KR102173239B1 - Method and system for 4-dimensional collisions checking of flying objects - Google Patents

Abstract

The present invention relates to a method for a four-dimensional collision inspection of a three-dimensional control means, and a system thereof. According to the present invention, the method for the four-dimensional collision inspection of the three-dimensional control means comprises the steps of: specifying a target object; searching for three-dimensional space data; performing a valid time inspection; and performing a four-dimensional collision inspection. According to the present invention, an accurate collision inspection can be performed.

Description

Four-dimensional collision inspection method and system of three-dimensional control means {METHOD AND SYSTEM FOR 4-DIMENSIONAL COLLISIONS CHECKING OF FLYING OBJECTS}

The present invention relates to a collision inspection method and system, and more specifically, to a four-dimensional collision inspection method and system of a three-dimensional control means.

Various flying objects exist, the number of aircraft such as civil aircraft has increased, and new flying objects such as drones have recently appeared, and the types and numbers of flying objects are increasing.

However, the three-dimensional control means such as the route of these flying objects collide with the no-fly zone, the private airspace exclusion zone, the airspace control means, or collide with other three-dimensional control means. I need this.

As a related prior art, as a technology for restricting access to airspace by drones and preventing access near private property, Korean Patent Publication No. 10-2017-0137040 (Name of invention: Controlling autonomous flight paths The system and method for this, publication date: December 12, 2017) have been disclosed.

This prior art constructs a database storing configurable flight areas such as government-determined controls, restrictions, prohibited flight areas and user-entered private property, and programmed to avoid flying into areas identified in the database.

However, since such technology uses a fixed area as a database, it cannot be reflected when the characteristics such as accessibility of a specific area change over time, and collisions with other 3D control means are effectively examined. There is a limit that cannot be done.

The present invention has been proposed to solve the above problems of the previously proposed methods, and by searching for 3D spatial data around a target object in a spatial DB, comparing the effective time to extract effective spatial data, By performing a collision check between the target object and the 3D space, it is possible to perform accurate collision check even when the characteristics of the 3D spatial data change over time considering not only the 3D space but also the overlap of the effective time. It is an object of the present invention to provide a four-dimensional collision detection method and system.

A four-dimensional collision inspection method of a three-dimensional control means according to a feature of the present invention for achieving the above object,

As a four-dimensional collision inspection method of three-dimensional control means, a four-dimensional collision inspection system,

(1) searching for 3D spatial data around a target object from a spatial DB storing 4D spatial information consisting of 3D spatial data and valid time information corresponding to the 3D spatial data;

(2) comparing the valid time of the target object with the valid time of the 3D spatial data retrieved in step (1), extracting valid spatial data, and performing a valid time check; And

(3) performing a collision check between the effective spatial data extracted in step (2) and the target object, and performing a four-dimensional collision check.

Preferably, the three-dimensional spatial data,

It may be three-dimensional figure data obtained by three-dimensionally converting a collision object including a control area and flight path according to airspace control measures.

Preferably, prior to step (1),

(0) The step of specifying a target object for collision detection may be further included.

More preferably, in the step (0),

The target object may be specified by data including a three-dimensional figure shape, a position in a three-dimensional space, a movement trajectory, and an effective time.

Preferably, after step (3),

(4) As a result of the 4D collision test performed in step (3), the step of outputting effective spatial data colliding with the target object as a collision detection list may be further included.

A four-dimensional collision inspection system of a three-dimensional control means according to a feature of the present invention for achieving the above object,

As a four-dimensional collision inspection system of three-dimensional control means,

A spatial DB for storing and managing 4D spatial information composed of 3D spatial data and valid time information corresponding to the 3D spatial data;

A search unit for searching 3D spatial data around a target object in the spatial DB;

An effective time checker which compares the effective time of the target object with the effective time of the 3D spatial data retrieved by the 3D collision tester, extracts effective spatial data, and performs an effective time check; And

And a collision check unit for performing a four-dimensional collision check by performing a collision check between the effective spatial data extracted by the valid time check unit and the target object.

Preferably,

A target specifying unit specifying a target object for collision detection; And

As a result of the 4D collision detection performed by the 4D collision detection unit, a result output unit for outputting effective spatial data colliding with the target object as a collision detection list may further be included.

According to the four-dimensional collision detection method and system of the three-dimensional control means proposed in the present invention, three-dimensional spatial data around a target object is searched in a spatial DB, and effective spatial data is extracted by comparing the effective time, By performing a collision check between the and the target object, it is possible to perform an accurate collision check even when the characteristics of the 3D spatial data change over time considering not only the 3D space but also the overlap of the valid time.

1 is a view showing an overall configuration including a four-dimensional collision detection system of a three-dimensional control means according to an embodiment of the present invention.
2 is a view showing the flow of a four-dimensional collision detection method of a three-dimensional control means according to an embodiment of the present invention.
3 is a diagram illustrating a method and a system for checking a four-dimensional collision of a three-dimensional control means according to an embodiment of the present invention.
4 is a diagram showing a detailed configuration of a four-dimensional collision detection system of a three-dimensional control means according to an embodiment of the present invention.

Hereinafter, preferred embodiments will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the present invention. However, in describing a preferred embodiment of the present invention in detail, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted. In addition, the same reference numerals are used throughout the drawings for portions having similar functions and functions.

In addition, in the entire specification, when a part is said to be'connected' with another part, it is not only'directly connected', but also'indirectly connected' with another element in the middle. Include. In addition, "including" a certain component means that other components may be further included, rather than excluding other components unless otherwise specified.

1 is a view showing the overall configuration including a four-dimensional collision detection system 100 of a three-dimensional control means according to an embodiment of the present invention. As shown in FIG. 1, the four-dimensional collision detection system 100 of the three-dimensional control means according to an embodiment of the present invention can be automatically driven at a time when a four-dimensional collision check is required, and the electronic device 200 ) Is connected through a network to provide a result of the 4D collision test to the electronic device 200.

Here, the network is a wired network such as a local area network (LAN), a wide area network (WAN), or a value added network (VAN), a mobile radio communication network, or a satellite communication network. , Bluetooth, Wireless Broadband Internet (Wibro), High Speed Downlink Packet Access (HSDPA), Long Term Evolution (LTE), 5th Generation Mobile Telecommunication (5G), and the like.

The electronic device 200 may provide a monitoring screen so that an administrator, etc. can check the results of the 4D collision test, and request a 4D collision test or detailed information from the 4D collision detection system 200. It can receive and transmit various input signals. Also, according to an input signal, the electronic device 200 may directly process a request from a manager or may request the 4D collision detection system 200.

Here, the electronic device 200 includes a smartphone, a tablet PC (personal computer), a mobile phone, a video phone, an e-book reader, a desktop PC, a laptop PC, a netbook computer, It may include at least one of a workstation, a server, a personal digital assistant (PDA), a media box, a game console, an electronic dictionary, or a wearable device, and the wearable device is an accessory type (for example, Watches, rings, bracelets, anklets, necklaces, eyeglasses, contact lenses, or head-mounted-devices (HMDs), fabrics or garments (e.g. electronic clothing), body attachments (e.g. skin pads (e.g. skin pad) or tattoo), or an implantable circuit. In various embodiments, the electronic device 200 is not limited to the above-described devices, and It may be a combination of two or more of the devices.

Hereinafter, a four-dimensional collision inspection method of a three-dimensional control means according to an embodiment of the present invention, which is performed by the four-dimensional collision inspection system 100, will be described in detail with reference to FIG. 2.

FIG. 2 is a diagram illustrating a flow of a 4D collision detection method of a 3D control means according to an embodiment of the present invention. As shown in FIG. 2, in the four-dimensional collision detection method of the three-dimensional control means according to an embodiment of the present invention, the four-dimensional collision detection system 100 is provided with a three-dimensional space around a target object in the space DB 120. Searching for spatial data (S100), performing a valid time check by extracting valid spatial data by comparing the valid time (S200), and performing a four-dimensional collision check by performing a collision check between the effective spatial data and a target object The step of specifying a target object for collision detection (S10) and outputting effective spatial data colliding with the target object as a result of the four-dimensional collision check as a collision detection list It may be implemented by further including (S400).

3 is a diagram illustrating a method and a system for checking a 4D collision of a 3D control means according to an embodiment of the present invention. Hereinafter, with reference to FIGS. 2 and 3, each step of a method for inspecting a 4D collision of a 3D control means according to an embodiment of the present invention will be described in detail.

In step S10, a target object for collision detection may be specified. More specifically, in step S10, the target object may be specified by data including a three-dimensional figure shape, a position in a three-dimensional space, a movement trajectory, and an effective time.

Here, the target object may be a three-dimensional control means. For example, in defense, it may be a flying object such as an air force plane or a missile, a path, etc., and in the civilian, it may include a flying object such as a civil aircraft and a drone, and various three-dimensional control means such as a route.

As shown in FIG. 3, in step S10 of the 4D collision detection method of the 3D control means according to an embodiment of the present invention, a target object may be specified as a cylindrical three-dimensional figure indicated by “4)”. Depending on the embodiment, the cylindrical target object on the left side of FIG. 3 moves to the cylindrical target object indicated by “4)” on the right, and may be specified including the movement trajectory. In addition, the valid time of the target object may be specified from 14 o'clock on February 25, 2020 to 14:00 on February 26, 2020. As described above, the valid time of the target object may be a specific time, but may be a valid period of the target object.

In step S100, 3D spatial data around the target object may be searched from the spatial DB 120 storing 4D spatial information including 3D spatial data and valid time information corresponding to the 3D spatial data. That is, the spatial DB 120 may store and manage 4D spatial information composed of 3D spatial data and valid time information corresponding to the 3D spatial data. In step S100, the spatial DB 120 You can search for 3D spatial data that spatially collides with an object.

In this case, the 3D spatial data may be 3D graphic data obtained by converting a collision object including a control area and a flight path according to airspace control measures into a 3D graphic. Airspace control means are rules, principles, and directives stipulated by the airspace control plan that controls the use of airspace in confined areas, for example, low-altitude passageways, high-density airspace control zones, aircraft identification points, army aircraft standard routes, etc. May be included. In the present invention, a plurality of three-dimensional figures may be configured as a space DB 120 by converting a control area or flight path according to the airspace control means into a three-dimensional figure. That is, as shown in FIG. 3, the spatial DB 120 may include 3D spatial data in the form of a 3D stereogram based on a Geographic Information System (GIS).

In step S100, using the spatial DB 120 in which 3D spatial data is stored and managed, 3D spatial data within a predetermined distance from the target object or 3D spatial data overlapping with the target object may be searched. That is, in FIG. 3, among 3D spatial data 1), 2), and 3) around the target object indicated by “4)”, 1) and 3) having a possibility of collision may be searched.

However, depending on the embodiment, it is not possible to check the possibility of a collision within a certain distance, not a direct collision, and if 2) is located within a predetermined distance based on the target object (“4)”), in step S100 2) also Can be searched.

In step S200, effective spatial data may be extracted by comparing the effective time of the target object with the effective time of the 3D spatial data retrieved in step S100, and an effective time check may be performed.

The 3D spatial data may have an effective time, and the spatial DB 120 may store 4D spatial information by matching the effective time indicating the valid time or period of the 3D spatial data with each 3D spatial data. . For example, there may be airspace control measures that are only valid for a certain period of time, such as a specific flight route with a fixed time of use or a temporary control area.

In step S200, the effective time of the target object specified in step S10 and the effective time of the 3D spatial data retrieved in step S100 are transmitted from the spatial DB 120, and the valid time check may be performed. For example, in step S10, the valid time of the target object was specified from 24:00 on February 25, 2020 to 14:00 on February 26, 2020, and the effective time of 1) retrieved in step S100 is 15 on February 26, 2020. If the valid time from 16:00 on February 26, 2020, 3) is from 12:00 on February 26, 2020 to 13:00 on February 26, 2020, in step S200, the valid time check is performed and the valid time conflict. 3) can be extracted as effective spatial data.

In the example as shown in Fig. 3, even if the valid time of 2) is from 11 o'clock on February 26, 2020 to 12 o'clock on February 26, 2020, even if it collides with the valid time of the target object, 3D spatial data 2) is In step S100, a collision with the target object does not occur in three-dimensional space, and thus may be excluded.

In step S300, a collision check between the effective spatial data extracted in step S200 and the target object may be performed, and a four-dimensional collision check may be performed. That is, by combining the three-dimensional collision check in step S100 and the valid time check in step S200, the four-dimensional collision check may be performed in step S300.

In the example shown in FIG. 3, the effective spatial data extracted in step S200 is 3), and the target object “4)” collides with 3) of several 3D figures. In step S300, a spatial collision test with a target and a trajectory curve may be performed according to characteristics of the target object, such as effective spatial data and a 3D figure shape of the target object, a position in the 3D space, and a moving trajectory.

In step S400, as a result of the 4D collision test performed in step S300, effective spatial data colliding with the target object may be output as a collision detection list. In step S400, a collision detection list may be transmitted to the electronic device 200 and may be output so that an administrator can check it. More specifically, a 4D collision check list can be inquired by an administrator through the screen of the electronic device 200, and an item in which a collision has occurred and detailed information thereof may be presented by the 4D collision detection.

Meanwhile, the present invention may include a computer-readable medium including program instructions for performing operations implemented by various communication terminals. For example, a computer-readable medium includes magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD_ROMs and DVDs, and floptical disks. It may include a hardware device specially configured to store and execute program commands such as magneto-optical media and ROM, RAM, flash memory, and the like.

Such a computer-readable medium may include program instructions, data files, data structures, and the like alone or in combination. In this case, the program instructions recorded in a computer-readable medium may be specially designed and configured to implement the present invention, or may be known and usable to those skilled in computer software. For example, it may include not only machine language codes such as those produced by a compiler but also high-level language codes that can be executed by a computer using an interpreter or the like.

4 is a diagram showing a detailed configuration of a 4D collision inspection system 100 of a 3D control means according to an embodiment of the present invention. As shown in Figure 4, the four-dimensional collision inspection system 100 of the three-dimensional control means according to an embodiment of the present invention, a spatial DB 120, a search unit 130, an effective time check unit 140 and It may be configured to include a collision detection unit 150, may be configured to further include a target specifying unit 110 and a result output unit 160.

The target specifying unit 110 may specify a target object for collision detection and may perform step S10.

The spatial DB 120 may store and manage 4D spatial information composed of 3D spatial data and valid time information corresponding to 3D spatial data.

The search unit 130 may search for 3D spatial data around the target object in the spatial DB 120, and may perform step S100.

The valid time checking unit 140 may compare the valid time of the target object with the valid time of the 3D spatial data searched by the 3D collision detection unit 150 to extract the valid spatial data, and perform the valid time check, step S200 Can be done.

The collision checker 150 may perform a four-dimensional collision check by performing a collision check between the effective spatial data extracted by the valid time checker 140 and the target object, and may perform step S300.

The result output unit 160 may output effective spatial data colliding with the target object as a result of the 4D collision inspection performed by the 4D collision inspection unit 150 as a collision detection list, and perform step S400. have.

As described above, according to the four-dimensional collision detection method and system of the three-dimensional control means proposed in the present invention, the space DB 120 searches for three-dimensional spatial data around a target object and compares the effective time to determine the effective space. By extracting the data and performing a collision check between the effective spatial data and the target object, accurate collision check can be performed even when the characteristics of the 3D spatial data change over time, considering not only the 3D space but also the overlap of the effective time. I can.

The present invention described above can be modified or applied in various ways by those of ordinary skill in the technical field to which the present invention belongs, and the scope of the technical idea according to the present invention should be determined by the following claims.

100: 4D collision detection system according to the present invention
110: target specific part
120: space DB
130: search unit
140: valid time inspection unit
150: collision inspection unit
160: result output section
200: electronic device
S10: Step of specifying a target object for collision detection
S100: Retrieving 3D spatial data around the target object in spatial DB
S200: Comparing the valid time and extracting valid spatial data to perform valid time check
S300: Performing a four-dimensional collision check by performing a collision check between the effective spatial data and the target object
S400: Outputting effective spatial data colliding with the target object as a result of the 4D collision detection as a collision detection list

Claims (7)

As a four-dimensional collision inspection method of the three-dimensional control means, the four-dimensional collision inspection system 100,
(0) specifying a target object for collision detection;
(1) searching for 3D spatial data around a target object in a spatial DB (120) storing 4D spatial information consisting of 3D spatial data and valid time information corresponding to the 3D spatial data;
(2) comparing the valid time of the target object with the valid time of the 3D spatial data retrieved in step (1), extracting valid spatial data, and performing a valid time check; And
(3) performing a collision check between the effective spatial data extracted in step (2) and the target object, and performing a four-dimensional collision check;
(4) outputting effective spatial data colliding with the target object as a result of the four-dimensional collision check performed in step (3) as a collision detection list,
The target object,
It is a three-dimensional control means including flying objects, routes and routes,
In step (0),
The target object is specified by data including a three-dimensional figure shape, a position in a three-dimensional space, a movement trajectory, and an effective time,
The three-dimensional spatial data,
It is a three-dimensional graphic data obtained by converting a collision object including a control area and flight path according to airspace control measures to a three-dimensional shape,
The space DB 120,
Based on GIS (Geographic Information System), including the three-dimensional spatial data in the form of a three-dimensional three-dimensional figure,
In step (1),
Searching for 3D spatial data within a predetermined distance from the target object or 3D spatial data overlapping the target object using the spatial DB 120 in which the 3D spatial data is stored and managed,
In step (3),
A four-dimensional three-dimensional control means, characterized in that performing a spatial collision test according to the characteristics of the target object, including the effective spatial data and the three-dimensional figure shape of the target object, a position in the three-dimensional space, and a movement trajectory. How to check for collisions.
delete delete delete delete As a four-dimensional collision inspection system 100 of three-dimensional control means,
A target specifying unit 110 specifying a target object for collision detection;
A spatial DB 120 for storing and managing 4D spatial information consisting of 3D spatial data and valid time information corresponding to the 3D spatial data;
A search unit 130 for searching 3D spatial data around the target object specified by the target specifying unit 110 in the spatial DB 120;
An effective time checker 140 which compares the effective time of the target object with the effective time of the 3D spatial data searched by the search unit 130 to extract effective spatial data, and performs an effective time check;
A collision check unit 150 for performing a four-dimensional collision check by performing a collision check between the effective spatial data extracted by the valid time check unit 140 and the target object; And
As a result of the four-dimensional collision inspection performed by the four-dimensional collision inspection unit 150, including a result output unit 160 for outputting effective spatial data colliding with the target object as a collision detection list,
The target object,
It is a three-dimensional control means including flying objects, routes and routes,
In the target specifying unit 110,
The target object is specified by data including a three-dimensional figure shape, a position in a three-dimensional space, a movement trajectory, and an effective time,
The three-dimensional spatial data,
It is a three-dimensional graphic data obtained by converting a collision object including a control area and flight path according to airspace control measures to a three-dimensional shape,
The space DB 120,
Based on GIS (Geographic Information System), including the three-dimensional spatial data in the form of a three-dimensional three-dimensional figure,
In the search unit 130,
Searching for 3D spatial data within a predetermined distance from the target object or 3D spatial data overlapping the target object using the spatial DB 120 in which the 3D spatial data is stored and managed,
In the collision inspection unit 150,
A four-dimensional three-dimensional control means, characterized in that performing a spatial collision test according to the characteristics of the target object, including the effective spatial data and the three-dimensional figure shape of the target object, a position in the three-dimensional space, and a movement trajectory. Collision inspection system 100. delete

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