KR102235461B1 - System and method for optimally arranging unmanned aerial vehicle - Google Patents

Abstract

) 이내로 이격된 점들을 연결하는 연결쌍 결정부; 각 집합 내 모든 지점들이 자신을 제외한 나머지 모든 지점들과 상기 연결쌍 결정부에 의해 연결된 지점이 되도록 상기 복수 개 지점들의 집합을 결정하는 집합 결정부; 및 각각의 집합에 1개의 상기 무인 비행 장치를 할당하고, 각 집합에 속하는 모든 지점들이 할당된 무인 비행 장치의 통신 반경 내에 위치할 수 있도록 하는 각 무인 비행 장치의 목표점을 결정하는 목표점 결정부를 포함하는 것을 특징으로 한다.The present invention relates to an optimal arrangement system and method of an unmanned aerial vehicle, and the optimal arrangement system of an unmanned aerial vehicle according to an embodiment of the present invention provides location information of a plurality of points and communication radius (R) information of the unmanned aerial vehicle. An information input unit to receive input; A predetermined distance among the plurality of points using the location information and communication radius information (

) A connection pair determination unit that connects the points spaced within a distance; A set determination unit configured to determine a set of the plurality of points such that all points in each set become points connected by the connection pair determination unit to all points other than the self; And a target point determination unit that allocates one of the unmanned aerial vehicles to each set, and determines a target point of each unmanned aerial vehicle so that all points belonging to each set are located within the communication radius of the assigned unmanned aerial vehicle. It is characterized by that.

Description

System and method for optimal placement of unmanned aerial vehicles {SYSTEM AND METHOD FOR OPTIMALLY ARRANGING UNMANNED AERIAL VEHICLE}

The present invention relates to a system and method for arranging an unmanned aerial vehicle. More specifically, it relates to a system and method capable of quickly providing an optimal position of an unmanned aerial vehicle for network formation.

Recently, due to a fire in a communication facility, there has been an accident that numerous users who have been provided service by the communication facility cannot receive communication service until the communication facility is restored.

These accidents not only cause inconvenience to users who used communication services and cause economic losses, but also increase the anxiety of users who are not provided with information about the disaster situation, and understand the situation of users in need or take specific rescue measures. Failure to communicate can make it difficult to save lives and minimize damage.

Accordingly, studies on how to construct a network in a disaster area using unmanned flying devices such as drones are being conducted.

In particular, since it is necessary to form a network with limited unmanned aerial vehicles, it is important to derive an optimal location that can cover all user locations with a minimum of unmanned aerial vehicles.

However, conventional methods such as Korean Laid-Open Patent Publication No. 10-2015-0129602 describe that adjacent users are grouped into clusters based on user location information, but it is unclear how to create an optimal cluster in detail.

In addition, when creating a virtual vertex as a repeating point, if it is repeated more than once, there is a problem that the drone dispatched to the virtual vertex may not be able to cover the original vertex.

As another conventional method, after forming a subset of users and determining whether the subset can receive communication services by one unmanned flying device, that is, within the communication range of the unmanned flying device, provide communication services to the corresponding set. There is a way to determine the location of the UAV for.

However, this conventional method has a problem in that it takes a lot of time until the location of the unmanned aerial vehicle is derived because ^2N subsets may appear when the location of the users is N.

It is an object of the present invention to provide a system and method for optimal placement of an unmanned aerial vehicle.

Another object of the present invention is to provide a system and method for optimal arrangement of an unmanned aerial vehicle capable of forming a network with a minimum unmanned aerial vehicle.

Another object of the present invention is to provide a system and method for optimal arrangement of an unmanned aerial vehicle capable of minimizing operation time.

The above and other objects of the present invention can be achieved both by the optimal arrangement system and method of the unmanned aerial vehicle according to the present invention.

) 이내로 이격된 점들을 연결하는 연결쌍 결정부; 각 집합 내 모든 지점들이 자신을 제외한 나머지 모든 지점들과 상기 연결쌍 결정부에 의해 연결된 지점이 되도록 상기 복수 개 지점들의 집합을 결정하는 집합 결정부; 및 각각의 집합에 1개의 상기 무인 비행 장치를 할당하고, 각 집합에 속하는 모든 지점들이 할당된 무인 비행 장치의 통신 반경 내에 위치할 수 있도록 하는 각 무인 비행 장치의 목표점을 결정하는 목표점 결정부를 포함하는 것을 특징으로 한다.An optimal arrangement system of an unmanned aerial vehicle according to an embodiment of the present invention includes an information input unit receiving location information of a plurality of points and communication radius (R) information of the unmanned aerial vehicle; A predetermined distance among the plurality of points using the location information and communication radius information (

) A connection pair determination unit that connects the points spaced within a distance; A set determination unit configured to determine a set of the plurality of points such that all points in each set become points connected by the connection pair determination unit to all points other than the self; And a target point determination unit that allocates one of the unmanned aerial vehicles to each set, and determines a target point of each unmanned aerial vehicle so that all points belonging to each set are located within the communication radius of the assigned unmanned aerial vehicle. It is characterized by that.

The set determination unit may determine a set such that a minimum number of sets are formed.

The set determination unit may determine a plurality of points connected to each other with all other points excluding itself as one set.

The target point determination unit may determine a target point such that the target points of each unmanned aerial vehicle are as distributed as possible.

The optimal arrangement system of the unmanned aerial vehicle according to an embodiment of the present invention may further include a flight range determination unit that determines the available range of the unmanned aerial vehicle, and the available range is the unmanned aerial vehicle to determine the target point. Even if it deviates, all points belonging to the set are within the communication radius of the unmanned aerial vehicle.

The flight range determination unit may further determine a flight risk range, and the flight risk range is a range in which flightable ranges of unmanned aerial vehicles adjacent to each other overlap.

) 이내로 이격된 점들을 연결하는 연결쌍 결정 단계; 각 집합 내 모든 지점들이 자신을 제외한 나머지 모든 지점들과 연결된 지점이 되도록 상기 복수 개 지점들의 집합을 결정하는 집합 결정 단계; 및 각각의 집합에 1개의 상기 무인 비행 장치를 할당하고, 각 집합에 속하는 모든 지점들이 할당된 무인 비행 장치의 통신 반경 내에 위치할 수 있도록 하는 각 무인 비행 장치의 목표점을 결정하는 목표점 결정 단계를 포함하는 것을 특징으로 한다.The optimal arrangement method of an unmanned aerial vehicle according to an embodiment of the present invention is a method in which each step is performed by an optimal arrangement system of an unmanned aerial vehicle, and includes location information of a plurality of points and communication radius (R) information of the unmanned aerial vehicle. An information input step of being input; A predetermined distance among the plurality of points using the location information and communication radius information (

) Determining a connection pair that connects the points spaced within a distance; A set determination step of determining a set of the plurality of points so that all points in each set become points connected to all points other than the self; And a target point determination step of allocating one unmanned aerial vehicle to each set, and determining a target point of each unmanned aerial vehicle so that all points belonging to each set are located within the communication radius of the assigned unmanned aerial vehicle. Characterized in that.

In the set determination step, the plurality of points must necessarily belong to one set, and a plurality of points connected to each other with all other points except for themselves may be determined as one set.

In the step of determining the target point, the target points may be determined so that the target points of the unmanned aerial vehicle are as dispersed as possible.

The optimal arrangement method of the unmanned aerial vehicle according to an embodiment of the present invention may further include a step of determining a flight range of determining an available range of the unmanned aerial vehicle, and the available range is the unmanned flying device. Even out of the range, all points belonging to the set can be located within the communication radius of the unmanned aerial vehicle.

In the flight range determination step, a flight risk range may be further determined, and the flight risk range is a range in which flightable ranges of unmanned aerial vehicles adjacent to each other overlap.

The optimal arrangement system and method of an unmanned aerial vehicle according to the present invention has an effect of providing an optimal arrangement method of an unmanned aerial vehicle capable of forming a network with the minimum unmanned aerial vehicle within a minimum time.

만큼 떨어진 3개의 지점과 통신 반경이 R인 무인 비행 장치의 통신 서비스 범위와의 관계를 보여주는 도면이다.
제5도는 연결쌍 결정부에 의해 연결된 예시적인 6개 지점을 보여주는 도면이다.
제6도는 본 발명의 일 실시예에 따른 무인 비행 장치의 최적 배치 방법의 순서도이다.
제7도는 지도 정보 없이 표시된 예시적인 복수 개의 지점들을 보여주는 도면이다.
제8도는 도 7의 지점들에 대해 연결쌍을 표시하여 보여주는 도면이다.
제9도는 도 8의 지점들에 대해 결정된 집합을 표시하여 보여주는 도면이다.
제10도는 도 9에 표시된 집합들에 대한 무인 비행 장치의 목표점을 표시하여 보여주는 도면이다.
제11도는 비행 가능 범위를 표시하여 보여주는 도면이다.
제12도는 비행 위험 범위를 표시하여 보여주는 도면이다.1 is a system configuration diagram of an optimal arrangement system for an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 2 is a diagram showing a relationship between two points separated by 2R and a communication service range of an unmanned aerial vehicle having a communication radius of R.
FIG. 3 is a diagram showing the relationship between three points separated by 2R and a communication service range of an unmanned aerial vehicle having a communication radius of R.
Figure 4

It is a diagram showing the relationship between the communication service range of the unmanned aerial vehicle having a communication radius of R and three points separated by.
5 is a diagram showing exemplary six points connected by a connection pair determining unit.
6 is a flowchart of an optimal arrangement method of an unmanned aerial vehicle according to an embodiment of the present invention.
7 is a diagram illustrating a plurality of exemplary points displayed without map information.
FIG. 8 is a diagram showing connection pairs for the points of FIG. 7.
FIG. 9 is a diagram showing and displaying a set determined for the points of FIG. 8.
FIG. 10 is a view showing and displaying target points of the unmanned aerial vehicle for the sets shown in FIG. 9.
11 is a diagram showing and displaying the available flight range.
12 is a diagram showing and displaying the flight danger range.

Hereinafter, an optimal arrangement system and method of an unmanned aerial vehicle according to the present invention will be described in detail with reference to the accompanying drawings.

In the following description, only parts necessary to understand the optimal arrangement system and method of an unmanned aerial vehicle according to an embodiment of the present invention will be described, and descriptions of other parts may be omitted so as not to distract the gist of the present invention.

In addition, terms or words used in the present specification and claims described below should not be construed as being limited to conventional or dictionary meanings, and meanings consistent with the technical idea of the present invention so that the present invention can be most appropriately expressed. And should be interpreted as a concept.

Throughout the specification, when a part "includes" a certain component, it means that other components may be further included rather than excluding other components unless specifically stated to the contrary. In addition, terms such as "... unit", "... group", and "module" described in the specification mean a unit that processes at least one function or operation, which can be implemented by hardware or software or a combination of hardware and software. have.

In various embodiments, components having the same configuration are representatively described in one embodiment by using the same reference numerals, and in other embodiments, configurations different from the one embodiment will be described.

Communication with survivors is very important to rescue survivors in disaster areas. However, in the event of a disaster such as an earthquake or a large fire, communication facilities are destroyed, causing difficulties in connecting communication with survivors, and it takes a lot of time to restore the destroyed communication facilities, making it difficult to rescue the survivors. do.

At this time, if an unmanned flying device (eg, drone) that can provide wireless communication is provided to provide wireless communication with the survivor, it can be of great help in the rescue of the survivor.

The optimal arrangement system and method of the unmanned aerial vehicle according to the present invention uses the location of the survivor and the communication radius information of the unmanned aerial vehicle to determine and provide the optimal arrangement position of the unmanned aerial vehicle as soon as possible. Quickly restore the telecommunications network in the area so that it can help rescue survivors.

1 is a system configuration diagram of an optimal arrangement system for an unmanned aerial vehicle according to an embodiment of the present invention.

As shown in Fig. 1, the optimal arrangement system of the unmanned aerial vehicle according to an embodiment of the present invention includes an information input unit 10, a connection pair determination unit 20, a set determination unit 30, and a target point determination unit 40. And a flight range determination unit 50.

The information input unit 10 receives location information on a plurality of survivors and information on a communication radius R of the unmanned aerial vehicle.

The location information of the plurality of survivors may be information detected by a separate location tracking device or final location information of users remaining in the communication system before communication is paralyzed.

The location information of the survivors is more precisely the location of a communication device (eg, mobile phone) carried by the survivors, and may be GPS information. After the location information is acquired, it may be directly inputted to the information input unit or stored in a separate database and then inputted to the information input unit.

The unmanned flying device is a flying device that is controlled remotely without a person on board, or automatically flies according to location information, such as a drone.

The information on the communication radius (R) of the unmanned aerial vehicle means the limit distance at which the communication equipment provided in the unmanned aerial vehicle can provide communication services, and communication devices located within the communication radius of the unmanned aerial vehicle are to the unmanned aerial vehicle. You can receive communication service by

The connection pair determination unit 20 finds and connects points separated within a predetermined distance among a plurality of points in which survivors are located.

이내로 이격된 점들을 찾아 연결한다.The connection pair determination unit finds and connects points spaced within a predetermined distance to find points that can be located within a communication radius of one unmanned aerial vehicle. For this, the connection pair determination unit is used when the communication radius of the unmanned aerial vehicle is R.

Find and connect the points that are separated within.

In more detail with reference to FIG. 2, when the two points P1 and P2 are separated by 2R, if the unmanned aerial vehicle is located at the center (O) of the points P1 and P2, the points P1 and P2 are in one unmanned aerial vehicle. It is clear that communication service can be provided by this.

However, as shown in FIG. 3, when three points P1, P2, and P3 are separated by 2R, the three points cannot be provided with a communication service by one unmanned aerial vehicle located at the center thereof.

만큼 떨어진 3개의 지점 P1, P2, P3는 그 중심에 위치하는 하나의 무인 비행 장치에 의해 통신 서비스를 제공받을 수 있다.On the other hand, as shown in FIG. 4

Three points P1, P2, and P3 separated by a distance can be provided with a communication service by one unmanned aerial vehicle located at the center thereof.

이내로 이격된 점들을 서로 연결한다.Therefore, the connection pair determination unit 20 is among a plurality of points where the survivors are located.

Connect the points that are spaced within the distance to each other.

Next, the set determination unit 30 determines, as one set, points that can receive communication service by one unmanned aerial vehicle among a plurality of points in which survivors are located.

More specifically, the points that can receive communication service by one unmanned aerial vehicle among the plurality of points where survivors are located are points connected to each other by the connection pair determination unit, and all points in the set are all points except for themselves. The points connected to the fields can be a set.

Referring to FIG. 5, of the six points P1 to P6 where survivors are located, all of P1 to P5 are connected to each other, and all of P2 to P6 are connected to each other, but P1 and P6 are not connected to each other.

Accordingly, the set determination unit 30 may determine P1 to P5 as one set, and may determine P2 to P6 as one set, but cannot determine the set so that P1 and P6 belong to one set.

The set determination unit 30 determines a set such that a plurality of points necessarily belong to one set. That is, when one point belongs to two or more sets, the set determination unit 30 does not determine the set so that one point belongs to two or more sets because it affects the determination of the target point by the target point determination unit to be described later.

In addition, in determining the set, the set determination unit 30 configures the set such that as few as possible (minimum number) sets are formed. Since resources that can be used in a disaster situation will be limited, in order to minimize the number of unmanned aerial vehicles for forming a wireless network, the set determination unit configures the set so as to form as few sets as possible.

To this end, it is preferable that the set determination unit determines a plurality of points connected to each other with all other points except for itself as one set.

According to the above principles, the set determination unit 30 forms only two sets when points are distributed as shown in FIG. 5. For example, the set determination unit may configure P1 to P5 as a set A and P6 as a set B. In addition, the set determination unit may configure P1 as a set A, and P2 to P6 as a set B. In addition, the set determination unit may configure P1 to P3 as a set A, and P4 to P6 as a set B. Among these various set determination methods, the set determination unit can determine the set by any method, but it is preferable to configure the set so that points located close to each other belong to the same set so that the unmanned aerial vehicle to be allocated to each set is located as far apart as possible. .

Next, the target point determination unit 40 allocates one unmanned flying device per set determined by the set determination unit and determines a target point of each unmanned flying device.

The target point is a target point at which the unmanned aerial vehicle should be located in order to ensure that all points belonging to the set are located within the communication radius of the unmanned aerial vehicle.

As for the target point, even if the unmanned aerial vehicle located at the target point deviates from the target point due to the influence of wind, etc., it is desirable to determine the center of the possible points belonging to the set as the target point in order to ensure that all points belonging to the set are located within the communication radius of the unmanned aerial vehicle. .

However, if a plurality of unmanned aerial vehicles are used to form a wireless network, in order to reduce the possibility of collision of neighboring unmanned aerial vehicles, all possible target points are distributed within the range within the communication radius of the unmanned aerial vehicle. It is desirable to determine the target point.

Next, the flight range determination unit 50 determines the flight range of the unmanned aerial vehicle. Here, the flight possible range refers to a range in which all points belonging to the set can be located within the communication radius of the unmanned aerial vehicle even if the unmanned aerial vehicle allocated to each set deviates from its target point.

That is, the unmanned aerial vehicle may deviate from its target point due to the influence of wind, etc., and may have to deviate from its target point to avoid a collision in a situation in which another vehicle passes the target point.

At this time, the pilot who remotely controls the unmanned aerial vehicle needs to ensure that all points within the set in charge of the unmanned aerial vehicle are located within the communication radius of the unmanned aerial vehicle even if the unmanned aerial vehicle deviates from the target point.

Accordingly, the flight range determination unit 50 determines the flight range by using the center point of the plurality of points in the set and the positions of the points farthest in each direction from the center point, and provides it to a pilot who remotely controls the unmanned aerial vehicle. It is possible to control the position of the unmanned aerial vehicle relatively freely while ensuring that all points in the set are located within the communication radius of the unmanned aerial vehicle.

So far, the optimal arrangement system of the unmanned aerial vehicle according to an embodiment of the present invention has been described. The optimal arrangement system of the unmanned aerial vehicle according to an embodiment of the present invention may be configured as an independent system, but may also be used as a component of a decision-making system for disaster response.

That is, the optimal arrangement system of the unmanned aerial vehicle according to an embodiment of the present invention is a component constituting a decision-making system for disaster response, and the location information of a plurality of points input according to the user's request and communication of the unmanned aerial vehicle According to the radius information, the optimal flight target point of each unmanned aerial vehicle, the set of survivors covered by each unmanned aerial vehicle, and the available range of each unmanned aerial vehicle are determined and provided, and the user is provided with unmanned flight according to an embodiment of the present invention. You can check the output information provided by the system for optimal placement of the device and make a decision on whether to operate the unmanned aerial vehicle with the output information.

In addition, the user may be provided with output information visually shown on the map by further providing map information on the disaster area to the optimal arrangement system of the unmanned aerial vehicle according to an embodiment of the present invention.

Hereinafter, a method for optimally arranging an unmanned aerial vehicle according to an embodiment of the present invention will be described with reference to the drawings, and descriptions overlapping with the previous description will be omitted as far as possible.

6 is a flowchart of an optimal arrangement method of an unmanned aerial vehicle according to an embodiment of the present invention.

As shown in Figure 6, the optimal arrangement method of the unmanned aerial vehicle according to an embodiment of the present invention includes an information input step (S10), a connection pair determination step (S20), a set determination step (S30), and a target point determination step (S40). ), and a flight range determination step (S50). Each step of the method for optimally placing an unmanned aerial vehicle according to an embodiment of the present invention may be performed by the optimal arrangement system of an unmanned aerial vehicle according to an embodiment of the present invention as described above.

The information input step (S10) is a step in which location information of a plurality of points and communication radius (R) information of the unmanned aerial vehicle are input.

In the information input step, the location information of the plurality of points inputted to the information input unit 10 may be GPS information, and when map information for a corresponding area is input, the plurality of points are displayed on the input map, and no map information is input. If not, as shown in FIG. 7, only the locations of a plurality of points may be displayed without topographic information of a corresponding region.

Next, the connection pair determination step (S20) uses the input location information of the plurality of points and the communication radius (R) information to determine whether each point is in a distance relationship that can receive a communication service by a single wireless flight device. This is the step of deciding whether or not.

이하인지 여부를 판단한다. 그리고 판단 결과, 두 개 지점 사이의 거리가

이하인 경우 예를 들어 도 8에 도시된 바와 같이 두 개 지점을 서로 연결하여 연결쌍을 형성하며, 두 개 지점 사이의 거리가

을 초과하는 경우 두 개 지점을 연결하지 않는다.In the connection pair determination step, the connection pair determination unit 20 is a distance between the two points determined in advance, that is,

It is determined whether it is below. And as a result of the judgment, the distance between the two points

In the following cases, for example, as shown in FIG. 8, two points are connected to each other to form a connection pair, and the distance between the two points is

If exceeds, do not connect the two points.

Next, the set determination step (S30) is a step of determining a set of points to be provided with a communication service by one unmanned aerial vehicle.

In the set determination step, as shown in FIG. 9, the set determination unit 30 determines points in which all points in the set are connected to all other points except for themselves as one set.

Further, in the set determination step, the determination unit 30 configures the set such that as few as possible (minimum number) sets are formed in determining the set. Therefore, as shown in the set A in FIG. 9, points in which all points are connected to each other are configured as one set, and these points are not configured as two or more sets.

Next, the target point determination step (S40) is a step of determining the flight target points of the unmanned aerial vehicles allocated to each set.

In the target point determination step, the target point determination unit 40 determines the central points of points belonging to each set as the target points, but determines the target points so that the target points of each unmanned aerial vehicle are dispersed as much as possible.

Specifically, as shown in FIG. 10, when the center points of points belonging to each set are set as target points of each unmanned aerial vehicle, but the distance (d) between the center points of each set is separated by less than a preset distance (D) Target points can be distributed so as to be separated by more than a preset distance in order to prevent collisions of wireless flight devices in charge of each set.

Next, the flight range determination step (S50) is a step of determining an available flight range of each unmanned flying device.

The flight possible range is a range in which all points belonging to the set can be located within the communication radius of the unmanned aerial vehicle even if the unmanned aerial vehicle deviates from the target point.

In the flight range determination step, the flight range determination unit 50 finds the center point of each set using the location information of all points belonging to each set, and uses the position of the point farthest from the center point in each direction. The available flight range is determined, and the available flight range S may be provided visually as shown in FIG. 11.

In addition, in the flight range determination step, the flight range determination unit 50 may further determine a flight risk range. The flight danger range is a range in which the possible flight ranges of unmanned aerial vehicles adjacent to each other overlap, and the flight range determination unit may visually provide a flight danger range (a portion indicated by an X in FIG. 12) as shown in FIG. 12, The pilots of the wireless flying device can provide a stable wireless network by reducing the risk of collision of adjacent wireless flying devices by preventing the wireless flying device from being located in a possible flight risk range.

In order to test the computational speed according to the optimal arrangement system and method of the unmanned aerial vehicle according to an embodiment of the present invention, in a situation in which survivors are randomly arranged according to a uniform distribution on a plane of 100 m each in width and length, according to an embodiment of the present invention. The calculation speed according to the optimal arrangement system and method of the unmanned aerial vehicle was calculated.

The results are as shown in the table below.In the case of Experiment Nos. 91 to 110, the experiment was created based on the discovery point data of the victims of Hurricane Katrina, and 1 minute even in the case of providing a network to 100 survivors. It was confirmed that the calculation was completed within a short time between inside and outside.

Experiment number Number of users (persons) Communication radius (m) Average calculation time (seconds) 1-10 10 10 0.004 11~20 10 20 0.010 21~30 10 30 0.011 31~40 20 10 0.023 41-50 20 20 0.049 51~60 20 30 0.174 61~70 50 10 2.043 71~80 50 20 20.270 81~90 50 30 86.889 91~95 50 200 0.122 96~100 50 1000 0.944 101~105 100 200 2.944 106~110 100 1000 78.954

So far, the system and method for optimal arrangement of the unmanned aerial vehicle according to the embodiment of the present invention have been described with reference to specific embodiments. In particular, for the purpose of providing wireless communication to a communication device of a survivor in a disaster area, an optimal arrangement system and method of an unmanned aerial vehicle according to an embodiment of the present invention have been described, but the present invention is not limited to these specific embodiments, and claims It should be understood that various changes and modifications may be made without departing from the spirit and scope of the invention claimed in the scope.

10: information input unit 20: connection pair determination unit
30: group determination unit 40: target point determination unit
50: flight range determination unit

Claims (11)

An information input unit for receiving location information of a plurality of points and communication radius (R) information of the unmanned aerial vehicle;
A predetermined distance among the plurality of points using the location information and communication radius information (

) A connection pair determination unit that connects the points spaced within a distance;
A set determination unit configured to determine a set of the plurality of points such that all points in each set become points connected by the connection pair determination unit to all points other than the self; And
A target point determination unit that allocates one unmanned aerial vehicle to each set and determines a target point of each unmanned aerial vehicle so that all points belonging to each set are located within a communication radius of the assigned unmanned aerial vehicle;
Optimal placement system of the unmanned aerial vehicle comprising a. The method of claim 1,
The set determination unit optimal arrangement system of the unmanned aerial vehicle, characterized in that to determine the set to form a minimum number of sets. The method of claim 1,
The set determining unit determines a plurality of points connected to each other with all other points except for the self as one set. The method of claim 1,
The target point determination unit optimal arrangement system of the unmanned aerial vehicle, characterized in that for determining the target point so that the target points of each unmanned aerial vehicle are dispersed. The method according to any one of claims 1 to 4,
Further comprising a flight range determination unit for determining the flight range of the unmanned aerial vehicle, the flight possible range, even if the unmanned aerial vehicle deviates from the target point, all points belonging to the set may be located within the communication radius of the unmanned aerial vehicle. Optimal placement system of the unmanned aerial vehicle, characterized in that the range. The method of claim 5,
The flight range determination unit further determines a flight risk range, and the flight risk range is a range in which flight ranges of adjacent unmanned aerial vehicles overlap each other. As a method in which each step is performed by the optimal placement system of the unmanned aerial vehicle,
An information input step of inputting location information of a plurality of points and communication radius (R) information of the unmanned aerial vehicle;
A predetermined distance among the plurality of points using the location information and communication radius information (

) Determining a connection pair that connects the points spaced within a distance;
A set determination step of determining a set of the plurality of points so that all points in each set become points connected to all points other than the self; And
A target point determination step of allocating one unmanned aerial vehicle to each set, and determining a target point of each unmanned aerial vehicle so that all points belonging to each set are located within a communication radius of the assigned unmanned aerial vehicle;
Optimal arrangement method of an unmanned aerial vehicle comprising a. The method of claim 7,
In the set determination step, the plurality of points necessarily belong to one set, and the plurality of points connected to each other with all other points except for themselves are determined as one set. The method of claim 7,
The optimal arrangement method of the unmanned aerial vehicle, characterized in that determining the target points so that the target points of each unmanned aerial vehicle are dispersed in the target point determination step. The method according to any one of claims 7 to 9,
Further comprising a flight range determination step of determining a flight range of the unmanned flight device,
The flight possible range is a range in which all points belonging to the set can be located within a communication radius of the unmanned aerial vehicle even if the unmanned aerial vehicle deviates from the target point. The method of claim 10,
In the flight range determination step, a flight risk range is further determined, and the flight risk range is a range in which flightable ranges of adjacent unmanned aerial vehicles overlap each other.

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