KR102141667B1 - Drone operating system and method for monitoring road slope - Google Patents

Abstract

According to the present invention, according to an aspect of the present invention, a drone system mounted with a sensor for positioning of a road slope and performing a road slope inspection task; And a management server that manages road slope inspection by the drone system, wherein the management server controls a drone control unit that controls the drone system through wireless communication, manages information on road slopes, and checks road slopes to be inspected. Flight information management for the selected slope information management unit, an inspection task analysis unit for analyzing the inspection task of the drone system for the selected inspection subject road slope, and a flight plan for performing the mission of the drone system for the selected inspection road slope Provided is a drone operation system for a road slope inspection and a drone operation method using the flight planning establishment unit for establishing a mission, and a mission performance establishment unit for establishing a mission performance plan for the drone system for the selected road slope to be inspected. do.

Description

Drone operation system and method for road slope inspection {DRONE OPERATING SYSTEM AND METHOD FOR MONITORING ROAD SLOPE}

The present invention relates to a drone operation technology, and more particularly, to a drone operation system and method for checking a road slope.

In Korea, slope collapse occurs frequently due to the topographical characteristics of mountainous regions and climate characteristics, where about two-thirds of the annual average precipitation is concentrated in the summer season, which is not only a loss of life and property every year, but also suffers from socio-economic damage. Accordingly, as a measure to prevent the collapse of the slope in advance, a slope maintenance system is currently being developed in Korea by the Korea Institute of Construction Technology and the Korea Highway Corporation's Road Research Institute for cutting slopes of general highways and highways.

In relation to the drone operation technology, which is the technical field of the present invention, in Korean Patent Registration No. 10-1801776, which is a prior patent document, the airspace in which the drone is operated in response to the mission of the drone is divided into a plurality of drone airspaces for each altitude. A drone operation system including a drone operation control unit for controlling and managing drone operations through a drone communication network to operate in a corresponding drone airspace in response to a drone's mission based on a drone airspace system unit for managing drone airspace and a drone airspace system unit This is described. However, in order to use the drone for road slope inspection, a new drone operation technology suitable for this is required.

Republic of Korea Registered Patent Publication No. 10-1801776 (2017.11.27.)

An object of the present invention is to provide a drone operation system and method for road slope inspection.

In order to achieve the above object of the present invention, according to an aspect of the present invention, a drone system mounted with a sensor for positioning of a road slope and performing a road slope inspection task; And a management server that manages road slope inspection by the drone system, wherein the management server controls a drone control unit that controls the drone system through wireless communication, manages information on road slopes, and checks road slopes to be inspected. Flight information management for the selected slope information management unit, an inspection task analysis unit for analyzing the inspection task of the drone system for the selected inspection subject road slope, and a flight plan for performing the mission of the drone system for the selected inspection road slope Provided is a drone operation system for a road slope inspection and a drone operation method using the flight planning establishment unit for establishing a mission, and a mission performance establishment unit for establishing a mission performance plan for the drone system for the selected road slope to be inspected. do.

According to the present invention, all the objects of the present invention described above can be achieved. Specifically, a management server that manages road slope inspection by a drone, a slope information management unit that manages information on road slopes and selects road slopes to be inspected, and checks the drones for the selected road slopes to be inspected. An inspection mission analysis unit for analyzing a mission, a flight planning establishment unit for establishing a flight plan for performing the mission of the drone on the selected road slope to be inspected, and the mission of the drone for the selected road slope to be inspected Since it has a mission performance establishing unit to establish a performance plan, it is possible to efficiently and safely perform inspections by drones on selected road slopes.

1 is a block diagram showing the configuration of a drone operation system for road slope inspection according to an embodiment of the present invention.
Figure 2 is a flow chart showing a step-by-step drone operation method for road slope inspection according to an embodiment of the present invention.

Hereinafter, the configuration and operation of the embodiment of the present invention will be described in detail with reference to the drawings.

1 is a block diagram showing the configuration of a drone operation system for road slope inspection according to an embodiment of the present invention. Referring to FIG. 1, a drone operating system 100 for inspecting road slopes according to an embodiment of the present invention controls a plurality of drone systems 110 for performing missions and a plurality of drone systems 110 and controls drones. It includes a management server 120 for managing information transmitted from the drone system 110 and information for performing the road slope inspection task of (110).

The drone system 110 controls various functions for performing missions (road slope inspection) such as flight of the drone system 110 by the management server 120 while exchanging data with the management server 120 through wireless communication. In the present invention, the drone system 110 is defined as a system in which an unmanned air vehicle drone and a Synthetic Aperture Radar (SAR) sensor system mounted on a drone for positioning of a road slope are integrated. That is, the drone system 110 acquires SAR data on the slope of the road to be inspected using the SAR sensor mounted on the drone, and stores it in a memory device provided in the SAR sensor system. The drone of the drone system 110 has the same configuration as that of a conventional drone, so a detailed description thereof will be omitted.

The management server 120 controls a plurality of drone systems 110 and manages information for performing a road slope inspection task of the drone system 110 and information transmitted from the drone system 110. The management server 120 includes a memory device in which a drone operation computer program for checking road slope is stored and other data is stored, a microprocessor device executing a drone operation computer program stored in the memory device, and a plurality of drone systems 110 It has a communication device for communication with the field, and an input/output device for input and output of data and information.

The management server 120 includes a drone control unit 130 that controls the drone system 110 for performing tasks, a slope information management unit 140 that manages information on road slopes to be inspected, and a mission plan of the drone system 110 Inspection mission analysis unit 150 for analyzing items necessary for establishment, flight planning establishment unit 160 for establishing a flight plan of drone system 110 for performing tasks of drone system 110, and drone system 110 ) The mission planning establishment unit 170 for establishing a mission performance plan, the event detection unit 180 for detecting an event occurring during the performance of the drone system 110, and the SAR data transmitted from the drone system 110 It provides a mission information management unit 190 for extracting and storing the slope displacement information using.

The drone control unit 130 controls flight and operation of the drone system 110 for performing missions using wireless communication.

The slope information management unit 140 manages information on road slopes to be inspected. Specifically, additional stopover coordinates required for the operation of the drone system 110, road slope infrastructure information (size, height, direction, etc.), new slope information (start and end coordinates, height, road number, direction, slope type) Etc.), upload map data such as new road information (road type, road number, etc.), and changed airspace information (coordinates such as altitude limit, flight prohibition, speed limit, etc.) around the road, and check the selected road slope It manages data about the type. The type of inspection is to periodically check all slopes of the selected road, when to check the slope construction time, construction method, environment, weather, etc., in the case of emergency inspection according to the previous inspection result (when displacement occurs) and typhoon, earthquake This includes the case of intensive inspection due to weakening of the ground due to heavy rain, etc. In addition, the slope information includes the road type (highway, general national road, local road, etc.), the road number assigned to the road (main line, auxiliary main line, short-distance line, etc.), type of cut slope (rock slope, soil slope, mixed) Slopes, multiple slopes). In addition, the slope information management unit 140 collects and manages past history information on the selected road slope. The past history includes the point of occurrence depending on whether or not the displacement of the slope is issued, the type of displacement occurrence (lost, crack, settlement, fullness, deformation, rockfall), and other points of reinforcement construction in the case of reinforcement construction, and the type of displacement occurrence causes the displacement Data about (external factors such as rainfall, earthquake, drainage, sea ice, and internal factors such as soil and geology) are also collected and managed. In addition, environmental information analysis including weather, communication obstacles, airspace setting, and flight plans of other vehicles on the selected mission road slopes, road linear elements, cross section elements, upper natural slope elements, and road ground elements Analysis of terrain information including the information of the external shape of the slope and surrounding terrain (tunnels, power transmission towers, etc.), the shape of the slope (cross section/double-sided, stepped/V-shaped/reverse V-shaped, 1st/2nd/3rd etc.) Includes analysis of pardon information for.

The inspection mission analysis unit 150 analyzes items necessary for establishing a mission plan of the drone system 110 for the selected road slope to be inspected. The inspection mission analysis unit 150 analyzes the flight path, flight time, mission sensor, mission drone, and amount of information collected.

The analysis of the flight paths includes a safe route from the origin to the flight area (road), a safe route from the flight area to the mission area (slope), a safe route from repeated positioning in the same mission area, and a mission (flight) area. Includes analysis of safe routes when moving to other mission (flight) areas and safe routes when moving from mission (flight) areas to landings (intermediate stops).

The analysis of flight time includes calculating energy consumption according to the travel distance, positioning time, speed, mission sensor, and designating a stopover or destination.

Analysis of the mission sensor includes cutting slope positioning (L-band SAR), slope displacement status (EO), and concrete/rock reflection positioning (X-band SAR).

Analysis of mission drones involves designating one if there are two or more operational drone systems.

Analysis of the amount of collected information is to calculate the mission range by calculating the size of the memory device mounted in the drone system as a large amount of information that is difficult to transmit the SAR sensor information online.

The flight planning unit 160 establishes a flight plan of the drone system 110 for performing a mission on a selected road surface for inspection of the drone system 110. The flight planning establishment unit 160 is based on the information on the road slope to be inspected collected by the slope information management unit 140 and analyzed through the inspection mission analysis unit 150, the flight flight path, the mission flight path, and the return flight path Develop a flight plan for.

The moving flight path is to be moved to the starting point of the slope to be inspected along the road, and the mission flight path is designated as P2P, section repeat, overlapping path, and split path according to the shape of the slope, and the return flight path ends the task/memory The return point is selected according to the remaining amount/sufficient fuel/weather.

The mission planning unit 170 establishes a mission performance plan of the drone system 110. In case of periodically inspecting all slopes of the selected road, the occupied object is all slopes, and when inspecting the slopes according to the construction time, construction method, environment, weather, etc., inspections are made according to individual scheduling, and the previous inspection results (displacement In case of emergency inspection according to the occurrence), the specific slope is subject to inspection, and in the case of intensive inspection due to weakening of the ground due to typhoons, earthquakes, and heavy rains, the slope of the specific area is subject to inspection. In the mission planning unit 170, a mission plan for a mission start point, a mission turning point, and a mission end point is established. The starting point of the mission is the starting point of the slope to be assigned to the mission. Generally, 1/2 of the total height is the flight orbit, and precisely, the shooting center point of the mission sensor is 1/2 of the total height. The mission turning point corresponds to a path of section repetition, split path, and overlapping path designation on the same slope. The end point of the mission is the end point of the slope of the target object, so that 1/2 of the total height is the flight orbit, and exactly the same as the flight orbit of the start point of the mission, the shooting center of the mission sensor is 1/2 of the total height. will be. Also, the flight trajectory of the mission start point and the mission end point is designated as a single or multiple flight trajectories depending on the inclination angle/height/direction of the slope to be inspected, the shooting angle/shooting range of the mission sensor, and the separation distance/height from the slope to be inspected. do.

The event detector 180 detects an event that occurs during the mission of the drone system 110. The event includes a mission suspension event and a cancellation event. The mission pause event is an event that bypasses the cause, changes the location, or resolves the problem over time, and the mission cancellation event is an event that cannot solve the cause of the problem or increases the risk when the mission is continued.

Some of the temporary suspension events include route departure, positioning error, dynamic fence, and radio interference. Deviation is a case where it is impossible to perform a mission on some slopes due to satellite navigation errors, strong winds, changes in air pressure, etc., and positioning errors are deterioration of quality due to vibration and positioning of other areas due to derailment. This is a case where the area is temporarily set as a no-fly zone and bypasses it. Radio interference is a case of communication/navigation failure due to strong radio waves such as the ionosphere and solar wind. In the event of a temporary suspension of a mission, a stationary flight or temporary landing in the area where the cause has occurred causes a waiting flight or cancels the mission for the area where the cause has occurred and moves to the next mission area.

Mission cancellation events include fail-safe, lack of fuel, deterioration of weather, and equipment failure. Fail-safe is a case of power generation interruption due to communication loss, battery shortage, engine system abnormality, fuel shortage is a case where fuel is excessively consumed by disturbances, including normal fuel consumption, weather deterioration is a possibility of drone flying This is the case when it is out of range, and a malfunction is a case where a failure or a sign (vibration) is detected for a part of the drone system.

The mission information management unit 190 extracts and stores slope displacement information using the SAR data transmitted from the drone system 110.

2 is a flowchart illustrating a drone operation method step by step for checking the road slope according to an embodiment of the present invention. The drone operation method for road slope inspection according to an embodiment of the present invention shown in FIG. 2 includes a system setting step (S10), a map data uploading step (S20), an inspection target selection step (S30), and inspection The target analysis phase (S40), the inspection mission analysis phase (S50), the flight planning establishment phase (S60), the mission planning establishment phase (S70), the drone selection phase (S80), and the mission start phase (S90) , Flight information collection step (S100), event occurrence confirmation step (S110), mission information download step (S120), cancellation event occurrence confirmation step (S130), return step (S140), standby / move step ( S150). Since the method shown in FIG. 2 uses the drone operating system 100 for road slope inspection described with reference to FIG. 1 above, each step of the method shown in FIG. 2 includes a drone operating system 100 shown in FIG. 1 ).

In the system setting step (S10), basic settings for the drone operation system 100 for road slope inspection shown in FIG. 1 are made, specifically, user settings and service environment settings are made. In the user setting, login control of the control authority for the drone system 110 is performed. In the service environment setting, the network settings such as the drone, information transmission/reception IP, port, etc. and data storage/reading route are designated.

In the map data upload step (S20), additional stopover coordinates necessary for the operation of the drone system 110 equipped with the SAR sensor, road slope infrastructure information (size, height, direction, etc.), newly established slope information (start and end coordinates, Map data such as height, road number, direction, slope type, etc., newly installed road information (road type, road number, etc.), and changed airspace information (coordinates such as altitude limit, flight prohibition, speed limit, etc.) are drone operated. It is uploaded by the slope information management unit 140 of the system 100.

In the selection step of the inspection target (S30), the slope of the road to be inspected is selected by the slope information management unit 140 on the slope of the national road. The road slope to be inspected is managed and selected according to the type of inspection, and the type of inspection is the result of the previous inspection (displacement when periodically inspecting all the slopes of the selected road, according to the construction time, construction method, environment, weather, etc.) ), and the case of intensive inspection due to the weakening of the ground due to typhoons, earthquakes, and heavy rains. The following are differences in mission and flight plan depending on the inspection target.

When all the slopes of the selected roads are periodically checked, a mission flight is performed along the roads. In addition, when checking according to the slope construction time, construction method, environment, weather, etc., the operating time is determined according to the schedule, so the waiting time of the drone system is set at random. And, in the case of an emergency check according to the result of the previous check (when displacement occurs), P2P flight is repeatedly performed for the number, time, and period selected as urgent. In addition, in the case of intensive inspection due to the weakening of the ground due to typhoons, earthquakes, heavy rains, etc., route flight is repeatedly performed for a selected number of times, time, and period.

In addition, in the selection step (S30) for inspection, the slope of the road to be inspected is the road type (highway, general national road, local road, etc.), the road number assigned to the road (main line, auxiliary main line, short-distance line, etc.) It is managed according to the slope type (rock slope, soil slope, mixed slope, composite slope). In this system, the priority of slope inspection is: soil slope, mixed slope, composite slope, rock slope, and concrete slope.

In addition, the present invention may be additionally performed by the slope information management unit 140 in the design drawing data collection step. The mission flight plan using a conventional drone automatically routes the internal area with software when a person directly enters or designates a mission area with a polygon based on the GIS map. It is a small area compared to the flight section, has various sizes and shapes, has a very high drone energy consumption during mission checks, and has a large flight area and quantity, so it is very difficult for manpower to specify the mission path according to the situation. , Road, infrastructure around the road, and design drawing information (location information, altitude information, etc.) on the slope are collected, so that it is possible to automatically designate the flight route according to the mission plan without a map (Non-GIS) according to the assignment rules. The mission plan includes a mission plan for the mission start point, mission turning point, and mission end point. The starting point of the mission is the starting point of the slope to be assigned to the mission. Generally, 1/2 of the total height is the flight orbit, and precisely, the shooting center point of the mission sensor is 1/2 of the total height. The mission turning point corresponds to a path of section repetition, split path, and overlapping path designation on the same slope. The end point of the mission is the end point of the slope of the target object, so that 1/2 of the total height is the flight orbit, and exactly the same as the flight orbit of the start point of the mission, the shooting center of the mission sensor is 1/2 of the total height. will be. Also, the flight trajectory of the mission start point and the mission end point is designated as a single or multiple flight trajectories depending on the inclination angle/height/direction of the slope to be inspected, the shooting angle/shooting range of the mission sensor, and the separation distance/height from the slope to be inspected. do.

In the inspection target analysis step (S40), the environmental information, terrain information, and slope information necessary for the mission planning of the drone system 110 for the selected road slope to be inspected are analyzed by the slope information management unit 140. Analysis of environmental information includes analysis of information on weather, communication obstacles, airspace setting, and flight plans of other vehicles in the mission area. Terrain information analysis includes information on the external shape of the slope, such as road linear elements, cross-section elements, upper natural slope elements, and road ground elements, and information analysis on the surrounding terrain (tunnels, transmission towers, etc.). Analysis of slope information includes analysis of information on the shape of the slope (cross-section/double-sided, stepped/V-shaped/reverse V-shaped, 1st/2nd/3rd etc.).

In the inspection target analysis step (S40), past history information on the selected road slopes is collected and managed. The past history includes the point of occurrence depending on whether or not the displacement of the slope is issued, the type of displacement occurrence (lost, crack, settlement, fullness, deformation, rockfall), and other points of reinforcement construction in the case of reinforcement construction, and the type of displacement occurrence causes the displacement Data about (external factors such as rainfall, earthquake, drainage, sea ice, and internal factors such as soil and geology) are also collected and managed.

In the inspection task analysis step (S50), analysis of the flight route, flight time, task sensor, task drone, and amount of information collected for the establishment of the mission plan of the drone system 110 for the selected road slope to be inspected is performed by the inspection task analysis unit ( 150).

The analysis of the flight paths includes a safe route from the origin to the flight area (road), a safe route from the flight area to the mission area (slope), a safe route from repeated positioning in the same mission area, and a mission (flight) area. Includes analysis of safe routes when traveling to landings (intermediate stops). Also, in the analysis of the safe route, priority is given to places where there are no facilities higher than the mountains on the route where the drone moves or performs missions, where there are few people or buildings, and where there are no facilities that cause radio interference.

The analysis of flight time includes calculating energy consumption according to the travel distance, positioning time, speed, mission sensor, and designating a stopover or destination.

Analysis of the mission sensor includes cutting slope positioning (L-band SAR), slope displacement status (EO), and concrete/rock reflection positioning (X-band SAR).

Analysis of mission drones involves designating one if there are two or more operational drone systems.

The analysis of the amount of collected information is to calculate the mission range by calculating the size of the memory device mounted in the drone system as the large amount of information that is difficult to transmit the SAR sensor information online.

In the flight plan establishment step (S60), the flight plan of the drone system 110 for performing the mission on the selected road surface for inspection of the drone system 110 is established by the flight plan establishment unit 160. In the flight planning establishment step (S60), the mobile flight path is based on information on the road slopes collected and analyzed through the map data upload step (S20), the inspection target selection step (S40), and the inspection target analysis step (S40). In addition, flight plans for mission and return flights are established. The moving flight path is to be moved to the starting point of the slope to be inspected along the road, and the mission flight path is designated as P2P, section repeat, split path, overlapping path according to the shape of the slope, and the return flight path ends the task/memory The return point is designated according to the remaining amount/sufficient fuel/weather.

In the mission planning establishment step (S70), the mission performance planning of the drone system is established by the mission planning establishment unit 170. In the case of periodically inspecting all slopes of the designated road in the task planning establishment step (S70), the inspection target is all slopes, and when checking according to the construction time, construction method, environment, weather, etc. of the slope, inspection according to individual scheduling is performed. In case of emergency inspection according to the previous inspection result (when displacement occurs), the specific slope is subject to inspection, and in the case of intensive inspection due to ground weakening due to typhoons, earthquakes, and heavy rains, the slope of the specific area is subject to inspection. In the task planning establishment step (S70), a task plan for a task start point, a task turning point, and a task end point is established. The starting point of the mission is the starting point of the slope of the mission, and generally, 1/2 of the total height is the flight orbit, and precisely, the shooting center of the mission sensor is 1/2 of the total height. The mission turning point corresponds to a path of section repetition, split path, and overlapping path designation on the same slope. The end point of the mission is the end point of the slope of the mission target. will be. Also, the flight trajectory of the mission start point and the mission end point is designated as a single or multiple flight trajectories depending on the inclination angle/height/direction of the slope to be inspected, the shooting angle/shooting range of the mission sensor, and the separation distance/height from the slope to be inspected. do.

In the drone selection step (S80), a drone system for performing a mission is selected. In the drone selection step (S80), the connected drone is searched through the online status check, the flying drone among the found drone systems is searched, and among the flying drone systems, the drone system capable of performing the mission is considered by considering the mission sensor and the fuel amount. After being searched, an appropriate drone system is designated.

In the mission start step (S90), the mission of the mission performing drone system selected through the drone selection step (S80) is started, and the drone control unit 130 controls the flight of the drone system for performing the mission. When the mission is started, the drone system 110 will fly and perform the mission according to the flight plan established through the flight planning establishment step (S60) and the mission plan established through the mission planning establishment step (S70).

In the flight information collection step (S100), the flight information of the drone system 110 performing a mission is collected in real time. In this embodiment, the flight information of the drone system 110 is transmitted to the management server 120 using the LTE communication environment. It will be described as being transmitted in real time. During the mission being collected in the flight information collection step (S100), the flight information of the drone system 110 includes a heartbeat message (maximum receiving cycle of 1 Hz), a sensor (IMU) message (maximum receiving cycle of 40 Hz), and a location message (10 Hz). Maximum receive cycle), GPS sensor and altimeter messages (maximum receive cycle of 10 Hz), and mission device messages (maximum receive cycle of 1 Hz).

In the event occurrence confirmation step (S110), an event occurring during the mission of the drone system 110 is detected and confirmed by the event detection unit 180. The event includes a mission suspension event and a cancellation event. The mission pause event is an event that bypasses the cause, changes the location, or resolves the problem over time, and the mission cancellation event is an event that cannot solve the cause of the problem or increases the risk when the mission is continued. In the event occurrence confirmation step (S110), if it is determined that the event has not occurred, the task execution continues and the task information download step 120 is performed to return and download the task information after the task is completed, and the event has occurred. If it is confirmed, a cancellation event occurrence confirmation step (S130) is performed.

The mission information download 120 is performed by downloading the SAR data by the mission information management unit 190 using a short-range high-speed (WIFI) communication environment when the drone system 110 that has successfully completed the mission arrives at an intermediate stop or landing site. .

In the cancellation event occurrence confirmation step S130, the type of the generated event is confirmed by the event detection unit 180. If it is confirmed that the event generated in the cancellation event occurrence confirmation step (S130) is a mission cancellation event, the drone system 110 that was performing the mission cancels the mission execution and returns to the designated landing site (S140), and is not a mission cancellation event. When it is confirmed as a mission suspension event, a standby/movement step (S150) is performed. Mission cancellation events include fail-safe, lack of fuel, deterioration of weather, and equipment failure. Fail-safe is a case of interruption of energy supply due to loss of communication, battery shortage, engine system abnormality, fuel shortage is a case of excessive consumption of fuel due to disturbances, including normal fuel consumption, weather deterioration is drone flight It is the case that it is out of the possible range, and the device failure is when a failure is detected or a sign (vibration) is detected for a part of the drone.

The waiting/moving step (S150) is performed when the event that has occurred is identified as a mission suspension event. Some of the temporary suspension events include route departure, positioning error, dynamic fence, and radio interference. Deviation is a case where it is impossible to perform a mission on some slopes due to satellite navigation errors, strong winds, changes in air pressure, etc., and positioning errors are deterioration of quality due to vibration and positioning of other areas due to derailment. This is a case where the area is temporarily set as a no-fly zone and bypasses. Radio interference is a case where communication/navigation failure occurs due to strong radio waves such as the ionosphere, solar wind, and transmission towers. In the event of a temporary suspension of the mission, the standby/movement step (S150) is performed to wait for a temporary flight or temporary landing in the region where the cause occurred, or cancel the mission for the region where the cause occurred and move to the next mission area.

The present invention has been described through the above embodiments, but the present invention is not limited thereto. The above embodiments may be modified or changed without departing from the spirit and scope of the present invention, and those skilled in the art will recognize that such modifications and changes also belong to the present invention.

100: drone operating system 110: drone system
120: management server 130: drone control unit
140: slope information management unit 150: inspection mission analysis unit
160: Flight Planning Department 170: Mission Planning Department
180: event detection unit 190: mission information management unit

Claims (15)

A drone system equipped with a sensor for positioning of a road slope and performing a road slope inspection task; And
It includes a management server for managing the road slope inspection by the drone system,
The management server includes a drone control unit that controls the drone system through wireless communication, a slope information management unit that manages information on road slopes and selects road slopes to be inspected, and the drones for the selected road slopes to be inspected. The inspection task analysis unit analyzing the inspection task of the system, the flight planning establishment unit establishing a flight plan for performing the mission of the drone system for the selected road slope to be inspected, and the selected road inspection slope And a mission planning unit for establishing a mission execution plan for the mission start point, mission turning point, and mission end point of the drone system,
The slope information management unit, when periodically checking the data on the selected road slope to be inspected, according to the slope construction time, construction method, environment, weather, urgent inspection according to the results of the previous inspection where displacement occurred In case of intensive inspection due to weakening of the ground due to typhoon, earthquake, and heavy rain, it is classified and managed according to the type of inspection, and collects and manages past history information on the road slopes selected above, and manages them. Analyze environmental information, including weather, communication obstacles, airspace settings, and flight plans of other vehicles on the road slope,
The above-mentioned mission planning establishment unit establishes an inspection plan for all slopes when periodically inspecting, and establishes an inspection plan according to individual scheduling when inspecting according to the slope construction time, construction method, environment, weather, and according to the previous inspection results. In case of intensive inspection due to urgent inspection and weakening of the ground, an inspection plan for a specific slope is established,
The mission start point and the mission end point are designated to be 1/2 of the total height of the mission target slope, and the mission turning point is set when a section repetition, split path, and overlapping path are designated on the same slope,
Drone operation system for road slope inspection. delete The method according to claim 1,
The past history information is a drone operation system for inspecting a road slope including an occurrence point according to whether the selected road slope is displaced, a displacement occurrence type, and a reinforcement construction point according to whether the reinforcement is performed. The method according to claim 1,
The inspection mission analysis unit is a drone operation system for road slope inspection to analyze the flight route, flight time, mission sensor, and collected information required when performing the mission of the drone system. The method according to claim 1,
Further comprising an event detection unit for detecting an event occurring during the mission of the drone system,
The event is for a road slope inspection that includes a mission suspension event that bypasses the cause of the problem, changes the location, or solves the problem over time, and a mission cancellation event that cannot solve the cause of the problem or increases the risk of continuing the mission. Drone operation system. The method according to claim 5,
The mission temporary suspension event is a drone operation system for road slope inspection, which is at least one of route departure, positioning error, dynamic fence, and radio interference. The method according to claim 5,
The mission cancellation event is a drone operation system for inspection of a road slope, which is at least one of fail-safe, lack of fuel, bad weather, and equipment failure. A drone system equipped with a sensor for positioning or visual confirmation of a road slope and performing a road slope inspection task, and a management server managing a road slope inspection by the drone system, wherein the management server includes the drone system A drone control unit controlled through wireless communication, a slope information management unit that manages information on road slopes and selects road slopes to be inspected, and a inspection task that analyzes inspection tasks of the drone system on the selected road slopes to be inspected An analysis unit, a flight planning establishment unit that establishes a flight plan for performing the mission of the drone system on the selected road surface to be inspected, and a mission performance plan of the drone system on the selected road surface to be inspected. As a drone operation method for road slope inspection using a drone operation system having a mission planning unit to do,
An inspection object selection step in which a road slope to be inspected is selected by the slope information management unit;
An inspection object analysis step in which information on a road slope subject to inspection selected in the selection step of the inspection object is analyzed by the slope information management unit;
An inspection task analysis step in which the inspection task of the drone system for the selected road surface to be inspected is analyzed by the inspection task analysis unit;
A flight plan establishment step in which a flight plan for performing the mission of the drone system on the selected road surface to be inspected is established by the flight plan establishment unit; And
The mission plan for the mission start point, the mission turning point and the mission end point of the drone system for the selected road slope to be inspected includes a mission planning establishment step established by the mission planning unit,
In the selection step of the inspection target, the road slope to be inspected is managed and selected according to the inspection type,
The above types of inspection are periodically checked, slope construction time, construction method, environment, weather inspection, emergency inspection according to the result of the inspection immediately before displacement, and ground weakening due to typhoon, earthquake, and heavy rain. It is classified as a case of intensive inspection and managed,
In the analysis of the inspection target, past history information on the selected inspection target road slope is collected and managed, and includes weather, communication obstacles, airspace setting, and flight plans of other vehicles in the mission area of the selected inspection target road slope Environmental information is analyzed,
In the above-mentioned task planning establishment step, if the periodic inspection is performed, an inspection plan for all slopes is established, and in case of inspection according to the slope construction time, construction method, environment, and weather, an inspection plan according to individual scheduling is established, and the previous inspection result In the case of urgent inspection and intensive inspection due to weakening of the ground, an inspection plan is established for the specific slope,
The mission start point and the mission end point are designated to be 1/2 of the total height of the target slope, and the mission turning point is set when section repetition, split path, and overlapping path are specified on the same slope.
How to operate drones to inspect road slopes. delete The method according to claim 8,
The past history information is a drone operation method for inspecting a road slope including an occurrence point according to whether the selected road slope is displaced, a displacement occurrence type, and a reinforcement construction point according to whether the reinforcement is performed. The method according to claim 8,
A drone operation method for road slope inspection in which the flight route, flight time, mission sensor, and collected information required when performing the mission of the drone in the inspection mission analysis step are analyzed. The method according to claim 8,
The drone operation system further includes an event detection unit that detects an event occurring during the mission of the drone system,
Further comprising an event occurrence confirmation step of checking whether the event occurs by the event detection unit,
The event is for a road slope inspection that includes a mission suspension event that bypasses the cause of the problem, changes the location, or solves the problem over time, and a mission cancellation event that cannot solve the cause of the problem or increases the risk of continuing the mission. How to operate a drone. The method according to claim 12,
When it is determined that the event has occurred in the event occurrence confirmation step, the operation of the drone for road slope inspection further comprising the step of determining whether the occurrence event is the temporary suspension event and the cancellation event. The method according to claim 13,
When it is determined that the occurrence event is a mission temporary suspension event, the method of operating a drone for road slope inspection further comprising the step of moving the drone system from a region where a cause occurred or moving to a next mission region. The method according to claim 13,
When it is determined that the occurrence event is a mission cancellation event, a drone operation method for road slope inspection further comprising a return step of moving the drone system to a landing site.

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