KR101877900B1 - 3d flight route creating system and method by predicting battery consumption - Google Patents

Abstract

The present invention relates to a three-dimensional flight path generation system using battery power consumption amount prediction and a method thereof. The three-dimensional flight path generation system includes: a map and terrain information providing server for providing map and terrain information; a user terminal which requests three-dimensional flight path generation in accordance with the purpose of flight and two-dimensional section information designated by a user, receives three-dimensional flight paths and a predicted battery power consumption amount value as a response, and executes a flight operation of an unmanned aerial vehicle (UAV); and a service providing server which extracts and stores terrain information for generating the three-dimensional flight paths from the map and terrain information providing server, generates multiple three-dimensional flight paths corresponding to the purpose of flight by using the terrain information of two-dimensional sections in accordance with a request from the user terminal, predicts the battery power consumption amount of each of the three-dimensional flight paths, and provides the three-dimensional flight path with the lowest predicted battery power consumption amount and the corresponding predicted battery power consumption amount to the user terminal as a response to the request.

Description

TECHNICAL FIELD [0001] The present invention relates to a 3D flight path generation system and method,

The present invention relates to a three-dimensional flight path generation system and method by predicting battery consumption.

Generally, unmanned aerial vehicles are aircraft that are designed to carry out designated missions without boarding pilots. They are dangerous to carry out directly or manually by remote control or autonomous flight control devices .

When the unmanned airplane is flown by the autonomous flight control device, the flight is performed according to a preset flight path. In the conventional unmanned airplane, the flight path is a route in which the shortest distance on the straight line between the start point and the target point is obtained, And the like.

The discrimination of the avoidance point uses a paper or an electronic map, a user's memory or experience, a photograph, an image, etc., and a method of directly adding or changing the judged avoidance point directly is used.

However, the above-described method has a problem in that the determination of the avoidance point is manual, the modification and change of the determined avoidance point are troublesome, and the reliability of the determined avoidance point is low.

In order to solve such a problem, a technique has been proposed in which a flight path is automatically generated in consideration of horizontal flight paths, altitude data, and risk factors.

However, actual unmanned aerial vehicles fly in 3D real space. Conventionally, flight paths are created using only horizontal flight path, altitude data, and dangerous elements, so that it does not reflect altitude change, actual terrain characteristics, There is a problem that the path can not be obtained.

Also, since the unmanned aircraft carrying out the designated mission must return to the first flight position, estimating the battery consumption of the unmanned airplane is one of the most important factors.

If the battery is not predicted, the unmanned aerial vehicle may fall during the mission.

Therefore, it is necessary to accurately predict the battery consumption of the unmanned aerial vehicle.

Korean Patent Publication No. 10-2016-0074896 (published on June 29, 2016). Korean Patent Publication No. 10-2011-0061213 (published on June 6, 2011) Korean Patent Publication No. 10-2009-0089049 (published on Aug. 21, 2009)

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide a three-dimensional flight path generation system and method by predicting a three-dimensional flight path and a battery consumption amount, have.

Another object of the present invention is to provide a system and a method for generating a 3D flight path by predicting the amount of battery consumption, which can correct a predicted value of battery consumption according to terrain and climate information collected by an unmanned aerial vehicle flying on a route.

According to an aspect of the present invention, there is provided a 3D flight path generation system for predicting battery consumption according to an embodiment of the present invention includes a map and a terrain information providing server for providing map and terrain information; A user terminal for requesting creation of a 3D flight path according to a flying purpose and receiving a 3D flight path and a predicted value of battery consumption in response to the request, And extracting geographical information for generating a 3D flight path from the map and terrain information providing server and storing the extracted geographical information, and when the user terminal requests the geographical information, Dimensional flight path, estimating a battery consumption amount for each of the three-dimensional flight paths, estimating a three-dimensional flight path having the smallest consumption amount among the predicted battery consumption amounts, and a battery consumption prediction value corresponding thereto in response to the request, And a service providing server provided to the user terminal.

According to an embodiment of the present invention, the service providing server may generate a plurality of two-dimensional flight paths for the two-dimensional section in response to a request from the user terminal, Dimensional flight path is detected based on altitude information of the ground surface for each point constituting the two-dimensional flight path, and then, based on the predetermined distance information from the ground surface in accordance with the purpose of flight, It is preferable to determine the altitude of the altitude at the altitude of the ground surface at the spaced distance to generate the 3D flight path.

In an embodiment of the present invention, when estimating the amount of battery consumption for each three-dimensional flight path, the service providing server preferably estimates the amount of battery consumption considering the altitude change on the flight path and the climate information.

In one embodiment of the present invention, the user terminal guides a user to predict a battery consumption amount for the three-dimensional flight path while superimposing the three-dimensional flight path provided from the service providing server and the aerial photograph information, Wherein the change request information for the 3D flight path is input to the service providing server, and the service providing server changes the 3D flight path according to the change request information provided from the user terminal, It is preferable that the battery consumption amount for the route is predicted, and then the changed three-dimensional flight path and the battery consumption prediction value corresponding thereto are provided to the user terminal.

In one embodiment of the present invention, the user terminal provides the 3D flight path provided from the service providing server to the UAV, and the UAV controls the UAV by the 3D flight path And a controller for receiving the imaging information, the terrain, and the climate sensing information collected by the unmanned airplane during flight, and providing the captured information to the service providing server through the user terminal, It is preferable to update the geographical information, accumulate the terrain and the climate sensing information to determine the terrain and the climate characteristic for the 3D flight path, and store the determined terrain and the climate characteristic information.

In an embodiment of the present invention, the service providing server may further include geographical information for generating a three-dimensional flight path extracted from the map and the terrain information providing server, altitude determination reference information for each flying purpose, Climate information, and flight information; A geographical information extracting unit for extracting geographical information for generating a 3D flight path from the map and terrain information providing server and storing the extracted geographical information in the database; Dimensional flight path for each of the two points constituting the generated two-dimensional flight path using the geographical information of the two-dimensional section, Dimensional flight path from the altitude of the ground surface to the altitude of the ground surface on the basis of the distance information from the ground surface determined in advance in accordance with the flight purpose provided in the database, A three-dimensional flight path generation unit for generating a three-dimensional flight path by determining the height as being spaced apart by a distance; A battery consumption predicting unit for predicting a battery consumption amount in consideration of altitude change and climate information on a flight path for each of the three-dimensional flight paths generated by the three-dimensional flight path generating unit; And selecting a three-dimensional flight path having the least amount of consumption among battery consumption amounts for each of the three-dimensional flight paths predicted by the battery consumption predicting unit, then transmitting the selected three-dimensional flight path and a corresponding battery consumption prediction value to the user terminal And a control unit for controlling the display unit.

Meanwhile, a method for generating a 3D flight path by predicting battery consumption according to an exemplary embodiment of the present invention includes generating a 3D flight path by using a map and a terrain information provided from a map and a terrain information providing server, Constructing a database by extracting geographical information for generating a 3D flight path; Requesting the user terminal to generate a 3D flight path to the service providing server based on the two-dimensional section information and the flying purpose designated by the user; Generating a plurality of three-dimensional flight paths corresponding to the purpose of flight using the geographical information of the two-dimensional section according to a request of the user terminal, in the service providing server; Estimating battery consumption for each three-dimensional flight path; Selecting a three-dimensional flight path with the least amount of consumption among the predicted battery consumption amount; And providing the selected three-dimensional flight path and corresponding battery consumption prediction value to the user terminal in response to the request.

In one embodiment of the present invention, the step of generating the three-dimensional flight path includes generating a plurality of two-dimensional flight paths for the two-dimensional section at the request of the user terminal, Dimensional flight path, the altitude information of the ground surface for each point constituting the generated two-dimensional flight path is detected, and the generated two-dimensional flight path is calculated based on the distance information from the ground surface, It is preferable that the altitude of each of the constituent points is determined as the altitude at the altitude of the surface of the ground and is spaced apart by the separation distance to generate the 3D flight path.

In one embodiment of the present invention, the step of predicting the amount of battery consumption is preferably a step of estimating the amount of battery consumption considering the altitude change on the flight path and the climate information for each of the three-dimensional flight paths.

In one embodiment of the present invention, the user terminal displays a predicted battery consumption amount for the 3D flight path while superimposing the 3D flight information and the aerial photograph information provided from the service providing server on the user. Providing the input change request information to the service providing server when the change request information for the 3D flight path is input from a user who has confirmed the 3D flight path; Changing the three-dimensional flight path in accordance with the change request information provided from the user terminal and predicting the amount of battery consumption for the changed three-dimensional flight path in the service providing server; And providing the changed three-dimensional flight path and corresponding battery consumption prediction value to the user terminal.

In one embodiment of the present invention, the user terminal may provide the 3D flight path provided from the service providing server to the UAV; Performing the flight of the unmanned airplane by controlling the unmanned airplane according to the three-dimensional flight path in the unmanned airplane coordinator; Collecting imaging information, terrain and climate sensing information in flight in said unmanned air vehicle, and providing acquired imaging information, terrain and climate sensing information to said unmanned airplane coordinator; Providing the imaging information, terrain, and climate sensing information to the service providing server through the user terminal in the UAV; And the service providing server updates the geographical information using the sensing information and accumulates the terrain and climate sensing information to determine the terrain and climate characteristics for the 3D flight path, And storing the characteristic information.

The three-dimensional flight path generation system and method by predicting the battery consumption amount of the present invention can improve the convenience of the user by predicting the three-dimensional flight path and battery consumption amount corresponding to various flight purposes.

Also, according to the present invention, battery consumption can be predicted according to topographical and climatic information collected by an unmanned aerial vehicle flying on a route, accuracy of battery consumption prediction can be improved, and an unmanned airplane can be stably operated.

1 is a schematic view illustrating a configuration of a three-dimensional flight path generation system through prediction of battery consumption according to an embodiment of the present invention.
2 is a view showing an exemplary numerical elevation model applied to the present invention.
3 is a diagram illustrating an exemplary two-dimensional flight path generated in accordance with the present invention.
4 is a view for explaining an automatic flight altitude setting process corresponding to a flight purpose and a situation according to an embodiment of the present invention.
FIG. 5 is a diagram illustrating an example of a flight altitude setting according to a flight purpose and a situation according to an embodiment of the present invention.
6 and 7 are flowcharts for explaining a method of generating a 3D flight path by predicting battery consumption according to an embodiment of the present invention.

The following detailed description of the invention refers to the accompanying drawings, which illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with an embodiment. It is also to be understood that the position or arrangement of the individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a 3D flight path generation system and method according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a 3D flight path generation system and method according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic view illustrating a configuration of a three-dimensional flight path generation system through prediction of battery consumption according to an embodiment of the present invention.

As shown in FIG. 1, the 3D flight path generation system includes a map and terrain information providing server 10, a service providing server 100, a user terminal 200, An unmanned airplane coordinator 300, and an unmanned airplane 400, as shown in FIG.

The map and terrain information providing server 10 provides the map information and the terrain information provided by the national geographical information source.

The geographical information is as follows.

In an embodiment of the present invention, a Digital Elevation Mode (DEM) digital elevation model and a digital elevation model are used. This is the numerical information in which the elevation of the terrain position is arranged at regular intervals As shown in Fig.

DEM is used to express and analyze topographic features such as slope direction, slope, and 3D perspective of the terrain. This is combined with other forms of data in the Geographic Information System (GIS) field, such as digital maps, laser scanners, ground survey and aerial photographs, and satellite image overlays. The above-mentioned DEM can be processed and expressed in various file formats, and the domestic DEM has already been established.

The service providing server 100 extracts geographical information necessary for generating a 3D flight path using the digital elevation model from the map and topographic information providing server 10 and stores the extracted geographical information.

In accordance with the user's request to create the 3D flight path through the user terminal 200, the 3D flight path is generated and provided to the user terminal 200 according to the flight purpose and situation. Specifically, a plurality of three-dimensional flight paths corresponding to the purpose and situation of flight are created using geographical information, and battery consumption for each of the three-dimensional flight paths is predicted. Then, among the estimated battery consumption amounts, Dimensional flight path and the corresponding battery consumption prediction value in response to the user's request. At this time, the service providing server 100 can provide terrain and climatic characteristic information corresponding to the three-dimensional flight path, if any.

Here, the geographical information may include plane map information, three-dimensional topographical information, satellite photograph information, aerial photograph information, and the like.

When generating the three-dimensional flight path, the service providing server 100 generates a plurality of two-dimensional flight paths for the two-dimensional section and uses the geographical information of the two-dimensional section for each point constituting the two- After the altitude information of the ground surface is detected, the altitude of each point constituting the two-dimensional flight path is separated from the altitude of the surface of the ground surface by the corresponding distance based on the predetermined distance information from the ground surface Dimensional flight path can be generated by determining the height of the three-dimensional flight path.

When battery consumption is predicted, the battery consumption can be predicted considering the altitude change on the 3D flight path and the climate information. This will be explained in more detail below.

In addition, the service providing server 100 generates and provides a 3D flight path to the user terminal 200, and then, when there is a request to change the 3D flight path from the user through the user terminal 200, Dimensional flight path to the user terminal 200, and then transmits the changed three-dimensional flight path and the corresponding battery consumption predicted value to the user terminal 200. The three-dimensional flight path is changed based on the change request information, .

In addition, the service providing server 100 receives the evaluation information about the 3D flight path from the user terminal 200 at the end of the flight of the UAV 400, stores the 3D flight path information and the evaluation information, To be reflected in generation. As a result, the three-dimensional flight path can be improved.

The service providing server 100 receives the image sensing information collected from the unmanned airplane 400 through the user terminal 200 at the end of the flight of the unmanned airplane 400 and receives the image sensing information collected from the unmanned airplane 400 Update the aerial photograph information of the geographical information so that it can be reflected when generating the next flight route. Accordingly, it is possible to provide highly reliable information at the time of creation of the flight path by the user, to allow the user to recognize the latest state, thereby improving the accuracy of the flight path and enabling intuitive flight planning do

The service providing server 100 receives the terrain sensing information and the climate sensing information collected from the unmanned airplane 400 through the user terminal 200 at the end of the flight of the unmanned airplane 400, Accumulates the collected terrain sensing information and the climate sensing information to discriminate the topography and the climatic characteristics on the corresponding flight path, and predicts the battery consumption of the UAV 400 by reflecting the determined terrain and the climate characteristics.

Also, the service providing server 100 may guide the user through the user terminal 200 to rapidly change characteristics of the terrain and the climate to induce efficient change of the flight path.

As described above, the service providing server 100 includes the geographic information extracting unit 110, the database 120, the 3D flight path generating unit 130, the battery consumption prediction unit 140, the communication unit 150, (160).

The geographical information extracting unit 110 extracts geographical information necessary for generating a three-dimensional flight path using the digital elevation model from the map and topographic information providing server 10, and stores the extracted geographical information in the database 120.

The geographic information extracting unit 110 updates the aerial photograph information of the geographical information stored in the database 120 using the image sensing information collected from the unmanned air vehicle 400 that has performed the flight on the three-dimensional flight path.

The database 120 stores geographical information for generating a three-dimensional flight path extracted by the geographical information extracting unit 110 from the map and topographic information providing server 10, and provides altitude determination reference information, Reference information, 3D flight path information on which the flight was made, evaluation information on the 3D flight path on which the flight was made, terrain and climate sensing information on the 3D flight path on which the flight was made, , Prediction information of the battery consumption amount by the three-dimensional flight path in which the flight is made, and the like.

Table 1 is an exemplary table showing an altitude determination reference information table for each flight purpose and situation stored in the database 120.

Purpose and situation of flight Altitude information First flight purpose and situation Flight to ground and predetermined height The purpose and situation of the 2nd flight Flight at high altitude, : :

The three-dimensional flight path generation unit 130 generates a plurality of two-dimensional flight paths for the two-dimensional interval as shown in FIG. 3 according to the three-dimensional flight path creation request of the user terminal 200.

Then, the altitude information of the ground surface for each point constituting the two-dimensional flight path is detected using the geographical information of the two-dimensional section, and then the altitude information of the ground surface is detected from the ground surface Based on the distance information, the 3D flight path is generated by determining the altitude of each point constituting the two-dimensional flight path at a height spaced apart from the altitude of the ground surface. At this time, in order to investigate the terrain, the 3D flight path generation unit 130 determines the altitude such that the distance from the ground surface is kept the same as shown in FIG. 4A (for example, in the case of a mountainous terrain It is also possible to create a three-dimensional flight path that determines the altitude so that a certain interval is secured on the terrain surface, and in the case of an urban area, the altitude is determined so that a certain interval is secured from the highest building standard or average building height in the shooting range) In order to control, a three-dimensional flight path may be created to enable the automatic altitude flight reflecting the terrain and the active coping flight of the terrain obstacle as shown in FIG. 4 (b).

As shown in FIG. 5, the purpose and situation of the flight can be divided into forest and river management, cultural property measurement, disaster / disaster fire prevention, plant / pest control, marine and other, and for forest and river management, The altitude is determined by setting the distance to 50 ~ 500m. In order to measure the cultural properties, the altitude is determined by setting the separation distance from the surface to 20m in precision flight mode. In order to disaster / It can be decided at the altitude considered, planted / pesticide relief can be determined at the appropriate altitude by indexing, and ocean and other control can be decided at the appropriate altitude considering ultrasonic detection.

The reason why the three-dimensional flight path generating unit 130 generates the three-dimensional flight path so that the three-dimensional flight path generating unit 130 can actively cope with the terrain and the ground obstacle is that the frequent collision and crash To prevent accidents, and to maintain the flight altitude for the purpose of flight, so that aerial photographs of the same resolution can be collected.

The battery consumption predicting unit 140 predicts the battery consumption for each of the three-dimensional flight paths generated by the three-dimensional flight path generating unit 130 considering the altitude change on the flight path and the climate information.

The battery consumption is high when the battery consumption is higher than the fall, and the battery consumption is higher when the wind wind is compared with the wind wind, and the wind wind consumes less when the wind speed is consumed. In addition, the performance of a battery varies with temperature, and efficiency decreases at low temperatures.

In consideration of such characteristics, the database 120 may store reference information used for predicting the battery consumption amount, and the battery consumption prediction unit 140 may estimate the battery consumption amount reference information stored in the database 120, The amount of battery consumption can be predicted.

The battery consumption prediction reference information may include the battery consumption (the higher the elevation angle and the higher the altitude, the greater the battery consumption), depending on the elevation angle and altitude, as exemplified in Table 2, The battery consumption weight according to the angle and wind speed of the unmanned airplane 400 in the flight direction and the wind direction (the wind direction is opposite to the flight direction, the greater the battery consumption weight becomes), and the battery efficiency information by temperature .

Accordingly, the battery consumption predicting unit 140 predicts the amount of battery consumption primarily by reflecting the altitude change (topographic characteristic) on the flight path, estimates the battery consumption amount of the corresponding section that is provided in real time from the weather station 20, (Battery consumption according to the route and direction), wind speed (battery consumption according to flight path and wind speed), and temperature (battery performance according to temperature), the battery consumption can be predicted have.

The battery consumption predicting unit 140 may estimate the amount of battery consumption in consideration of the specifications of the UAV 400 to perform the flight when the battery consumption is predicted.

In this manner, the battery consumption predicted for each three-dimensional flight path through the battery consumption predicting unit 140 may have different values.

The controller 160 controls the overall operation of the service providing server 100.

The control unit 160 controls the three-dimensional flight path generation unit 130 to generate a plurality of three-dimensional flight paths when the control unit 160 is requested to generate the three-dimensional flight path from the user terminal 200 through the communication unit 150.

When a plurality of three-dimensional flight paths are generated in the three-dimensional flight path generation unit 130, the battery consumption prediction unit 140 is predicted to predict the battery consumption amount for each three-dimensional flight path, The three-dimensional flight path having the smallest amount of consumption among the battery consumption amounts for each of the three-dimensional flight paths predicted by the three-dimensional flight path 140 and the corresponding battery consumption prediction value is transmitted to the user terminal 200 in response to the three- .

If there is a change request for the 3D flight path from the user terminal 200 having received the 3D flight path and the battery consumption predicted value, the controller 160 transmits the change request information received from the user terminal 200 to the 3D flight To the path generating unit 130 to change the three-dimensional flight path, to control the battery consumption estimating unit 140 to estimate the amount of battery consumption for the changed flight path, and then to calculate the changed three-dimensional flight path and the corresponding battery consumption amount And transmits the predicted value to the user terminal 200.

The control unit 160 receives evaluation information on the 3D flight path at the end of the flight of the UAV 400 from the user terminal 200 and stores the evaluation information in the database 120.

 The control unit 160 receives imaging information collected from the unmanned airplane 400 through the user terminal 200 at the end of the flight of the unmanned airplane 400 and transmits the captured information collected in the unmanned airplane 400 to the database 120 to update the aerial photograph information of the geographical information.

The control unit 160 receives the terrain sensing information and the climate sensing information collected from the UAV 400 at the end of the flight of the UAV 400 through the user terminal 200 and receives the terrain information collected from the UAV 400 And accumulates the sensing information and the climate sensing information in the database 120. [

The communication unit 150 performs communication with the user terminal 200 through a wire / wireless communication network.

On the other hand, the user terminal 200 transmits various requests received from the user to the service providing server 100 through the wired / wireless communication network, and when the response information according to the request is received from the service providing server 100, Guide.

Specifically, the user terminal 200 accesses the service providing server 100 according to a user's operation, and then generates a three-dimensional flight path using the two-dimensional section information and the flight destination designated by the user, Dimensional flight path and a battery consumption prediction value in response to the three-dimensional flight path and the battery consumption prediction value, and displays the three-dimensional flight path and the battery consumption prediction value on the screen. At this time, the user terminal 200 may guide the battery consumption prediction value for the 3D flight path while superimposing the 3D flight path and the aerial photograph information provided from the service providing server 100.

When the change request information for the 3D flight path is input from the user who has confirmed the 3D flight path, the user terminal 200 transmits the input change request information to the service providing server 100 to request the change of the flight path, And displays the changed 3D flight path and the corresponding battery consumption prediction value on the screen.

In addition, the user terminal 200 transmits the 3D flight path provided from the service providing server 100 to the UAV 300 according to the request of the user.

When the unmanned airplane 400 that has performed the flight along the three-dimensional flight path completes the flight, it receives imaging information, terrain and climate sensing information from the unmanned airplane 400 through the unmanned airplane coordinator 300, To the server (100).

When the unmanned airplane 400 that has performed the flight along the three-dimensional flight path completes the flight, it receives the evaluation information about the three-dimensional flight path from the user and transmits the evaluation information to the service providing server 100.

The user terminal 200 described above may be implemented as a PC, a notebook, a smart phone, a tablet PC, or the like.

The UAV controller 300 controls the flight of the UAV 400 according to the 3D flight path transmitted from the user terminal 200.

The unmanned airplane coordinator 300 receives imaging information, terrain, and climate sensing information collected during flight from the unmanned airplane 400 that has completed the flight, and transmits the information to the user terminal 200.

The unmanned airplane 400 executes the flight under the control of the unmanned airplane coordinator 300.

The unmanned air vehicle 400 includes a control unit 410, a communication unit 420, a driving unit 430, an image sensing unit 440, a sensor unit 450, a position measurement unit 460, and a storage unit 470 .

The control unit 410 controls the overall operation of the UAV 400 and controls each part of the UAV 400 under the control of the UAV 300 to control the UAV 400 to fly along the three- .

The control unit 410 stores the sensing information periodically captured by the sensing unit 440 during the flight, the terrain sensed by the sensing unit 450 and the climate sensing information in the storage unit 470 in correspondence with the current position, Transmits the sensing information, terrain, and climate sensing information along the flight path to the UAV 300.

The communication unit 420 communicates with the UAV 300 through a wired / wireless communication network.

The driving unit 430 drives the UAV 400 under the control of the controller 410.

The image pickup section 440 periodically captures images under the control of the control section 410. [

The sensor unit 450 is implemented with an altimeter, a hygrometer, an anemometer, and the like to detect the terrain and the weather.

The position measuring unit 460 measures the current position of the UAV 400 and applies the measured current position to the controller 410.

The position measuring unit 460 may be implemented by a GPS module.

The storage unit 470 stores the sensing information captured by the sensing unit 440, the terrain and the climate sensing information sensed by the sensor unit 450 together with the position information under the control of the controller 410. [

FIGS. 6 and 7 are diagrams illustrating a method of generating a 3D flight path by predicting battery consumption according to an embodiment of the present invention. FIG. Since the method proceeds in substantially the same configuration as the three-dimensional flight path generation system through the battery consumption prediction shown in FIG. 1, the same components as the three-dimensional flight path generation system through the battery consumption prediction of FIG. And repeated description will be omitted.

6, the map and terrain information providing server 10 provides map and terrain information to the service providing server 100 (600).

The service providing server 100 provided with the map and the terrain information from the map and topographic information providing server 10 in step 600 receives the map and the terrain information from the map and topographic information providing server 10, And extracts the geographical information necessary for generating the three-dimensional flight path, and stores the processed geographical information in the database 120 (602).

Here, the geographical information may include map information indicating a two-dimensional path, aerial image information, general map, and terrain information.

On the other hand, when the user terminal 200 is requested to create the 3D flight path from the user who wishes to fly the UAV 400, the user terminal 200 displays the 2D section information on the designated flying destination, , And requests the service providing server 100 to create the 3D flight path using the identification information of the UAV 400 to perform the flight (604).

In step 604, when the user terminal 200 requests the service providing server 100 to generate the 3D flight path, the user terminal 200 transmits the two-dimensional section information, the flight object and identification information about the flight destination designated by the user, The identification information of the unmanned aerial vehicle 400 to be provided to the service providing server 100 together.

The service providing server 100, which is requested to generate the 3D flight path from the user terminal 200 through the step 604, A plurality of two-dimensional flight paths are generated (606).

Then, the altitude information of the ground surface is detected for each point constituting each two-dimensional flight path by using the geographical information of the corresponding two-dimensional section, and then the distance information Information), the altitude for each point constituting each two-dimensional flight path is determined as a height spaced by the corresponding distance from the altitude of the ground surface, thereby generating a three-dimensional flight path (608).

Thereafter, the battery consumption amount is predicted for each of the three-dimensional flight paths generated in the step 608 (610).

In step 610, the service providing server 100 may estimate the battery consumption amount considering the altitude change on the flight path and the climate information for each of the three-dimensional flight paths generated in step 608. [

If the amount of battery consumption for each three-dimensional flight path is predicted through step 610, the service providing server 100 selects a three-dimensional flight path having the least amount of consumption among the estimated battery consumption amount (612) The flight path and corresponding battery consumption predicted value are provided to the user terminal 200 in response to the request of step 604 (614).

When the service providing server 100 provides the 3D flight path and the battery consumption prediction value to the user terminal 200 through the above step 614, if the terrain and the climate characteristic information corresponding to the corresponding 3D flight path exists, You may.

Meanwhile, the user terminal 200 provided with the 3D flight path and the battery consumption prediction value in response to the 3D flight path request through the step 614 receives the 3D flight information and the aerial photograph information provided from the service providing server 100, The user is guided to predict the battery consumption amount with respect to the three-dimensional flight path while superimposing the information (616).

In step 616, the user terminal 200 may guide the user to the terrain and the climatic characteristic information corresponding to the corresponding three-dimensional flight path.

The user who has confirmed the 3D flight path through the above step 616 may change the 3D flight path in consideration of the map, the aerial photograph information, the terrain information, the predicted battery consumption amount of the UAV 400, Dimensional flight path is requested by the service providing server 100 through the user terminal 200. If the 3D flight path is required to be changed,

That is, if there is a change request from the user, the user terminal 200 requests the service providing server 100 to change the three-dimensional flight path (618, 620).

When the user terminal 200 requests the service providing server 100 to change the 3D flight path in step 620, the user terminal 200 may change the altitude in the specific section or change the altitude in the specific section, Dimensional path in the three-dimensional flight path, and provides the change request information to the service providing server 100 to request the change of the three-dimensional flight path.

Such changes may occur due to the growth of trees, the construction of new buildings, and the excellent weather that are not reflected in the digital elevation model, which can be recognized based on the update of the aerial photograph information and the characteristics of the terrain and climate.

In step 620, the service providing server 100, which is requested to change the 3D flight path, changes the 3D flight path based on the change request information received from the user terminal 200 (622) Dimensional flight path is predicted (624), and the changed three-dimensional flight path and the battery consumption predicted value corresponding thereto are provided to the user terminal 200 (626).

Changes to this three-dimensional flight path can be performed multiple times.

Meanwhile, in the case of performing the flight using the three-dimensional flight path received through the step 614 or the three-dimensional flight path received through the step 626, the user terminal 200, as shown in FIG. 7, The 3D flight path received through the step 614 or the 3D flight path received through the step 626 is transmitted to the UAV 300 to request the 3D flight path according to the 3D flight path.

The UAV controller 300 controls the operation of the UAV 400 according to the 3D flight path received from the user terminal 200 and the UAV 400 is controlled under the control of the UAV 300 A flight is executed along the 3D flight path (632).

The unmanned airplane 400 that has started flying under the control of the UAV 300 periodically captures imaging information and collects the geographical and climate sensing information through the sensor unit 450, (Image sensing information, terrain, and climate sensing information) stored in the storage unit 470 to the UAV 300 (step 636) .

The unmanned airplane coordinator 300 that has received the acquisition information from the UAV 400 through the step 636 transmits the acquisition information to the user terminal 200 in operation 638 and the user terminal 200 transmits the acquired acquisition information And displays it on the screen so that the user can confirm it (640).

A user who has confirmed the collected information through the step 640 can perform evaluation on the 3D flight path based on the collected information. The user terminal 200, which receives the evaluation information on the 3D flight path from the user, Evaluation information on the flight path and collection information (imaging information, terrain and climate sensing information) to the service providing server 100 (642, 644).

The service providing server 100 updates the aerial photograph information of the geographical information using the imaging information from the collected information received from the user terminal 200, and transmits evaluation information, terrain, and climate sensing information on the three- The geographical feature and climatic characteristic of the corresponding section are determined using the stored terrain and climatic sensing information, and the determined terrain and climatic characteristic information is stored (646).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined in the appended claims. It will be possible.

10. Map and terrain information server, 20. Meteorological Agency,
100. A service providing server, 110. Geographical information extracting section,
120. A database, 130. A three-dimensional flight path creation unit,
140. Battery consumption prediction unit 150, 420. Communication unit,
160, 410. Control unit, 200. User terminal,
300. Unmanned Aircraft Regulator, 400. Unmanned Aircraft,
430. Driving unit, 440. Image pickup unit,
450. Sensor part, 460. Position measuring part,
470. Storage

Claims (11)

A map and terrain information providing server for providing map and terrain information;
A user terminal for requesting creation of a 3D flight path according to a flying purpose and receiving a 3D flight path and a predicted value of battery consumption in response to the request, And
Dimensional flight path from the map and terrain information providing server and storing the geographical information for the three-dimensional flight path generation at the request of the user terminal, Dimensional flight path, and predicts a battery consumption amount corresponding to the three-dimensional flight path having the least amount of consumption among the predicted battery consumption amounts, in response to the request, And a service providing server provided to the terminal,
The service providing server includes:
When estimating battery consumption for each 3D flight path,
A 3D flight path generation system that estimates battery consumption based on altitude change on flight path and climate information. The method according to claim 1,
The service providing server includes:
Dimensional flight path for each of the two points constituting the generated two-dimensional flight path using the geographical information of the two-dimensional section, Dimensional flight path, the height of each point constituting the generated two-dimensional flight path is set at a height that is spaced apart from the altitude of the surface of the ground by the spacing distance based on the predetermined distance information from the ground surface, To generate a 3D flight path, and to estimate the battery consumption. delete The method according to claim 1,
The user terminal comprises:
When the user inputs the change request information for the three-dimensional flight path from the user to the user while displaying the three-dimensional flight path and the aerial photograph information provided from the service providing server in a superimposed manner and guides the user to the battery consumption prediction value for the three- , And provides it to the service providing server,
The service providing server includes:
Dimensional flight path according to the change request information provided from the user terminal, predicts a battery consumption amount for the changed flight path, and provides the changed three-dimensional flight path and the corresponding battery consumption prediction value to the user terminal , 3 - Dimensional Flight Path Generation System by Prediction of Battery Consumption. The method according to claim 1,
The user terminal comprises:
Providing a 3D flight path provided from the service providing server to the UAV;
The unmanned aircraft regulator includes:
Wherein the control unit controls the unmanned airplane in accordance with the three-dimensional flight path to execute flight of the unmanned airplane, receives the image sensing information, terrain, and weather sensing information collected by the unmanned airplane during flight, and,
The service providing server includes:
The method comprising: updating the geographical information using the sensing information, storing the terrain and climate sensing information to determine terrain and climate characteristics for the three-dimensional flight path, and storing the determined terrain and climate characteristic information; 3D flight path generation system through prediction. The method according to claim 1,
The service providing server includes:
The geographical information for generating the 3D flight path extracted from the map and the terrain information providing server, the altitude determination reference information for the flight purpose, the terrain and climate information for the 3D flight path with the flight, ;
A geographical information extracting unit for extracting geographical information for generating a 3D flight path from the map and terrain information providing server and storing the extracted geographical information in the database;
Dimensional flight path for each of the two points constituting the generated two-dimensional flight path using the geographical information of the two-dimensional section, Dimensional flight path from the altitude of the ground surface to the altitude of the ground surface on the basis of the distance information from the ground surface determined in advance in accordance with the flight purpose provided in the database, A three-dimensional flight path generation unit for generating a three-dimensional flight path by determining the height as being spaced apart by a distance;
A battery consumption predicting unit for predicting a battery consumption amount in consideration of altitude change and climate information on a flight path for each of the three-dimensional flight paths generated by the three-dimensional flight path generating unit; And
The three-dimensional flight path having the least amount of consumption among the battery consumption amounts for each of the three-dimensional flight paths predicted by the battery consumption predicting unit is selected, and the selected three-dimensional flight path and the corresponding battery consumption predicted value are transmitted to the user terminal A three-dimensional flight path generation system, comprising: a controller; A step of building a database by extracting geographical information for generating a 3D flight path from map and terrain information provided from a map and a terrain information providing server,
Requesting the user terminal to generate a 3D flight path to the service providing server based on the two-dimensional section information and the flying purpose designated by the user;
Generating a plurality of three-dimensional flight paths corresponding to the purpose of flight using the geographical information of the two-dimensional section according to a request of the user terminal, in the service providing server;
Estimating battery consumption for each three-dimensional flight path;
Selecting a three-dimensional flight path with the least amount of consumption among the predicted battery consumption amount; And
And providing the selected three-dimensional flight path and a corresponding battery consumption prediction value to the user terminal in response to the request,
The step of predicting the battery consumption includes:
A method for generating a 3D flight path by predicting battery consumption by predicting altitude change and climate information on a flight path for each three-dimensional flight path. 8. The method of claim 7,
Wherein the generating the 3D flight path comprises:
Dimensional flight path for each of the two points constituting the generated two-dimensional flight path using the geographical information of the two-dimensional section, Dimensional flight path, the height of each point constituting the generated two-dimensional flight path is set at a height that is spaced apart from the altitude of the surface of the ground by the spacing distance based on the predetermined distance information from the ground surface, And generating a three-dimensional flight path, wherein the three-dimensional flight path generation method estimates a battery consumption amount. delete 8. The method of claim 7,
The user terminal displays a predicted value of battery consumption for the 3D flight path while superimposing the 3D flight information and the aerial photograph information provided from the service providing server on the user;
Providing the input change request information to the service providing server when the change request information for the 3D flight path is input from a user who has confirmed the 3D flight path;
Changing the three-dimensional flight path in accordance with the change request information provided from the user terminal and predicting the amount of battery consumption for the changed three-dimensional flight path in the service providing server; And
And providing the changed three-dimensional flight path and a corresponding battery consumption prediction value to the user terminal. 8. The method of claim 7,
Providing the three-dimensional flight path provided from the service providing server to the UAV;
Performing the flight of the unmanned airplane by controlling the unmanned airplane according to the three-dimensional flight path in the unmanned airplane coordinator;
Collecting imaging information, terrain and climate sensing information in flight in said unmanned air vehicle, and providing acquired imaging information, terrain and climate sensing information to said unmanned airplane coordinator;
Providing the imaging information, terrain, and climate sensing information to the service providing server through the user terminal in the UAV; And
Wherein the service providing server updates the geographical information using the sensing information and stores the terrain and weather sensing information to determine the terrain and climate characteristics of the 3D flight path, And storing the information on the three-dimensional flight path.

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