KR102269792B1 - Method and apparatus for determining altitude for flying unmanned air vehicle and controlling unmanned air vehicle - Google Patents

Abstract

Provided is a method wherein an unmanned aerial vehicle designates a region to fly and the waypoints within the corresponding region, generates a route for flight of the unmanned aerial vehicle by determining the altitudes of the points on the route comprising the waypoints, and controls the unmanned aerial vehicle so as to fly the route based on the determined altitudes. Therefore, the present invention is capable of increasing safety.

Description

Method and apparatus for determining an altitude for flying of an unmanned aerial vehicle and controlling an unmanned aerial vehicle

Embodiments relate to a method and apparatus for determining altitudes of points included in an area where the unmanned aerial vehicle will fly, and controlling the unmanned aerial vehicle to fly a path based on the determined altitudes.

In the case of performing a survey or photographing a target site using an unmanned aerial vehicle such as a drone, it is important to accurately determine the altitude of the target site. In particular, in the case of operating an unmanned aerial vehicle by mounting expensive equipment such as LiDAR on the unmanned aerial vehicle, flying the unmanned aerial vehicle without accurately grasping the altitude of the target may increase the risk of equipment damage. don't

Accordingly, there is a need for a method and apparatus capable of accurately determining the altitude for points on a path to which the unmanned aerial vehicle will fly, and safely controlling the unmanned aerial vehicle according to the determined altitude for the target site to which the unmanned aerial vehicle will fly.

Korean Patent Application Laid-Open No. 10-2017-0093389 (published on June 16, 2017) discloses a user interface and method for effectively controlling an unmanned aerial vehicle.

The information described above is for understanding only, and may include content that does not form a part of the prior art, and may not include what the prior art can present to a person skilled in the art.

In one embodiment, an area in which the unmanned aerial vehicle will fly and waypoints within the area are designated, and altitudes of points on a path including the waypoints are determined to generate a route for the flight of the unmanned aerial vehicle, and based on the determined altitudes Thus, it is possible to provide a method of controlling the unmanned aerial vehicle to fly the path.

In one aspect, there is provided a method for controlling an unmanned aerial vehicle, performed by a computer system, the method comprising: designating an area to which the unmanned aerial vehicle will fly; designating a plurality of waypoints through which the unmanned aerial vehicle will pass within the area; , determining the altitudes of points on a path to which the unmanned aerial vehicle including the waypoints will fly, and controlling the unmanned aerial vehicle to fly the path based on the determined altitudes, the determining of is the elevation of a first point among the points, i) a first elevation based on GPS information corresponding to the first point, ii) the first point included in a DEM (Digital Elevation Model) DB for the area a second altitude as a value corresponding to iii) a third altitude as a value corresponding to the first point input by a user or iv) a fourth altitude corresponding to the first point determined according to a result of modeling the area The determining using and the controlling may include controlling the unmanned aerial vehicle so that the unmanned aerial vehicle flies the route at a fixed first set altitude at a fixed altitude, or the unmanned aerial vehicle controls the unmanned aerial vehicle for selected altitudes among the determined altitudes. A method for controlling an unmanned aerial vehicle is provided, wherein the unmanned aerial vehicle is controlled to fly at an altitude maintaining a difference by a second set altitude.

The determining may include, according to a selection from the user, a first option for determining the altitude of the first point as the first altitude, a second option for determining the second altitude, and determining the third altitude. providing a third option, and a fourth option for determining the fourth altitude; and determining the altitude of the first point according to an option selected by the user from among the first to the fourth options. and the controlling includes: providing a fifth option for determining the flight mode of the unmanned aerial vehicle to be the fixed-altitude flight according to a selection from the user, and a sixth option for determining the contour flight; and controlling the unmanned aerial vehicle to fly the route in a flight mode corresponding to the option selected by the user among the fifth option and the sixth option.

The controlling includes controlling the unmanned aerial vehicle to fly contoured to an altitude at which the unmanned aerial vehicle maintains a difference as much as a second set altitude with respect to the selected altitudes among the determined altitudes, and the selected altitudes are all of the determined altitudes. Alternatively, each of the selected altitudes may be a highest value among the altitudes of points included in each line included in the route among the determined altitudes or an average value of the altitudes of points included in each line.

The determining may include determining the altitudes of the points using second altitudes, which are values corresponding to points included in the DEM DB, and at least one selected altitude among the altitudes determined using the second altitudes. may include modifying according to the input from the user.

The method of controlling the unmanned aerial vehicle further includes providing a graph indicating each of the altitudes determined using the second altitudes corresponding to each of the points, wherein the modifying includes an altitude selected from the graph may be modified according to an input from the user.

In the determining, the elevations of the points are determined using fourth elevations corresponding to the points determined according to a result of modeling the region, and the modeling of the region includes a plurality of second elevations included in the region. It may be a process of obtaining fourth altitudes for points in the area by registering an image of the area taken at each second waypoint by an unmanned aerial vehicle that flew a path including 2 waypoints.

As the steps for modeling the area, the steps include controlling the unmanned aerial vehicle to fly a path including second waypoints, requesting registration of images of the area taken at each of the second waypoints and obtaining fourth elevations for points in the region from a registration image for the region generated by the registration.

The determining may include modifying the selected elevation of at least one of the elevations of the points determined using the fourth elevations according to an input from the user.

The controlling comprises controlling the unmanned aerial vehicle so that the unmanned aerial vehicle flies at a fixed altitude at a fixed first set altitude on the route,

In the method of controlling the unmanned aerial vehicle, before the unmanned aerial vehicle starts flying, among the determined altitudes, i) an altitude equal to or higher than the first set altitude exists, or ii) the difference from the first set altitude is a predetermined generating a first alert if there is an elevation below the value, or iii) the area comprises a first type of terrain.

The method of controlling the unmanned aerial vehicle may include, before the unmanned aerial vehicle starts flying, if the area includes a first type of terrain, as a warning for the first type of terrain among the determined altitudes, The method may further include generating a second warning including altitude information on an altitude corresponding to at least one preset feature in association with the first type of terrain.

i) determine the altitude based on the information contained in the DEM (Digital Elevation Model) DB for the area in which the unmanned aerial vehicle flies, or ii) the unmanned aerial vehicle based on the information input by the user (reflecting the user's experience) By determining the altitude of the area in which the drone flies, or iii) determining the altitude according to the modeling result of the area in which the unmanned aerial vehicle flies, compared to the case of determining the altitude of the area in which the unmanned aerial vehicle flies by simply using GPS You can accurately determine the altitude.

In operating the unmanned aerial vehicle in the fixed-altitude flight mode or the contour flight mode, an appropriate warning may be provided according to the terrain and altitude of the area in which the unmanned aerial vehicle will fly before flying the unmanned aerial vehicle.

Accordingly, it is possible to accurately determine the altitude of the area in which the unmanned aerial vehicle flies without requiring expensive equipment or excessive work time, and it is possible to increase safety in the operation of the unmanned aerial vehicle equipped with expensive equipment.

1 illustrates a method of controlling an unmanned aerial vehicle by determining an altitude of an area in which the unmanned aerial vehicle flies, according to an embodiment.
2 is a block diagram illustrating the structure of an unmanned aerial vehicle and a computer system for determining an altitude and controlling the unmanned aerial vehicle, according to an embodiment.
3 is a flowchart illustrating a method of controlling an unmanned aerial vehicle by determining an altitude of an area in which the unmanned aerial vehicle flies, according to an embodiment.
4 is a flowchart illustrating a method of determining an altitude of an area in which an unmanned aerial vehicle flies by using a DEM DB, according to an example.
5 is a flowchart illustrating a method of modeling an area in which an unmanned aerial vehicle flies, according to an example.
6 illustrates a method of flying an unmanned aerial vehicle in a fixed-altitude flight mode, according to an example.
7 and 8 illustrate a method of flying an unmanned aerial vehicle in a contour flight mode, according to an example.
9 illustrates a method of flying an unmanned aerial vehicle in a contour flight mode for each line, according to an example.
10 is a graph illustrating an altitude determined for each point, according to an example.
11 is a diagram illustrating a path through which an unmanned aerial vehicle, on which a determined altitude is displayed, flies, according to an example.
12 illustrates options selectable by a user to determine an altitude of an area in which an unmanned aerial vehicle flies, according to an example.
13 to 15 are diagrams illustrating a method of changing an altitude of a selected point in a path through which an unmanned aerial vehicle flies, according to an example.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Like reference numerals in each figure indicate like elements.

1 illustrates a method of controlling an unmanned aerial vehicle by determining an altitude of an area in which the unmanned aerial vehicle flies, according to an embodiment.

Referring to Figure 1, in the case of performing surveying or shooting for the area 50 using the unmanned aerial vehicle 110, the altitude of the area 50 is determined so that the unmanned aerial vehicle 110 can fly safely. explain how to make it happen.

The area 50 may indicate an area (area of land) to be surveyed or photographed including a commercial area, a construction site, a mountainous terrain, and the like.

The illustrated unmanned aerial vehicle 110 may be, for example, a drone. The unmanned aerial vehicle 110 may photograph the area 50 while flying on a predetermined path on the area 50 . A plurality of images of the imaged area 50 may be analyzed and processed to be registered, and used to generate a three-dimensional map of the area 50 or to obtain a result of surveying the area 50 . .

In the embodiment, using the illustrated computer system 100 (or user terminal) such as a smartphone, it is possible to set a route on the area 50 where the unmanned aerial vehicle 110 will fly, and to determine the altitude of points on the route. can decide By controlling the flight of the unmanned aerial vehicle 110 based on the determined altitude, the unmanned aerial vehicle 110 can safely complete the flight without colliding with the terrain/features existing on the path.

The unmanned aerial vehicle 110 may fly so as to pass waypoints included in the route set by the computer system 100 . When passing through these waypoints, the unmanned aerial vehicle 110 may fly in consideration of altitudes determined for points on a path including the waypoints. For example, the unmanned aerial vehicle 110 is not simply an altitude determined based on GPS information of points on a route, but an altitude determined based on information included in the DEM (Digital Elevation Model) DB, (reflecting the user's experience) to the user. It is possible to fly based on an altitude determined based on the information input by the user, or an altitude determined according to a result of modeling the area 50 . In an embodiment, the altitude of the points in the area 50 may be determined more accurately than based on GPS information, and thus, high-precision altitude flight of the unmanned aerial vehicle 110 may be enabled.

Through the embodiment, in operating the unmanned aerial vehicle 110 equipped with expensive equipment such as lidar, the safety of the unmanned aerial vehicle 110 flying in the area 50 may be ensured.

More detailed structures and functions of the computer system 100 and the unmanned aerial vehicle 110, and a method for the computer system to determine the altitude of the area 50 and a method for controlling the unmanned aerial vehicle 110 will be described later in FIGS. 15, which will be described in more detail.

On the other hand, the illustrated computer system 120 is a terminal communicating with the computer system 100 corresponding to the user terminal, for example, the user of the computer system 100 in the area 50 that is a survey/photography target. ) and may be a portable terminal. Computer system 120 may be a portable PC (eg, notebook), tablet PC, or the like.

The computer system 120 may communicate with the computer system 100 , and may perform the task of registering images taken with respect to the area 50 .

2 is a block diagram illustrating the structure of an unmanned aerial vehicle and a computer system for determining an altitude and controlling the unmanned aerial vehicle, according to an embodiment.

With reference to FIG. 2 , specific configurations of the unmanned aerial vehicle 110 and the computer system 100 are described. Meanwhile, the above-described computer system 120 will also be described in more detail.

As described above with reference to FIG. 1 , the unmanned aerial vehicle 110 is a device for photographing the area 50 by flying over the area 50 , and may be, for example, a drone, unmanned aerial vehicle, or other autonomous vehicle or radio-controlled vehicle. . For example, the unmanned aerial vehicle 110 may be a plug-in DGPS drone or a plug-in RTK drone.

The unmanned aerial vehicle 110 may fly a predetermined path including a plurality of waypoints on the area 50 . The predetermined route may be set by the user of the unmanned aerial vehicle 110 through the computer system 100 . For example, the user of the unmanned aerial vehicle 110 is a user terminal associated with the unmanned aerial vehicle 110 (eg, a smart phone or a controller or a terminal in which an application related to the control of the unmanned aerial vehicle 110 is installed) through the computer system 100 . A predetermined path can be set.

The user of the unmanned aerial vehicle 110 may designate a plurality of waypoints on the map indicating the area 50 through the user terminal 100 associated with the unmanned aerial vehicle 110, and the unmanned aerial vehicle may follow a path passing through the designated waypoints. It can be set as a route to fly.

The unmanned aerial vehicle 110 may be configured to photograph the area 50 at each waypoint on the route. In this case, the center of the photographed image may be a waypoint.

A way point is a location designated on the map, and location information (eg, coordinate values) thereof may be a known value. A location where the unmanned aerial vehicle 110 captures the area 50 may be a central point of the photographed image. The central point of the photographed image may exist on a path on which the unmanned aerial vehicle 110 flies, and the location information (eg, coordinate value) may be a known value.

The unmanned aerial vehicle 110 may photograph the area 50 (a part of it), and the photographed image is coordinate information of points (eg, pixels) included in the image (eg, as three-dimensional coordinate information, x, y, z value).

The unmanned aerial vehicle 110 may include a communication unit 240 , a camera 250 , a processor 260 , and a storage unit 270 .

The communication unit 240 may be configured for the unmanned aerial vehicle 110 to communicate with the computer system 100 and other devices. In other words, the communication unit 240 is a configuration for the unmanned aerial vehicle 110 to transmit/receive data and/or information wirelessly or wiredly to a device such as the computer system 100 , and is a network interface card of the unmanned aerial vehicle 110 . , a hardware module such as a network interface chip and a networking interface port, or a software module such as a network device driver or a networking program.

The unmanned aerial vehicle 110 may communicate with the computer system 100 or 120 through the communication unit 240 or transmit captured images to the computer system 100 or 120 .

The processor 260 may manage the components of the unmanned aerial vehicle 110 , and may be configured to control the flight of the unmanned aerial vehicle 110 in a predetermined path. For example, the processor 260 may process and calculate data necessary to control the flight of the unmanned aerial vehicle 110 . The processor 260 may be at least one processor of the unmanned aerial vehicle 110 or at least one core in the processor.

The camera 250 may be a device for photographing the area 50 during flight. The camera 250 may generate an image (image file) by photographing the area 50 .

The storage unit 270 may include a storage for storing an image generated by photographing by the camera 250 . The storage unit 270 may be any internal memory of the unmanned aerial vehicle 110 or an external memory device such as a flash memory, an SD card, etc. mounted in the unmanned aerial vehicle 110 . In addition, the storage unit 270 may store information related to a predetermined route for the flight of the unmanned aerial vehicle 110 (eg, information about a map and a waypoint).

The computer system 100 is, for example, a smart phone, a personal computer (PC), a laptop computer, a laptop computer, a tablet, an Internet Of Things device, or a wearable computer (wearable computer). It may be a terminal used by a user such as computer). The computer system 100 is a terminal that communicates with the unmanned aerial vehicle 110 and controls the unmanned aerial vehicle 110 , and may be a device for setting a path on the area 50 for the unmanned aerial vehicle 110 to fly. The computer system 100 may determine an altitude of an area 50 in which the unmanned aerial vehicle 110 will fly or points on a path of the area.

The computer system 100 may include a communication unit 210 , a processor 220 , and a display unit 230 .

The communication unit 210 may be configured for communication with the unmanned aerial vehicle 110 . For example, the communication unit 210 may transmit a control signal to the unmanned aerial vehicle 110 , and may be configured to acquire images through an external memory device of the unmanned aerial vehicle 110 .

The communication unit 210 may be configured for the computer system 100 to communicate with the unmanned aerial vehicle 110 , the computer system 120 , and other devices such as a server. In other words, the communication unit 210 is configured for the computer system 100 to transmit/receive data and/or information wirelessly or wiredly to the unmanned aerial vehicle 110, the computer system 120, and other devices such as a server. As such, it may be a hardware module such as a network interface card, a network interface chip, and a networking interface port of the computer system 100 or a software module such as a network device driver or a networking program.

The processor 220 may manage components of the computer system 100 , and may be configured to execute a program or application used by the computer system 100 . For example, the processor 220 may set a path through which the unmanned aerial vehicle 110 flies, determine an altitude for points on the path, and perform an operation for controlling the flight of the unmanned aerial vehicle 110 . The processor 220 may be at least one processor of the computer system 100 or at least one core within a processor.

The processor 220 performs the above calculation, sets a path through which the unmanned aerial vehicle 110 flies, determines the altitude for points on the path, and controls the flight of the unmanned aerial vehicle 110 (computer system ( 100) may be configured to run an application/program installed in

The display unit 230 is a display for outputting data input by the user of the computer system 100 , or outputting a route through which the unmanned aerial vehicle 110 flies, images photographed from the unmanned aerial vehicle 110 , or survey results. It may be a device.

The computer system 120 may be a terminal carried by the user of the computer system 100 together with the computer system 100 in the area 50 that is a measurement/photography target. Computer system 120 may be a portable PC (eg, notebook), tablet PC, or the like.

The computer system 120 acquires images of the area 50 from the unmanned aerial vehicle 110, and analyzes the obtained images to generate a registration image (a calibrated result image, for example, a tif file) for the area 50 . It may be a device for modeling (ie creating).

That is, the computer system 120 may be a computing device for analyzing and processing images obtained from the unmanned aerial vehicle 110 . The computer system 100 may generate (model) a registered image corresponding to the region 50 using a plurality of images captured by the unmanned aerial vehicle 110 .

The processor of the computer system 120 may perform data and operations necessary to model such a registered image.

Specific operations and functions of the unmanned aerial vehicle 110 and the computer systems 100 and 120 will be described in more detail with reference to FIGS. 3 to 15 to be described later.

The technical features described above with reference to FIG. 1 can be applied to FIG. 2 as they are, and thus a redundant description will be omitted.

In the detailed description to be described later, for convenience of description, operations performed by the components of the unmanned aerial vehicle 110 and the computer systems 100 and 120 are described as being performed by the unmanned aerial vehicle 110 and the computer systems 100 and 120 can be

3 is a flowchart illustrating a method of controlling an unmanned aerial vehicle by determining an altitude of an area in which the unmanned aerial vehicle flies, according to an embodiment.

Referring to FIG. 3, the computer system 100 determines the altitudes of points on the path where the unmanned aerial vehicle 110 flies in the area 50, and considers the determined altitude so that the unmanned aerial vehicle 110 flies so that the unmanned aerial vehicle 110 flies. 110) will be described.

In step 310 , the computer system 100 may designate an area 50 in which the unmanned aerial vehicle 110 will fly. For example, the computer system 100 may designate an area 50 in which the unmanned aerial vehicle 110 will fly based on a user's selection for a map or a satellite map displayed through a screen. For example, the region 50 may be set according to a drag input by a user or an input for designating a boundary (boundary point or boundary line) of the region 50 .

In step 320 , the computer system 100 may designate a plurality of waypoints through which the unmanned aerial vehicle 110 will pass within the designated area 50 . The waypoints may be set at a user-specified number and/or a user-specified interval within the area 50 . The path on which the unmanned aerial vehicle 110 flies may be a connection of these waypoints.

The number of waypoints can capture the entire area 50 as the unmanned aerial vehicle 110 flies along a path, and a predetermined degree of overlap in photographing the area 50 (as a degree of overlap suitable for generating a matched image) , for example, may be set so that the area 50 can be photographed with a degree of redundancy set by the user.

When the area 50 is designated by step 310, way points may be automatically designated.

In step 330 , the computer system 100 may determine the altitudes of the points on the path the unmanned aerial vehicle 110 will fly including the designated waypoints. The points at which the altitude is determined may include way points. In addition, the point at which the altitude is determined may further include a point between way points. That is, the computer system 100 may determine the respective altitudes of points on the path through which the unmanned aerial vehicle 110 flies. The determined altitude may be a standard altitude or an altitude above sea level indicating an absolute value, or may be a relative altitude based on an altitude at a specific point (eg, a starting point (way point) of a route) as a relative value.

In an embodiment, the computer system 100 determines the elevation of a first one of the points on the route (eg, any point on the route, waypoint, or point between waypoints) that i) corresponds to the first point. The first elevation based on GPS information, ii) the second elevation as a value corresponding to the first point included in the DEM (Digital Elevation Model) DB for the area 50, iii) corresponds to the first point input by the user It may be determined by using the third elevation as a value to be calculated or iv) the fourth elevation corresponding to the first point determined according to the modeling result of the region 50 . The altitude of the first point may be determined according to at least one of i) to iv). Likewise, all points or selected points on the path may have their altitudes determined according to at least one of i) to iv). iii) The determination of the altitude by the value input by the user may be used to correct the altitude determined by the method of i), ii) or iii) above.

For example, as in step 322 , in determining the elevation of a point (a first point) on the route, the computer system 100 may, according to a selection from the user, use a first method to determine the elevation of the first point as the first elevation. options, a second option for determining a second altitude, a third option for determining a third altitude, and a fourth option for determining a fourth altitude may be provided. In step 324 , the computer system 100 may determine the elevation of the first point according to an option selected by the user from among the first to fourth options.

Each of the first to fourth options may be an option that allows the user to select how to determine the altitude of each point with respect to points on the path to which the unmanned aerial vehicle 110 will fly.

Hereinafter, a method for determining the altitude of points on a path for the unmanned aerial vehicle 110 to fly will be described in more detail.

As described above in i), the computer system 100 may determine the altitude of the first point based on GPS information corresponding to the first point on the route. The computer system 100 may determine the altitude of the first point by using three-dimensional coordinate information (x, y, z coordinate information) included in the GPS information corresponding to the first point on the route. GPS information may be obtained, for example, from map data including a route.

Also, as described in ii), the computer system 100 may determine the elevation of the first point by using a value corresponding to the first point included in the DEM DB for the region 50 . For example, the computer system 100 may inquire an altitude value corresponding to the first point from an external server including the DEM DB, and determine the altitude of the first point by using the inquired altitude value. A DSM (Digital Surface Model) DB may be used instead of the DEM DB. That is, the computer system 100 may determine the second altitude using a value corresponding to the first point included in the DSM DB for the area 50 . Determining the elevation of a point on a route using the DEM DB may be more accurate than determining the elevation of a point using GPS information.

Also, as described in iii), the computer system 100 may determine the altitude of the first point using the value input by the user. For example, the user may directly input an altitude value for a specific point among points on a path, and the altitude of the corresponding point may be determined according to the input value. For example, the user may directly input an altitude corresponding to a facility (building, feature, etc.) for which the user knows the height experientially. By using the directly input altitude based on the user's experiential knowledge, it is possible to more accurately determine the altitudes of points on the path. Meanwhile, the value input by the user may be used to correct the altitude determined according to the methods i), ii) and iv) described above. Accordingly, it is possible to further increase the accuracy of the points on the path.

In addition, as described in iv), the computer system 100 may determine, as the altitude of the first point, an altitude corresponding to the first point indicated in the modeling result using the result of modeling the area 50 (in advance). . For example, the computer system 100 may generate a modeled result obtained as the unmanned aerial vehicle 110 (or other unmanned aerial vehicle) flies over the area 50 (that is, based on images photographing the area 50 ). The elevation of the first point may be obtained from the registered image), and may be used for determination of the elevation of the first point in step 330 .

Modeling will be described in more detail with reference to FIG. 5, which will be described later.

The determination of the altitude of the first point in step 330 may be made using at least one of i) to iv) described above.

In relation to this, FIG. 11 shows a path through which the unmanned aerial vehicle, on which the determined altitude is displayed, flies, according to an example.

As in the illustrated example, an altitude 1110 determined for each point (each way point) may be displayed. Contrary to the drawings, an altitude may be determined and displayed for at least one point between the waypoints.

Through the embodiment, the user may check the altitudes of points on the path in advance before starting the flight of the unmanned aerial vehicle 110 . Therefore, the safety in the operation of the unmanned aerial vehicle 110 can be improved.

In step 350 , the computer system 100 may control the unmanned aerial vehicle to fly a path based on the altitudes determined in step 330 . According to the control of the computer system 100, the unmanned aerial vehicle 110 may fly a set route. At this time, the unmanned aerial vehicle 110 may fly to avoid collision and/or interference with features and terrain in consideration of the altitudes determined for points on the path.

The unmanned aerial vehicle 110 may fly in a fixed altitude flight mode or a contour flight mode according to a setting from a user.

In other words, the computer system 100 may control the unmanned aerial vehicle 110 so that the unmanned aerial vehicle 110 flies at a fixed altitude at a fixed first set altitude (fixed altitude flight mode), or the unmanned aerial vehicle 110 . It is also possible to control the unmanned aerial vehicle 110 to fly in a contour at an altitude maintaining a difference as much as the second set altitude for the selected altitudes among the determined altitudes. The first set altitude may be a value of a fixed altitude at which the unmanned aerial vehicle 110 will fly. The second set altitude may be a set altitude value at which the unmanned aerial vehicle 110 will perform a contour flight with respect to the altitude of the point(s) on the path.

For example, as in step 352 , the computer system 100 may according to a selection from the user a fifth option for determining the flight mode of the unmanned aerial vehicle 110 to be a fixed-altitude flight (fixed-altitude flight mode) and a contour flight (contour flight). flight mode) may provide a sixth option. As in step 354 , the computer system 100 may control the unmanned aerial vehicle to fly a path in a flight mode corresponding to the option selected by the user among the fifth option and the sixth option.

In other words, the fifth option and the sixth option may be options that allow the user to select whether the unmanned aerial vehicle 110 will fly at a fixed altitude or fly at a contour, respectively. The fifth option may further provide an option for setting a fixed altitude value (the above-described first set altitude value) at which the unmanned aerial vehicle 110 will fly at a fixed altitude, and the sixth option is that the unmanned aerial vehicle 110 is An option may be further provided for setting a value of the altitude at which the contour flight is to be performed (the value of the second set altitude described above).

The provision of options and selection of the options in step 352 described above may be performed prior to step 330 (or step 310) described above.

Below, fixed-altitude flights and contour flights are described in more detail.

The fixed-altitude flight may indicate a flight mode in which the unmanned aerial vehicle 110 flies a path at a fixed altitude (ie, a constant altitude).

In relation to this, FIG. 6 illustrates a method for an unmanned aerial vehicle to fly in a fixed-altitude flight mode, according to an example.

As shown, when flying at a fixed altitude, the unmanned aerial vehicle 110 may fly a path at a constant altitude despite changes in altitudes of points on the path. This fixed-altitude flight may be applied, for example, when the unmanned aerial vehicle 110 flies to model the area 50 .

On the other hand, the contour flight may indicate a flight mode in which the unmanned aerial vehicle 110 flies while maintaining a constant altitude difference with respect to the altitudes of points on the path (ie, contour).

In relation to this, FIGS. 7 and 8 show a method of flying an unmanned aerial vehicle in a contour flight mode, according to an example.

7 is an example of a contour flight, and shows a method of performing a contour flight by maintaining a constant altitude difference for each individual point (individual contour flight mode).

8 is an example of contour flight, showing a method of contour flight by maintaining a constant altitude difference for each line on a path rather than at each individual point (contour flight mode for each line). The displayed line may indicate the flight altitude of the unmanned aerial vehicle 110 in each line.

In an embodiment, the computer system 100 may control the unmanned aerial vehicle so that the unmanned aerial vehicle 110 performs a contour flight at an altitude maintaining a difference by the second set altitude for selected altitudes among the determined altitudes.

In this case, the selected altitudes may be all determined altitudes for points on the route. In this case, the unmanned aerial vehicle 110 may fly in the above-described individual contour flight mode, and accordingly, the unmanned aerial vehicle 110 may fly to maintain an equally spaced altitude according to a change in altitude of points on the path. The flight altitude of the unmanned aerial vehicle 110 may be controlled for each point on the path.

Alternatively, each of the selected altitudes may be the highest value among the altitudes of points included in each line included in the corresponding route among the determined elevations of points on the route, or an average value of the elevations of points included in each line. In this case, the unmanned aerial vehicle 110 may fly in the contour flight mode for each line described above, and thus, the flight altitude of the unmanned aerial vehicle 110 may be controlled for each line on the path.

Meanwhile, each of the selected elevations may be a minimum value among elevations of points included in each line included in the corresponding route among the determined elevations of points on the route. However, the unmanned aerial vehicle 110 can be operated most safely by using the above-described highest value at the selected altitude.

The above-mentioned contour flight mode may be applied, for example, when the lidar is mounted and operated on the unmanned aerial vehicle 110 . In operating the unmanned aerial vehicle in the contour flight mode by mounting the expensive lidar on the unmanned aerial vehicle 110, it is risky to fly the unmanned aerial vehicle 110 in the individual contour flight mode when the above-described second set altitude is low. this can be big

Therefore, for the unmanned aerial vehicle 110 equipped with expensive equipment, it is possible to apply the line-by-line contour flight mode to fly the unmanned aerial vehicle 110 .

In relation to this, FIG. 9 shows a method in which an unmanned aerial vehicle flies in a contour flight mode for each line, according to an example.

In FIG. 9 , the path through which the unmanned aerial vehicle 110 flies is displayed. Five lines 910 - 1 to 910 - 5 may be included on the path.

In accordance with step 330 described above, computer system 100 may determine elevations of points on a path (eg, waypoints and/or points between waypoints).

The computer system 100 may calculate a maximum value, a minimum value, or an average value among elevations of points belonging to each of the lines 910 - 1 to 910 - 5 . The maximum, minimum, or average of the altitudes calculated for each line may be a line altitude corresponding to a representative altitude of the altitudes of each line.

The computer system 100 may control the unmanned aerial vehicle 110 so that the unmanned aerial vehicle 110 flies along the path at the second set altitude in consideration of the altitude of the line belonging to each line (contour flight mode for each line). In this case, the unmanned aerial vehicle 110 may fly at an altitude higher than the line altitude of the corresponding line by the second set altitude when flying each line. Accordingly, the flight altitude of the unmanned aerial vehicle 110 may be controlled for each line.

On the other hand, if the individual contour flight mode is applied, the computer system 100 may control the unmanned aerial vehicle 110 so that the unmanned aerial vehicle 110 follows the path to the second set altitude in consideration of the altitude of each point. . In this case, the unmanned aerial vehicle 110 may fly at an altitude higher than the altitude of the corresponding point by the second set altitude when flying each point. Accordingly, the flight altitude of the unmanned aerial vehicle 110 may be controlled for each point.

In the embodiment, since the altitude of the points on the path to be flown by the unmanned aerial vehicle 110 is accurately determined, the safety in operating the unmanned aerial vehicle 110 in a contour flight mode or a fixed altitude flight mode can be improved.

Hereinafter, the first to fourth options will be described in more detail with reference to FIG. 12 . In this regard, FIG. 12 illustrates options selectable by a user to determine an altitude of an area over which an unmanned aerial vehicle flies, according to an example.

The illustrated options 1210 may correspond to the first to fourth options, respectively.

In the illustrated example, the case where the contour flight mode is selected is shown. Meanwhile, an option for selecting "individual contour flight mode" or "line contour flight mode" may be further provided as in option 1220 .

If 'none' is selected among the options 1210, the altitudes of points on the route may be determined using GPS information.

When 'DEM information' is selected among the options 1210 , elevations of points on the path may be determined using information obtained from the DEM DB.

When 'user-defined file' is selected among the options 1210, elevations of points on the path may be determined using a value input by the user. Computer system 100 may use elevations entered for individual points by a user, or may load a file containing elevations pre-entered for points and use them to determine elevations of points on a path.

When 'modeling analysis information' is selected among the options 1210 , elevations of points on the path may be determined using the modeled result for the region 50 .

As such, in an embodiment, various methods for determining the elevations of points on a path may be selected according to the user's selection and convenience.

Hereinafter, a method of generating a route to further increase safety in operating the unmanned aerial vehicle 110 will be described.

In step 340 , the computer system 100 executes prior to initiation of flight of the unmanned aerial vehicle 110 (eg, when the creation/setting of a path for the unmanned aerial vehicle 110 to fly is completed (or the altitudes of points on the path) After the determination is completed), it is possible to generate a warning about the danger that will occur during the flight of the unmanned aerial vehicle (110).

The generated warning may be output visually (and/or audibly) through the computer system 100 as a user terminal.

For example, the computer system 100 controls the unmanned aerial vehicle 110 so that the unmanned aerial vehicle 110 flies at a fixed altitude at a fixed first set altitude (that is, the unmanned aerial vehicle 110 in a fixed altitude flight mode). In controlling), among the determined altitudes of points on the path, i) an altitude equal to or higher than the first set altitude exists, ii) an altitude with a difference from the first set altitude less than a predetermined value exists, or iii) the area is If it includes type 1 terrain, a first warning may be generated. The generated first warning may be output on the screen of the computer system 100 . The user may identify the danger in advance before flying the unmanned aerial vehicle 110 through the first warning.

The predetermined value may be set by the user. The first type of terrain is a terrain with high elevation or irregular elevation, and may include, for example, mountainous terrain.

As an example, the computer system 100 controls the unmanned aerial vehicle 110 to fly in the fixed-altitude flight mode by setting the fixed altitude value to 100 m, i) among the determined altitudes of the points on the path, an altitude of 100 m or more exists. or ii) generate a first warning if an altitude greater than 90 m exists. or/additionally, computer system 100 may generate a first alert if iii) area 50 comprises “mountainous terrain”.

A user who acknowledges the first warning may be able to adjust the first set altitude to a greater degree through the computer system 100 to avoid the hazard.

Also, as another example, the computer system 100 may, before the unmanned aerial vehicle 110 commences flight (in either a contour flight mode or a fixed altitude flight mode), if the area 50 includes a first type of terrain. For example, as a warning for the first type of terrain among the determined altitudes, a second warning including altitude information corresponding to at least one preset feature associated with the first type of terrain may be generated.

The first type of terrain is a terrain with high elevation or irregular elevation, and may include, for example, mountainous terrain. Alternatively, it may include a terrain (eg, a factory area) where certain features (chimneys, power transmission towers, lightning rods, etc.) are likely to be installed.

As such, at least one feature may be pre-registered in association with a specific terrain. For example, for mountainous terrain, at least one of an antenna, a power transmission tower, and a lightning rod may be registered. Each feature may be registered with altitude (height) information of the feature. The altitude information may be a generally defined height value of the corresponding feature (eg, 60 m in the case of an antenna).

For example, in the case where the area 50 in which the unmanned aerial vehicle 110 will fly includes mountainous terrain, the computer system 100 provides information indicating that a 60m antenna may exist as a warning for the mountainous terrain. 2 Can be created as an alarm.

Meanwhile, the altitude information indicating the altitude corresponding to the feature registered for the first type of terrain may be added to the altitude of a point included in the first type of terrain, and the computer system 100 may display the altitude information indicating the added altitude. can be generated as the second warning. For example, in the case where the area 50 in which the unmanned aerial vehicle 110 will fly includes a mountainous terrain, the computer system 100 may determine the determined point(s) belonging to the mountainous terrain as a warning for the mountainous terrain. It is possible to generate a second alarm including information about 160m plus an altitude of 60m of an (pre-registered) antenna with respect to an altitude of 100m. The second warning at this time may be configured to indicate that an altitude of 160 m must be secured when flying over the mountainous terrain (point(s) of the mountainous terrain).

A user who confirms this second warning may be able to adjust the first set altitude or the second set altitude to a greater extent through the computer system 100 in order to avoid the danger.

By providing the first warning and the second warning described above, when flying the route, whether the first set altitude and the second set altitude set by the user are safe before starting the flight of the unmanned aerial vehicle 110 can be determined in advance. can

The technical features described above with reference to FIGS. 1 and 2 can be applied to FIGS. 3, 6 to 9, 11 and 12 as they are, and thus overlapping descriptions will be omitted.

4 is a flowchart illustrating a method of determining an altitude of an area in which an unmanned aerial vehicle flies by using a DEM DB, according to an example.

Referring to FIG. 4 , a method for determining the elevation of points on the above-described path will be described in more detail.

In step 410 , the computer system 100 may determine the elevations of the points on the route using the second elevations, which are values corresponding to the points included in the DEM DB (or DSM DB). The DEM DB may be built in advance, and may be stored in the computer system 100 or built in an external server or other computer system. In other words, the elevations of the points on the path may be determined as elevations of the corresponding points defined in the DEM DB. The DEM DB may store elevations of points in the region 50 according to the DEM.

At 430 , the computer system 100 may modify the selected altitude of at least one of the altitudes determined using the second altitudes according to an input from the user. For example, the user may identify an outlier among the altitudes determined by step 410 and modify it to a value based on his or her experience.

For example, as in step 420 , computer system 100 can provide a graph representing each of the elevations determined using second elevations corresponding to each of the points on the route. The computer system 100 may modify the elevation selected (by the user) from the graph according to input from the user. The user can identify the altitude corresponding to the outlier from the graph, select the corresponding altitude, and input a value based on his or her experience to modify it.

The graph may provide an intuitive UI for the user to determine an outlier.

In relation to this, FIG. 10 is a graph showing an altitude determined for each point, according to an example.

In the illustrated graph, the y-axis may represent an elevation value, and the x-axis may represent each point (eg, a way point). The user may identify an outlier among altitude values by referring to the graph, and may select the identified outlier and directly modify it.

According to the embodiment described in FIG. 4 , altitudes of points on a path can be more accurately determined using the DEM DB rather than simply using GPS information, and an outlier among the determined altitudes can be easily corrected.

Meanwhile, FIGS. 13 and 14 show a method of changing an altitude of a selected point on a path in which an unmanned aerial vehicle flies, according to an example.

As shown in FIG. 13 , the determined altitude of the corresponding point may be displayed at each point (way point) of the route. The user may modify the elevation of the corresponding point by selecting a specific point 1310 (or a separate edit button displayed in association with the corresponding point, etc.).

As shown in FIG. 14 , when a specific point 1310 is selected, the elevation editing window 1410 may be displayed. The user can change the DEM information (altitude determined using the DEM DB) to the user DEM (altitude known empirically by the user). Alternatively, the user may add a user DEM, optionally allowing DEM information or user DEM to be used as the determined altitude for that point.

The technical features described above with reference to FIGS. 1 to 3, 6 to 9, 11 and 12 can also be applied to FIGS. 4, 10, 13 and 14 as they are, so the overlapping description will be omitted.

5 is a flowchart illustrating a method of modeling an area in which an unmanned aerial vehicle flies, according to an example.

With reference to FIG. 5 , a method of using the result of modeling the area 50 as a method of determining the elevation of points on the path described above will be described in more detail.

As described above in step 330 , the computer system 100 may determine the elevations of the points on the path using fourth elevations corresponding to the points determined according to a result of modeling the area 50 .

At this time, the modeling of the area 50 is performed on the area 50 photographed at each second waypoint by an unmanned aerial vehicle that flew a path including a plurality of second waypoints included in the area 50 . It may be the process of obtaining fourth elevations for points in area 50 by registering the image. In other words, modeling may represent a registration process for images taken for region 50 .

The second waypoints set for modeling may be the same as the waypoints designated in step 320 , but may be independent of the waypoints designated in step 320 . That is, the flight path for modeling may be the same as the path on which the unmanned aerial vehicle 110 flies, as described above with reference to FIG. 3 , but may also be a path independent of the path on which the unmanned aerial vehicle 110 flies. In addition, the unmanned aerial vehicle flying over the area 50 for modeling may be the unmanned aerial vehicle 110 , but may be another unmanned aerial vehicle operated independently of the unmanned aerial vehicle 110 .

When the unmanned aerial vehicle 110 is used in performing the flight for modeling, the computer system 100 may primarily fly the unmanned aerial vehicle 110 to pre-model the area 50 .

A method of performing modeling on the region 50 will be described in more detail below. Modeling may be performed by steps 510 to 530 to be described later. Although the steps below are described as being performed by computer system 100, they may also be performed via other computer systems.

The computer system 100 may control the unmanned aerial vehicle (unmanned aerial vehicle 110 or other unmanned aerial vehicle for modeling) to fly a path including the second waypoints. For example, the computer system 100 may control the unmanned aerial vehicle to fly in a fixed altitude flight mode. However, modeling may also be performed by controlling the unmanned aerial vehicle to fly in the contour flight mode.

The computer system 100 may request registration of images of the area 50 captured at each second waypoint. The computer system 100 may request registration of the images by obtaining the images of the area 50 from the unmanned aerial vehicle, for example, and transmitting the images to the computer system 120 . In other words, registration of images may be performed in computer system 120 .

The computer system 100 may obtain fourth elevations for points in the area 50 from a registration image for the area 50 generated by registration of images taken of the area 50 . The computer system 100 may use the fourth altitudes included in the registration image to determine altitudes of points on the path through which the unmanned aerial vehicle 110 flies.

Hereinafter, a method of matching images taken in the area 50 will be described in more detail.

Images obtained as the unmanned aerial vehicle photographs the area 50 at waypoints on the path may be images photographed with a predetermined overlap ratio. The computer system 120 may generate a registered image by registering these images, and by registering the three-dimensional coordinates of each point included in each image. The registered image may include a z-value corresponding to the elevation of each point (eg, pixel) of the region.

The fourth altitude may be the z value or a value obtained by mapping the z value to an absolute altitude such as a standard altitude (or elevation above sea level). In other words, the fourth altitude can be an absolute altitude.

In the embodiment, by using the altitudes of the points in the area 50 obtained through prior modeling for the area 50 described above to determine the altitudes of the points on the path the unmanned aerial vehicle 110 flies, the unmanned aerial vehicle ( 110) can accurately determine the altitudes of points on the path it flies.

Therefore, it is possible to increase safety in operating the unmanned aerial vehicle 110 equipped with expensive equipment.

Meanwhile, the computer system 100 may correct the selected altitude of at least one of the altitudes of points on the path that the unmanned aerial vehicle 110 flies determined using the fourth altitudes according to an input from the user.

For the method of correcting the altitude determined according to the input from the user, the method of correcting the altitude according to the user's input described above with reference to FIGS. 5, 10, 13 and 14 can be similarly applied. A description will be omitted.

In relation to this, FIG. 15 illustrates a method of changing an altitude of a selected point in a path through which an unmanned aerial vehicle flies, according to an example.

As shown in FIG. 13 , the determined altitude of the corresponding point may be displayed at each point (way point) of the route. The user may modify the elevation of the corresponding point by selecting a specific point 1310 (or a separate edit button displayed in association with the corresponding point, etc.).

As shown in FIG. 15 , when a specific point 1310 is selected, an elevation editing window may be displayed. The user can check the DEM information (altitude determined using the DEM DB) and modeling values (altitude determined according to the modeling result) and change it to the user DEM (altitude known by the user empirically). Alternatively, the user may add a user DEM, optionally allowing DEM information, modeling values or user DEM to be used as the determined elevation for that point. That is, the user can select the most appropriate altitude among the three and use it as the determined altitude for the point.

In the embodiment, compared to simply determining the altitude for points on the route based on GPS information, various methods can be applied to determine the altitude more accurately, and thus, the high-precision flight altitude flight and contour flight) may be enabled.

The above-described FIGS. 10 to 15 may be screen captures of an application for controlling the unmanned aerial vehicle 110 by determining the altitudes of points on a path installed in the computer system 100 according to an example.

The device described above may be implemented as a hardware component, a software component, and/or a combination of the hardware component and the software component. For example, devices and components described in the embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA), It may be implemented using one or more general purpose or special purpose computers, such as a programmable logic unit (PLU), microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For convenience of understanding, although one processing device is sometimes described as being used, one of ordinary skill in the art will recognize that the processing device includes a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that can include For example, the processing device may include a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as parallel processors.

Software may comprise a computer program, code, instructions, or a combination of one or more of these, which configures a processing device to operate as desired or is independently or collectively processed You can command the device. The software and/or data may be any kind of machine, component, physical device, virtual equipment, computer storage medium or apparatus, to be interpreted by or to provide instructions or data to the processing device. , or may be permanently or temporarily embody in a transmitted signal wave. The software may be distributed over networked computer systems, and stored or executed in a distributed manner. Software and data may be stored in one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic such as floppy disks. - includes magneto-optical media, and hardware devices specially configured to store and carry out program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, although the embodiments have been described with reference to the limited embodiments and drawings, various modifications and variations are possible from the above description by those skilled in the art. For example, the described techniques are performed in a different order than the described method, and/or the described components of the system, structure, apparatus, circuit, etc. are combined or combined in a different form than the described method, or other components Or substituted or substituted by equivalents may achieve an appropriate result.

Claims (10)

A method for controlling an unmanned aerial vehicle, performed by a computer system, comprising:
designating an area in which the unmanned aerial vehicle will fly;
designating a plurality of waypoints through which the unmanned aerial vehicle will pass within the area;
determining altitudes of points on a path over which the unmanned aerial vehicle, including the waypoints, will fly;
controlling the unmanned aerial vehicle to fly the route based on the determined altitudes
including,
The determining step is
the altitude of the first of the points,
i) a first altitude based on GPS information corresponding to the first point;
ii) a second altitude as a value corresponding to the first point included in a DEM (Digital Elevation Model) DB for the area;
iii) a third altitude as a value corresponding to the first point entered by the user; or
iv) a fourth elevation corresponding to the first point determined according to a result of modeling the area
to determine using
The controlling step is
Control the unmanned aerial vehicle so that the unmanned aerial vehicle flies at a fixed altitude to a fixed first set altitude on the route, or
A method for controlling the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly in a contour at an altitude maintaining a difference as much as a second set altitude with respect to the selected altitudes among the determined altitudes. According to claim 1,
The determining step is
According to the selection from the user, the altitude of the first point
a first option for determining the first altitude;
a second option for determining the second altitude;
a third option for determining the third altitude; and
a fourth option for determining the fourth altitude
providing; and
determining an altitude of the first point according to an option selected by the user from among the first to fourth options;
including,
The controlling step is
According to the selection from the user, the flight mode of the unmanned aerial vehicle is selected.
a fifth option for determining the fixed altitude flight; and
6th option for determining the above contour flight
providing; and
controlling the unmanned aerial vehicle to fly the route in a flight mode corresponding to the option selected by the user among the fifth option and the sixth option
A method of controlling an unmanned aerial vehicle comprising a. According to claim 1,
The controlling step is
Control the unmanned aerial vehicle to fly contoured to an altitude at which the unmanned aerial vehicle maintains a difference as much as a second set altitude for selected altitudes among the determined altitudes
the selected altitudes are all of the determined altitudes;
Each of the selected altitudes is the highest value among the altitudes of points included in each line included in the path among the determined altitudes or an average value of the altitudes of points included in each line, the method of controlling an unmanned aerial vehicle. According to claim 1,
The determining step is
determining the elevations of the points using second elevations, which are values corresponding to the points included in the DEM DB; and
modifying the selected altitude of at least one of the altitudes determined using the second altitudes according to an input from the user;
A method of controlling an unmanned aerial vehicle comprising a. 5. The method of claim 4,
providing a graph representing each of the elevations determined using the second elevations corresponding to each of the points;
further comprising,
The modifying may include modifying an altitude selected from the graph according to an input from the user, a method of controlling an unmanned aerial vehicle. According to claim 1,
The determining step is
determining the elevations of the points using fourth elevations corresponding to the points determined according to a result of modeling the area;
The modeling for the area is
Obtaining fourth altitudes for points in the area by matching images of the area taken at each second waypoint by the unmanned aerial vehicle that flew a path including a plurality of second waypoints included in the area How to control an unmanned aerial vehicle. 7. The method of claim 6,
As steps for modeling the region,
The steps are
controlling the unmanned aerial vehicle to fly a path including second waypoints;
requesting to match the images of the area captured at each of the second waypoints; and
obtaining fourth elevations for points within the area from a registered image for the area generated by the registration;
A method of controlling an unmanned aerial vehicle comprising a. 7. The method of claim 6,
The determining step is
modifying a selected altitude of at least one of the altitudes of the points determined using the fourth altitudes according to an input from the user;
A method of controlling an unmanned aerial vehicle comprising a. According to claim 1,
The controlling step is
Controls the unmanned aerial vehicle so that the unmanned aerial vehicle flies at a fixed altitude at a fixed first set altitude on the route,
Before the unmanned aerial vehicle starts flying,
Among the determined altitudes, i) an altitude equal to or greater than the first set altitude exists, ii) an altitude with a difference from the first set altitude less than a predetermined value exists, or iii) the area includes a first type of terrain If so, generating a first warning
Further comprising, a method of controlling an unmanned aerial vehicle. According to claim 1,
Before the unmanned aerial vehicle starts flying,
When the area includes the first type of terrain, as a warning for the first type of terrain among the determined altitudes, an altitude corresponding to at least one feature preset in association with the first type of terrain generating a second warning including altitude information;
Further comprising, a method of controlling an unmanned aerial vehicle.

Images