GPS information, so that the information on the subject such as the owner of the room and the registered area can be confirmed, so that the accurate calculation of the area of the subject subjected to the control and the reasonable cost of the control can be calculated.

The reasonable cost of control can prevent claims that the landlord is overcharged and can be competitive in the same industry.

In addition, since the obstacle can be avoided by using the obstacle information included in the geographic information system, collision between the unmanned airplane 100 and the obstacle can be prevented.

In addition, during the control work, the user inputs the position of the object to be controlled, the type of the applied agent, the operator who manipulated the unmanned airplane 100, and the like in the remote control device 200, So that it is possible to record information on the control work quickly and accurately.

[Second Embodiment]

Hereinafter, a second embodiment according to the present invention will be described with reference to FIG. Here, in the description of the second embodiment, a description overlapping with the first embodiment will be omitted.

The remote control apparatus 200 according to the second embodiment accesses the server 300 in real time while performing a control operation through the Internet and receives obstacle information or eco-friendly area information stored in the server 300. Alternatively, the server 300 may be connected to the server 300 via the Internet before performing the control operation, and the obstacle information may be received and stored in the remote control device 200.

Based on the obstacle information or the eco-friendly area information, the pilot checks whether there is an obstacle or an eco-friendly area in the location of the UAV 100, so as to prevent the gas from hitting the obstacle, Can be changed.

[Third Embodiment]

Hereinafter, a third embodiment according to the present invention will be described with reference to FIG. Here, in the description of the third embodiment, the overlapping description with the first embodiment or the second embodiment will be omitted.

The remote control device 200 according to the third embodiment includes a main controller 210 that controls the flight of the UAV 100 and a sub-controller 220 that writes the control work status.

Then, the sub-controller 220 accesses the server 300 via the Internet and receives the obstacle information. The received obstacle information may be transmitted to the main controller 210 through a local communication network such as Bluetooth in real time, or may be transmitted to the main controller 210 before being controlled.

[Fourth Embodiment]

FIG. 6 is a diagram illustrating a web page in which a member registers a control schedule according to an exemplary embodiment of the present invention. Referring to FIG. FIG. 7 is a diagram illustrating a web page for sharing common control information according to an exemplary embodiment of the present invention. Referring to FIG.

A member who joins the unmanned aerial control system using the geographic information system according to the present invention can log his own control schedule by logging in his / her member ID on the web page as illustrated in FIG. Members who want to carry out joint control can apply for joint control.

Then, the control information as illustrated in FIG. 7 is shared with other members so that other members can apply for joint control participation.

Those skilled in the art to which the present invention pertains are to be interpreted in all respects as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the foregoing detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be interpreted as being included in the scope of the present invention do.

10: communication unit 20:
30: Sparse section 40: Data section
50: control unit 100: unmanned airplane
200: remote control device 300: server

Claims (7)

In an unmanned aerial control system using a geographic information system,
Unmanned aircraft;
A remote control device for controlling the unmanned airplane by transmitting a control signal to the unmanned airplane;
And a geographical information system having registered area information of the land owned by the client, wherein the control system displays a control map indicating an object to be controlled to be controlled based on the geographical information system and transmits the generated control map to the remote control device Wherein the control information receiving unit receives the flight information from the unmanned airplane that has been controlled by the adjustment of the remote control device, generates a control result map displaying the control record on the control map based on the flight information, And a server for calculating a control cost based on the flight information,
The control cost is calculated by the following equation
Control cost = A * S + (L / DR) * M * D
A: Cost per unit area for each type of spray applied
S: Registered area of land owned by client
D: the moving distance of the UAV 100 when the engine RPM is equal to or greater than a predetermined reference value in a state in which the chemical spraying operation is on
L: total drug amount sprayed when the engine RPM of the unmanned airplane 100 is equal to or higher than a predetermined standard
M: drug cost per moving distance
R: Standard value that becomes standard of additional charge and deduction rate
Wherein the unmanned aerial vehicle control system comprises a geographical information system. The method of claim 1,
The server comprises:
And the obstacle information is included in the control map based on the geographic information system. 3. The method of claim 2,
The remote control device comprises:
Wherein the control unit controls the unmanned airplane so that the unmanned airplane does not hit the obstacle based on the obstacle information included in the control map. The method of claim 1,
The server comprises:
And the eco-friendly area information is included in the control map based on the geoinformation system. 5. The method of claim 4,
The remote control device comprises:
Wherein the control unit controls the unmanned airplane so that the unmanned airplane does not dispense the drug into the environmentally friendly area based on the eco-friendly area information included in the control map. The method of claim 5,
The remote control device comprises:
Wherein the unmanned aerial vehicle control system outputs a voice warning when the unmanned airplane approaches the eco-friendly area within a predetermined distance based on the eco-friendly area information included in the control map. The method of claim 1,
In the unmanned air vehicle,
A communication unit for communicating with the remote control device and receiving GPS information from the satellite;
A driving unit for driving the base by a control signal from the remote control unit;
A spraying unit for spraying the medicine;
A data portion for recording flight information related to a flight situation;
And a control unit for checking the space in which the current gas is flying by using the received GPS information and controlling the data unit to store the flight information.

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