KR101793509B1 - Remote observation method and system by calculating automatic route of unmanned aerial vehicle for monitoring crops - Google Patents

Abstract

Disclosed are a remote observation method through automatic route calculation of an unmanned aerial vehicle and a system thereof. According to the present invention, the remote observation method uses unmanned aerial vehicle (100) which includes a photographing unit (140) which photographs cropland, determines crops according to their growth stage, and acquires image data according to the distribution, and a position information detector (120) which detects position information while the unmanned aerial vehicle (100) aviates along the pre-determined route. The remote observation method includes: a step (a) of preparing geographic information data where a cadastral map layer, an aerial image layer, and a DEM layer of a cropland overlap; a step (b) of preparing crop statistics data according to growth of the crops in the cropland; a step (c) of preparing non-crop data reflecting the height of an object which is not crops; a step (d) of calculating the flight altitude and route of the unmanned aerial vehicle (100) by using the geographic information data, the crop statistics data, and the non-crop data; a step (e) of photographing cropland through the flight of the unmanned aerial vehicle (100) which follows the flight altitude calculated in step (d) and generating positional image data; and a step (f) of receiving the positional image data through an automatic route calculation unit (600) located in the ground.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote monitoring method and system for estimating an automatic route of an unmanned aerial vehicle for monitoring crops,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote observation method and system for estimating an automatic route of an unmanned aerial vehicle for monitoring crops. More specifically, the present invention can easily identify and manage the growth status of crops such as red pepper, cabbage radish, garlic, onion and the like using a unmanned aerial vehicle such as a drone, The present invention also relates to a remote observation method and system thereof by automatic route calculation of an unmanned aerial vehicle, which enables automated agricultural precision agriculture linked to agricultural facilities such as tractors and ICT.

In the production of crops such as red pepper, cabbage, radish, garlic and onion, technologies are being developed to minimize production and increase the use of manpower.

In connection with this, we collected data on the growth of crops while flying at low altitudes using unmanned aerial vehicles and remote sensing technology to provide basic data necessary for development of supply and demand control models through forecasting yields, There is a need for a suitable automatic path search technique, image acquisition and data processing using aviation, statistical techniques for correlating soil characteristics and crop characteristics with image data.

Among various fields using unmanned aerial vehicles, construction of terrain information data has been widely applied. Especially, it is utilized in various fields such as agriculture, civil engineering, architecture, urban planning, and tourism through building accurate terrain data. For these various applications, accurate location information should be based. In addition, the simple location-based image data is a point cloud technology that uses the photogrammetry technology to read the position of a pixel in a duplicated image of a simple redundant image in a stereo image-based altitude extraction technique utilized in existing airborne or satellite- Is being developed. In particular, point cloud technology is evolving into a technology that measures position and distance and identifies objects in the field of unmanned vehicles.

The development of unmanned aerial vehicles and related system technology has evolved considerably and is at the stage of commercialization. However, in order to apply this technology to agriculture, it is necessary to develop an optimal flight plan and operation technology to perform unmanned flight based on the cultivation characteristics of crops, Etc. are required.

As a related art related to the related art, space information is generated by using an unmanned air vehicle in Korean Patent Laid-Open No. 10-2011-0063257 (hereinafter referred to as 'Patent Document 1') under the name of 'spatial information generation system and method thereof' The system collects the area information of the area where the UAV is located, acquires the image information of the area where the UAV is located, and integrates the time code into the image information. Next, a spatial information generation system has disclosed a technique of generating three-dimensional spatial information including an orthoimage by mapping the integrated information obtained by integrating the time code to the image information and the region information, and orthogonalizing the result of the mapping. Patent Document 1 has an advantage that 3D image information can be generated based on GPS / INS and direct facial expression processing instead of applying ground reference point and aerial triangulation method.

However, as the collection and utilization of actual image data utilizing unmanned aerial vehicles has been emphasized rather than shooting images through satellites in recent years, the utilization of unmanned aerial vehicles for increasing the crop growth status and receipt amount is gradually increasing.

In addition, unmanned aerial vehicles, which have conventionally been used for military reconnaissance, are being used for various purposes. For example, a control system of a unmanned aerial vehicle is disclosed in Korean Patent No. 10-1286376 (hereinafter referred to as "Patent Document 2") under the name of 'Unmanned aerial vehicle control system and method'. According to Patent Document 2, a plurality of users can independently control the control device and the photographing device constituting the unmanned aerial vehicle, respectively. As described in Patent Document 2, there have been no cases in which the control technology of the unmanned aerial vehicle has been developed in recent years, but it has not yet been developed for the purpose of grasping and managing the growth state of crops.

In spite of the recognition that the use of the image sensor taken by the unmanned aerial vehicle is good, it is difficult to acquire and manage the information such as the flight control of the unmanned aerial vehicle, the image sensor technology, the image transfer technology, and the spatial information technology and the high- And the economical efficiency is low due to the increase of the production cost due to the increase of production cost.

Korean Patent Publication No. 10-2011-0063257 (published on Jun. 10, 2011) Korean Registered Patent No. 10-1286376 (Announced on July 15, 2013)

SUMMARY OF THE INVENTION The present invention has been made to solve the problems occurring in the prior art as described above, and it is an object of the present invention to provide a method of monitoring the state of a crop by imaging a cropland using a unmanned aerial vehicle such as a drone, The present invention provides a remote observation method and system for estimating an automatic route of an unmanned aerial vehicle that can provide information on growth and quantity model analysis information to increase productivity and predict supply and demand.

The present invention also provides an automatic route calculation method of an unmanned aerial vehicle which can set an optimum path of an automatic unmanned aerial vehicle automatic navigation system capable of monitoring the growth state of crops in consideration of the geographical characteristics of crops cultivated in various geographical areas. A remote observation method and a system thereof.

Another problem to be solved by the present invention is to provide an automated DB for developing analysis and prediction models by constructing data and metadata DB for each major crop condition, And a remote observation method through automatic route calculation of a flight body and a system thereof.

Another object to be solved by the present invention is to provide an automatic monitoring system for an unmanned aerial vehicle which can easily perform an integrated monitoring system based on an unmanned aerial vehicle considering the convenience of an administrator through a search management system utilizing DBs for each crop state, And to provide a remote observation method and system thereof.

Another object to be solved by the present invention is to minimize the necessary manpower by effectively grasping the growth status, location, and distribution of crops around the unmanned aerial vehicle, and minimizing environmental variables such as temperature and weather change, The present invention provides a remote observation method and system for estimating an automatic route of an unmanned aerial vehicle.

Another problem to be solved by the present invention is to utilize telecommunication equipment such as Internet (IOT) to make decision support for operation of agriculture-related facilities such as tractors beyond the status of agricultural land and crops, The present invention provides a remote observation method and system for estimating an automatic route of an unmanned aerial vehicle, which enables realization of a farm.

According to one aspect of the present invention, there is provided a method for detecting agricultural land, comprising: a photographing unit (140) for photographing cropland and obtaining image data according to a distribution state, A method for remotely observing an unmanned aerial vehicle using an unmanned aerial vehicle (100) including a position information detection unit (120) for detecting position information, the method comprising: (a) (B) preparing agro-crop statistics data according to the growth of crops in the corresponding cropland; (c) preparing non-agronomic crops reflecting the height of the object, (D) comparing the geographical information data, the agro-crop statistics data, and the non-agro- The method includes the steps of: (a) calculating an aviation flight path; (e) capturing the cropland by the flight of the unmanned aerial vehicle according to the flight altitude of the unmanned aerial vehicle calculated in the step (d) (f) receiving the position-specific image data from the ground automatic path calculation unit 600. [

According to one embodiment, (g) analyzing the image data to provide information to the user or administrator by numerically ranking the growth status of the crops by location, calculating the distribution of the crops on the whole farmland, A step of providing the supply amount information is added.

According to one embodiment, the non-agriculture crop data includes data reflecting the heights of buildings, trees, rivers, rocks, and streams located in the route of the unmanned aerial vehicle.

According to one embodiment, in step (d), information on the type of the unmanned aerial vehicle, the type of sensor, the flying speed, the wind speed, and the battery condition is further used for calculating the flight altitude of the unmanned aerial vehicle.

According to one embodiment, in the step (b), the agro-crop statistics data includes information on the type of the crop, the length of each step of growing the crop, the leaf area and the weight.

According to an aspect of the present invention, there is provided a remote observation system for estimating an automatic route of an unmanned aerial vehicle for monitoring crops, the system comprising: And the geographical information data in which the cadastral layer, the aerial image layer and the DEM layer of the cropland are superimposed, the agricultural crop statistical data according to the growth of the crop of the cropland, An automatic path calculating unit 600 for calculating an automatic path for calculating the flight altitude of the unmanned air vehicle 100 using the non-agriculture crop data reflecting the height of the object and allowing the unmanned air vehicle to fly according to the flight altitude , A repeater (2) for receiving the image data and the position data from the unmanned air vehicle via wireless communication (300) for collecting and controlling path information of the unmanned aerial vehicle (300), and a controller (300) connected to the repeater to receive image data and position data photographed by the unmanned air vehicle A data server 400 for storing the image data and the position data, and an analyzer 500 for calculating a state of each growth stage using image data and position data stored in the data server.

According to one embodiment, the non-agriculture crop data includes data reflecting the heights of buildings, trees, rivers, rocks, and streams located in the route of the unmanned aerial vehicle.

According to one embodiment, information on the type of the unmanned aerial vehicle, the type of sensor, the flying speed, the wind speed, and the battery condition is further used for calculating the flight altitude of the unmanned aerial vehicle.

According to one embodiment, the agro-crop statistics data includes information on the type of the crop, the length of each step of growing the crop, the leaf area, and the weight.

According to one embodiment, the UAV 100 includes a communication unit 160 that communicates with the control station and transmits and receives control signals, image data, and position data, and a communication unit 160 that is connected to the communication unit, 600), and controls the photographing of the photographing unit and the detection of the position data. The photographing unit 140 photographs the growth state of the crop under the control of the control unit. A position information detector 120 for detecting position information while flying an automatic path calculated by the automatic path determining unit 600 under the control of the controller, And a flight propelling unit 150 for outputting power.

According to one embodiment, the position information detector 120 may include a GPS unit 121 for detecting the position of the UAV 100 under the control of the controller by GPS information, An altitude sensor unit 123 for detecting the altitude at which the unmanned air vehicle is flying under the control of the control unit; and a control unit for controlling the unmanned air vehicle A gyro sensor unit 124 for detecting a direction of flight, and a speed sensor unit 125 for detecting the speed at which the unmanned air vehicle travels under the control of the control unit.

According to one embodiment, the analysis unit 500 includes a growth image preprocessing and image analysis algorithm that calculates information on the growth stages of the crop using the image data stored in the data server.

According to one embodiment, the analysis unit 500 further includes a decision support unit for predicting the amount of supply and demand using the calculated growth state analysis data and distribution state data.

The present invention provides a remote observation method and system through automatic route calculation of an unmanned aerial vehicle, thereby allowing a user to shoot a crop using an unmanned aerial vehicle such as a drone to send a growth state to an administrator, And can provide final analysis and base information for forecasting the supply and demand of crops by comparing the distribution, growth status, and quantity of crops, rather than just providing data on the growth status of the crops. So that automated farmland management can be performed.

The present invention also provides a remote observation method and system for estimating an automatic route of an unmanned aerial vehicle to thereby provide an optimum unmanned aerial vehicle capable of monitoring the growth state of crops in consideration of the geographical characteristics of crops cultivated in a variety of terrain- You can set the path of the auto navigation system.

In addition, the present invention provides a remote observation method and system for estimating an automatic route of an unmanned aerial vehicle, thereby capturing an image of the agricultural land using a unmanned aerial vehicle such as a drone, Thereby making it possible to ultimately increase the productivity.

In addition, the present invention provides a remote observation method and system through automatic route calculation of an unmanned aerial vehicle, thereby effectively grasping the growth environment, distribution and condition of agricultural land centering on unmanned aerial vehicles and analyzing and managing using the spatial information In addition to minimizing the required manpower, it also enables efficient cultivation by minimizing environmental variables such as temperature and weather changes, and by utilizing telecommunication equipment such as unmanned objects internet, management of the state of the agricultural land, facility management and disease distribution management are comprehensive So that ultimately an unattended smart farm can be realized.

1 is a block diagram for explaining a remote observation method and an automatic route calculation method of an unmanned aerial vehicle according to an embodiment of the present invention,
FIG. 2 is a block diagram of the configuration of the UAV 100 in FIG. 1,
3 is a block diagram showing a specific configuration of the relay 200, the control station 300, the data server 400, the analysis unit 500, and the automatic path determination unit 600 and the relationship therebetween,
FIG. 4 is a diagram illustrating a process of flying a UAV according to an estimated automatic route D2 according to an embodiment of the present invention. Referring to FIG.

In the field of terrain information, by using the point cloud technology described above, it is possible to combine a plurality of simple image images into one image, and calculate altitude values for individual pixels, so that altitude values of all pixels in the image (Including relative altitude values) based on the photographing position of the photograph and the color change between the pixels (the rotation of the camera and the perspective information of the object to be detected) Can be calculated.

The most important factor for generating accurate point cloud data is the resolution of the image and the degree of redundancy. The type of the camera (lens performance), the shooting height, and the horizontal The position condition must be satisfied.

For this, it is impossible to use manual or semi-automatic photographed images obtained by manual operation using unmanned aerial vehicles as the topographic information. In the automatic navigation system of the unmanned aerial vehicle, it is necessary to input the correct route for capturing the image in a plurality of x, y, z, and to photograph the image in the correct position while automatically flying the route and read the image based on the position information at the time of shooting. It will be worth it.

In addition, the collision avoidance technique of the unmanned aerial vehicle is based on the near infrared ray and is utilized for the flywheel airframe having a relatively low flying speed, so that the flying time is short and the monitoring area is small. On the other hand, the fixed-wing gas has the advantage of monitoring a large area, but it is difficult to avoid close-up collision, and in particular, it is difficult to acquire data of the same resolution for the analysis of crops due to the characteristics of the crops cultivated in the geographical characteristic, . In addition, since most of the lengths (height), leaves, and weights of the growing stages are different depending on the type of crop, it is difficult to identify or identify the exact state of the crops only with images of the unmanned aerial vehicle taken at the same altitude have.

Accordingly, in the present invention, an automatic route of an unmanned aerial vehicle is calculated, and an optimized unmanned aerial vehicle automatic route that can monitor the growth state of the crop in consideration of the geographical characteristics of the crops cultivated in various landforms is set, Provides information-based flight path setup technology. In addition, it provides techniques to acquire image data for optimal crop growth reading at the kind of crops and at the growing stage (eg, the first stage, the second stage after sowing, etc.).

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. It should be noted that the drawings and description thereof are simplified and illustrated to facilitate understanding of the present invention by those skilled in the art. In describing the detailed configuration of the present invention, the description and the well-known contents of the present invention are not directly related to the present invention.

FIG. 1 is a block diagram for explaining a remote observation method and system of the automatic unmanned aerial vehicle according to an embodiment of the present invention. FIG. 2 is a block diagram of the unmanned aerial vehicle 100 in FIG.

Referring to FIG. 1, a remote observation system through automatic route calculation of an unmanned aerial vehicle for monitoring crops according to an embodiment of the present invention will be described below. The system includes an unmanned aerial vehicle 100, an automatic route calculation unit 600, a repeater 200, an administration station 300, a data server 400, and an analysis unit 500.

The unmanned aerial vehicle (100) automatically photographs the unmanned aerial vehicle along a designated route in a cropland and transmits the captured image data and position data. The unmanned aerial vehicle is connected wired or wirelessly through the control station 300 and the repeater 200, and is automatically or manually input, and travels along the loaded designated route. The unmanned aerial vehicle includes position information of the route to be traveled, , Flight information including altitude information, direction information by a three-axis gyro and speed information by a three-axis sensor, and data photographed through a photographing unit, in real time or temporarily after wired or wireless manner.

2, the unmanned air vehicle 100 includes a control unit 110, a photographing unit 140, a position information detection unit 120, and a flight propulsion unit 150. The unmanned air vehicle 100 includes a communication unit 160, (200).

The communication unit 160 communicates with the control station 300 and transmits and receives control signals and position data. Specifically, it may be configured to transmit signals transmitted / received between the unmanned air vehicle 100 and the control station 300 wirelessly, such as a notebook computer, a mobile device, and various terminals. Furthermore, it may further include a function unit for transmitting and receiving multimedia signals by wireless communication methods such as 3G, WiBro, and LTE.

The control unit 110 controls the operation of the photographing unit 140 and the detection of the position data by controlling the automatic unmanned air vehicle 100 to fly by the automatic path calculated by the automatic path determining unit 600, And monitoring. More specifically, the control unit 110 controls the flight propulsion unit 150 in accordance with the route information recorded in the memory unit 130, that is, the route information calculated and recorded by the automatic route calculation unit 600, And controls the photographing unit 140 and the position information detecting unit 120 to photograph and detect necessary information at a designated agricultural land.

The photographing unit 140 includes a camera for photographing the growth state of the crop under the control of the control unit 110. Preferably, the camera sensor is mounted on the UAV 100, and can be displayed in different shades or colors depending on the growth stage of the crop. Especially, when it is composed of a multispectral camera, it can be displayed in different colors in stages through analysis of crops and growth spectra, so that it can grasp the growth and distribution of crops. The photographing unit 140 may include a filter for blocking incident light as required, and the photographed data may be configured to be capable of photographing both moving images and photographs. The image data formed by photographing is applied to the control unit 110. The control unit 110 records the image data in the allocated area of the memory unit 130 and controls the communication unit 160 to transmit the image data to the control station 300 in real time .

The position information detection unit 120 detects the position information while flying the automatic path calculated by the automatic path calculation unit 600 under the control of the control unit 110. [ 2, the position of the unmanned air vehicle 100 can be detected by a control unit 110 under the control of the control unit 110. The position of the unmanned air vehicle 100 is detected by a GPS (Global Positioning System) An altitude sensor unit 123 for detecting an altitude at which the UAV 100 is flying under the control of the controller 110, a controller 110 A gyro sensor unit 124 for detecting the direction in which the unmanned air vehicle 100 travels under the control of the control unit 110 and a speed sensor unit 125 for detecting the speed at which the unmanned air vehicle 100 is flying under the control of the control unit 110 . The position information detector 120 may further include a proximity sensor 126 for detecting the position of the horizontal or vertical obstacle during the flight of the UAV 100. The proximity sensor unit 126 may be a laser sensor, but is not limited thereto. When the proximity sensor unit 126 recognizes that there is an obstacle on the flight path, the information is transmitted to the control unit 110 and is changed to a temporary route stored in the memory unit 130 in real time, ) To switch directions.

The flight propulsion unit 150 is a unit that outputs the flight power of the unmanned air vehicle 100 under the control of the control unit 110. [

Reference numeral 170 in FIG. 1 denotes a radio remote controller, which can receive data set by the control station 300 using the radio remote controller 170 and adjust takeoff, charging, and landing as necessary. Alternatively, the manager may manually take off and land in a state in which the control station 300 is not under control.

The position information detector 120 having such a configuration detects information on a route that the unmanned object 100 travels and applies the information to the controller 110. The controller 110 records the information on the area allocated to the memory 130 And controls the communication unit 160 to transmit to the control station 300 in real time.

The flight propulsion unit 150 outputs the flight power of the UAV 100 under the control of the controller 110, and generates the propulsive force by the control, and adjusts the flight direction and the like.

Accordingly, when the proximity sensor unit 126 transmits the position of the obstacle along with the travel through the input route, it adjusts the flight direction accordingly.

The memory unit 130 records route information, image data, and position data to be traveled by the UAV 100 under the control of the controller 110 in the allocated area, and updates and manages them.

The repeater 200 communicates with the unmanned air vehicle 100 and communicates the control signal of the unmanned air vehicle 100 with the image data and the position data.

The controller (300) is connected to the repeater (200) to receive and manage image data and location data of the farmland photographed by the unmanned aerial vehicle (100), and controls the collection of the air route and information.

The automatic path calculation unit 600 calculates the distance between the cadastral layer, the aerial image layer, and the DEM layer based on the geographical information data superimposed on the cadastral map layer, the aerial image layer and the DEM layer, the agricultural crop statistics data according to the growth of the crop on the cropland, The non-agriculture crop data is used to calculate the flight altitude of the unmanned air vehicle 100 and to calculate an automatic route for allowing the unmanned aerial vehicle 100 to fly according to the flight height D2 (see FIG. 4). The DEM layer is a digital elevation model layer. Here, the automatic route calculation unit 600 transmits and receives a signal to / from the unmanned air vehicle 100 wirelessly, and is preferably configured in a notebook computer, a mobile device, and various terminals.

The data server 400 is connected to the control station 300 and stores the image data and the position data.

The analysis unit 500 calculates the state of each growth step by using the image data and the position data stored in the data server.

FIG. 3 is a block diagram showing the concrete configuration of the relay 200, the control station 300, the data server 400, and the analysis unit 500 and the relationship therebetween in FIG.

3, the control station 300 includes a first communication unit 320 for connecting to the repeater 200, a path input unit 330 for receiving the automatic path of the unmanned air vehicle 100, And a flight control unit 340 for remotely controlling automatic and manual flight of the vehicle 100. Although not shown, the path input unit 330 can receive the calculated automatic path from the automatic path calculation unit 600. [ The control unit 310 of the control station 300 receives and monitors image data and position data formed by the UAV 100 in real time and records and updates the data in the data server 400 at predetermined time intervals, (E.g., a computer, a mobile communication terminal, a smart pad, etc.) using a public network such as a wired and wireless communication means and a web server by using the second communication unit 360. [ The unmanned air vehicle 100 may be equipped with a separate station for receiving power or fuel and inputting a route. However, as shown in FIG. 3, the unmanned air vehicle 100 may include a charging unit 350 So that power supply charging and data transmission can be performed.

The data server 400 is connected to the control station 300 and receives and stores the image data and the position data. The data server 400 records and manages the image data and the position data detected and observed by the UAV 100 under the control of the control station 300, do. The data server 400 may store data formed by the location information detector 120.

The analysis unit 500 calculates the growth state of the crop by position using the image data and the position data stored in the data server 400. 3, the analyzer 500 receives the data stored in the data server 400 by being electrically connected to the data server 400 by the control unit 510 of the analyzer 500. FIG. The control unit 510 is electrically connected to the data calculating unit 530, the data storing unit 520, the correction processing unit 540, the output unit 550, and the communication unit 560. The data calculation unit 530 includes an ecology calculation unit 531 for calculating the growth state of the crop, a distribution calculation unit 532 for calculating the distribution of crops in the agricultural land, a total amount calculation unit 533). 3, the data storage unit 520 may include a state information storage unit for storing the growth state data of the crop so that the data processed and generated by each of the calculation units 531, 532, and 533 can be stored, respectively, A distribution information storage unit 522 storing distribution state data of the crops, and a total amount information storage unit 523 storing the total amount data of the crops.

Each data calculated and stored by the analyzing unit 500 can be output through an output unit 550 such as a monitor and a printer and can be output through a communication unit 560 to a computer, Tablet or the like to be provided to a user or an administrator.

In such a configuration, as described above, the unmanned aerial vehicle 100 can be maintained at the same altitude on the agricultural land, that is, the image taken by the camera at the same altitude from the object to be photographed, A high degree of change may be caused by the height of the crop, the surrounding building or the tree (hereinafter referred to as the non-agriculture crop). In order to solve this problem, in the present invention, the geographical information data in which the cadastral map layer, the aerial image layer and the DEM layer of the cropland are superimposed, the agricultural crop statistics data according to the growth of the crop of the cropland, The non-agriculture crop data reflecting the height of the non-agriculture crop is prepared, the flight altitude of the unmanned aerial vehicle is calculated from these data, and the unmanned flying vehicle 100 is allowed to fly along this route, . That is, it becomes possible to acquire image data of the same resolution in the topographic characteristics of the crop (for example, the cropping plant of the terrain having the terrain of the highland Chinese cabbage and the slope of the terrain). The agricultural crop statistics data may include information on the type of the crop, the length of each crop, the length of the crop, the leaf area, and the weight. The non-agriculture crop data may include data reflecting the heights of buildings, trees, rivers, rocks, and streams located in the route of the unmanned aerial vehicle 100.

In addition, when the average photographing altitude is 5m, when the height of the photographing image is lowered, the brightness of the photographed image is lowered. In order to correct the brightness of the photographing image, And the correction processing unit 540 calculates the difference from the reference image pickup height in accordance with the altitude signal received from the altitude sensor unit 123 and then compares the data stored in the data storage unit with the correction processing unit 540 After the treatment, the final crop growth state can be calculated.

4, the process of flying the UAV 100 along the automatic route D2 estimated according to an embodiment of the present invention can be well described. In FIG. 4, reference numeral 730 denotes a crop (the data on this is agricultural crop data), reference numerals 710, 720, and 740 denote non-agricultural products (data on this is non-agriculture crop data) D2 is the calculated automatic path. As shown in the figure, by allowing the UAV 100 to fly along the automatic route D2, it is possible to acquire image data of the same resolution and to grasp the state of the growth, distribution, So that the analysis unit 500 can automatically make the decision support for the growth and the quantity. Therefore, the analysis unit 500 includes a growth image preprocessing and image analysis algorithm for calculating information on the growth stages of the crop using the image data stored in the data server 400, and the calculated growth state analysis data and distribution state data And may further include a decision support unit for predicting the amount of supply and demand.

The automatic path calculation unit 600 of the unmanned air vehicle 100 determines the type and performance of the unmanned aerial vehicle, the types of sensors, the flying speed, the wind speed, and the battery condition Information, and the destination point, the image capturing range, the degree of redundancy, and the three-dimensional spatial information are collectively taken into consideration, and various automatic paths that can be used for monitoring can be calculated.

According to an embodiment of the present invention, a photographing unit 140 for photographing cropland by the automatic path calculating unit 600 and obtaining image data according to the state of the growing stage of the crop, A remote observation method using an automatic route calculation method of an unmanned aerial vehicle using the unmanned air vehicle (100) including a position information detection unit (120) for detecting position information while flying according to the present invention includes: (a) (B) preparing farmed crop statistics data according to the growth of crops in the corresponding cropland; (c) preparing non-agricultural crops reflecting the height of the object other than agricultural crops; (D) comparing the geographical information data, the agro-crop statistics data, and the non-agro-cropping data with the flight altitude of the unmanned air vehicle and the flight path (E) capturing the agricultural land by the flight of the unmanned aerial vehicle according to the flight altitude of the unmanned aerial vehicle calculated in the step (d) to form image data for each location, and (f) And receiving the position-specific image data from the ground automatic path calculating unit 600. [

That is, the geographical information data, agricultural crop statistical data, and non-agriculture crop data should be input in advance in the DB associated with the automatic path determination unit 600, and the non-agriculture crop data may include data , Trees, rivers, rocks, and streams. The agro-crop statistics data includes information on the type of crop, the length of each crop, the leaf area, and the weight. In order to calculate the flight altitude of the unmanned air vehicle, information on the type of the unmanned air vehicle 100, the type of sensor, the flying speed, the wind speed, and the battery condition is further used.

In addition, the step of analyzing the image data to provide information to the user or the administrator by grading the growth state of the crops by position, calculating the distribution of the crops on the whole farmland, and providing the receipt amount information to the user or the administrator .

Thus, after setting the path of the unmanned aerial vehicle by analyzing in advance by the automatic path determining unit 600 on the ground, the unmanned aerial vehicle follows the automatic takeoff and route and controls the camera at the accurate shooting position during the movement of the route.

100: unmanned vehicle
110:
120: Position information detector
130: memory unit
140:
150: flight propulsion unit
160:
200: Repeater
300: Government Empire
400: data server
500: Analytical Department
600: Automatic route calculation

Claims (13)

A photographing unit 140 for photographing agricultural land so as to be able to distinguish according to the state of development of the crop and for acquiring image data according to the distribution state, and a position information detecting unit 120 for detecting position information while flying along the route. As a remote observation method through automatic route calculation of an unmanned aerial vehicle using the air vehicle 100,
(a) preparing geographical information data in which the cadastral map layer, the aerial image layer and the DEM layer of the cropland are superimposed;
(b) preparing agricultural crop statistics data according to the growth of crops in the corresponding agricultural land;
(c) preparing non-agronomic crop data reflecting the height of an object other than the agronomic crop;
(d) calculating a flight altitude and a flight path of the unmanned aerial vehicle from the geographical information data, the agro-crop statistics data, and the non-agriculture crop data;
(e) photographing the agricultural land by the flight of the unmanned aerial vehicle according to the flight altitude of the unmanned aerial vehicle calculated in the step (d) to form image data for each location; And
(f) receiving the position-specific image data from the ground automatic path determination unit 600,
Wherein the agricultural crop statistical data is information on the type of the crop, the length of the growing step of the crop, the leaf area and the weight of the crop, and the remote observation method by automatic path calculation of the unmanned aerial vehicle. The method according to claim 1,
(g) analyzing the image data to provide information to a user or a manager by grading the growth state of the crops by position, calculating the distribution of the crops on the whole farmland, and providing the receipt amount information to the user or the administrator Wherein the method further comprises the step of determining an automatic route of the unmanned aerial vehicle. The method according to claim 1, wherein the non-agriculture crop data includes data reflecting the heights of buildings, trees, rivers, rocks, and streams located in the route of the unmanned aerial vehicle Remote Observation through. The method as claimed in claim 1, wherein, in step (d), information on the type of the unmanned air vehicle, the type of sensor, the flying speed, the wind speed and the battery condition is further used for calculating the flight altitude of the unmanned air vehicle , Remote Observation Method by Automatic Path Calculation of Unmanned Aerial Vehicle. delete As a remote observation system through automatic route calculation of unmanned aerial vehicle for crop monitoring,
An unmanned aerial vehicle (100) for automatically photographing an unmanned vehicle along a designated route in a cropland and transmitting the captured image data and position data;
And the non-agriculture crop data reflecting the height of the object other than the agricultural crop, the geographical information data including the cadastral map layer, the aerial image layer and the DEM layer superimposed on the cropland, the agricultural crop statistics data according to the growth of the crop in the cropland, An automatic path calculating unit 600 for calculating an automatic altitude of the unmanned air vehicle 100 so as to calculate an automatic path for allowing the unmanned aerial vehicle to fly according to the altitude of the unmanned air vehicle;
A repeater 200 for receiving the image data and the position data from the unmanned aerial vehicle through wireless communication;
An administrator station (300) connected to the repeater to receive image data and position data photographed by the unmanned aerial vehicle, and collect and control path information of the unmanned aerial vehicle;
A data server 400 connected to the control station 300 to store the image data and the position data;
And an analysis unit (500) for calculating a state in each growth stage using the image data and the position data stored in the data server,
Wherein the agricultural crop statistical data is information on a type of crop, a length of a crop, a leaf surface area, and a weight of the crop, and a remote observation system based on automatic route calculation of the unmanned aerial vehicle. The method according to claim 6, wherein the non-agriculture crop data includes data reflecting the heights of buildings, trees, rivers, rocks, and rivers located in the route of the unmanned aerial vehicle Remote Observation System through. The method as claimed in claim 6, wherein, in order to calculate the flight altitude of the unmanned air vehicle, information on the type of the unmanned air vehicle, the type of sensor, the flying speed, the wind speed, Remote Observation System through Estimation. delete [7] The method of claim 6, wherein the unmanned aerial vehicle (100)
A communication unit 160 for establishing communication with the control station and transmitting and receiving a control signal, image data, and position data; a control unit 160 for controlling the automatic control unit 160 to be connected to the communication unit, (140) for photographing the growth state of the crop under the control of the control unit, and a control unit (140) for controlling the automatic route calculation unit And a flight propulsion unit (150) for outputting the flight power of the unmanned air vehicle (100) under the control of the control unit, characterized by comprising a position information detecting unit (120) Remote Observation System by Automatic Path Calculation. 11. The navigation system as claimed in claim 10, wherein the position information detector (120) comprises: a gear unit (121) for detecting a position of the unmanned air vehicle (100) by GPS information under the control of the controller An altitude sensor unit 123 for detecting the altitude at which the unmanned air vehicle is flying under the control of the control unit; and a control unit for controlling the unmanned air vehicle And a speed sensor unit (125) for detecting the speed at which the unmanned air vehicle is flying under the control of the control unit. The automatic route calculation method for an unmanned aerial vehicle according to claim 1, wherein the gyroscopic sensor unit Remote Observation System via. 7. The apparatus of claim 6, wherein the analysis unit (500)
And a growth image preprocessing and image analysis algorithm for calculating information on the growth stage of the crop using the image data stored in the data server. 13. The apparatus of claim 12, wherein the analysis unit (500)
And a decision support unit for predicting the amount of supply and demand using the calculated growth state analysis data and distribution state data.

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