KR102515239B1 - Apparatus for generating routes of drone using river and method thereof - Google Patents

Abstract

The present invention relates to an apparatus and method for setting a drone route, and the apparatus for setting a drone route according to the present invention includes a communication unit that obtains location information of a departure point and a destination of a drone from a user terminal; A memory for storing river network data within the drone flight area; and a processor for setting a movement path between the departure point and the destination based on the river network data so that the drone moves along the river for at least a portion of the section.
According to this, by allowing the drone to move along the river section, there is an effect of minimizing human life or property damage and reducing the damage of the drone at the same time in a dangerous situation in which the drone or loaded goods fall.

Description

Drone route setting device and method using rivers {APPARATUS FOR GENERATING ROUTES OF DRONE USING RIVER AND METHOD THEREOF}

The present invention relates to an apparatus and method for setting a drone path, and more particularly, to an apparatus and method for setting a path along which a drone flies to perform a predetermined mission.

A drone is an air vehicle that can fly remotely or according to a pre-programmed program without a human on board. It is widely used for military and public purposes such as reconnaissance, search for survivors, forest fire monitoring, and traffic violation enforcement. Its scope of use is also gradually expanding. Recently, logistics carriers such as Amazon, DHL, and UPS are showing great interest in drone delivery services and are conducting trial operations and tests.

As the field of use of drones is expanding, there are concerns about safety issues due to drone crashes or collisions during flight. In particular, if a fall or collision occurs while the drone is loaded with goods, such as during logistics delivery, the risk is high. In Korea, there are many obstacles such as high-rise buildings and telephone poles, and the population density is high, so the risk of accidents increases.

Looking at the conventional technology for setting the flight path of the drone, the path is set by avoiding the flight restriction area or obstacles, but it passes over the residential area, population flow area, or major facilities, so the drone or the items loaded on the drone are still damaged by people or people. The risk of damaging property cannot be ruled out. On the other hand, there are many cases in which expensive drones must be discarded due to high repair costs due to damage to the drone body during a fall or collision, or in severe cases, damage to the extent that repair is impossible.

Accordingly, there is a need for a method of setting a drone flight path to minimize damage caused by the drone and reduce damage to the drone in the event of an accident.

Republic of Korea Patent No. 10-1183659 (2012.09.11)

The present invention has been devised to solve the problems of the prior art as described above, so that the drone can minimize damage to life or property and at the same time reduce the damage of the drone in a situation where the drone crashes or collides with another object. An object of the present invention is to provide a device and method for setting a flight path.

The above object according to an aspect of the present invention includes a communication unit for acquiring location information of a departure point and a destination of a drone from a user terminal; A memory for storing river network data within the drone flight area; and a processor for setting a movement path between the starting point and the destination based on the river network data so that the drone moves along the river for at least a portion of the section.

Here, the memory stores a numerical surface model for the drone flight area, and the processor includes an entry position where the drone enters a river based on a flow direction of flowing water for each grid cell constituting the numerical surface model; Alternatively, the drone may determine an entry position out of the river.

On the other hand, the river network data includes data on the water depth and width of the river, and the processor may set the movement path to move along a river having a water depth or width greater than or equal to a predetermined standard.

In addition, the memory stores information on the population density or official land price of the drone flight area, and the processor applies the population density or official land price as a constraint condition to move areas exceeding a predetermined population density or official land price standard. It can be set to be excluded from the route.

The memory stores information on the current or predicted rainfall intensity of the drone flight area, and the processor controls the area where the current or predicted rainfall intensity exceeds a predetermined standard at a time when the drone moves. may be set to be excluded from the movement path.

In addition, the memory may store information on the wind speed of the drone flight area, and the processor may set an area where the wind speed exceeds a predetermined standard at the time of movement of the drone to be excluded from the movement route.

Meanwhile, the processor sets a plurality of nodes in the drone flight area, calculates a cost for each link connecting the nodes according to a predetermined cost calculation standard according to a physical distance, wind speed, and altitude, and calculates a cost for each link. A movement path may be established by connecting the nodes so that the total cost of the link is minimized.

In this case, the processor may assign more cost to a link corresponding to a non-river section than to a river section for the same physical distance.

In addition, the above object is a method for setting a drone path according to another aspect of the present invention, comprising: storing river network data within a drone flight area; Acquiring location information of a departure point and a destination of a drone from a user terminal; Setting a movement path between the departure point and the destination based on the river network data so that the drone moves along the river for at least a portion of the section; and providing the set movement path to the user terminal.

As described above, according to the present invention, by allowing the drone to move along the river section, the effect of minimizing human life or property damage and reducing the damage of the drone at the same time in a situation where the drone or loaded goods fall is dangerous there is

1 is a configuration diagram showing a schematic configuration of a drone path setting system including a drone path setting device according to an embodiment of the present invention;
2 is a block diagram showing the configuration of a drone route setting device according to an embodiment of the present invention;
3 is a reference diagram for explaining a first embodiment in which a drone path setting device according to an embodiment of the present invention sets a path entering a river section from a non-river section;
4 is a reference diagram for explaining a second embodiment in which a drone path setting device according to an embodiment of the present invention sets a path entering a river section from a non-river section;
5 is a reference diagram for explaining an example in which a drone path setting device according to an embodiment of the present invention determines an entry position at which a drone enters a river;
6 is a reference view for explaining an example in which a drone path setting device according to an embodiment of the present invention sets a movement path of a drone by reflecting wind speed; and
7 is a flowchart illustrating a drone route setting method according to an embodiment of the present invention.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, detailed descriptions of well-known functions or configurations that may obscure the subject matter of the present invention will be omitted in the following description and accompanying drawings. In addition, it should be noted that the same components are indicated by the same reference numerals throughout the drawings as much as possible.

1 is a configuration diagram showing a schematic configuration of a drone path setting system including a drone path setting device according to an embodiment of the present invention. Referring to FIG. 1 , a drone route setting system 1 according to an embodiment of the present invention includes a user terminal T and a drone route setting device 100 .

The user terminal (T) is a terminal device used by a user who wants to set a flight path of a drone through a drone path setting system, and a drone path setting device (100 ) is connected to The user terminal (T) is the location information of the destination where the drone temporarily suspends or terminates the flight, including the starting point where the drone starts flying and the stopover in the middle, and the location information that the user wants to adopt or limit when setting the drone route. In the process of setting a flight path of the drone, such as a path setting option, various information required by the user is received and transmitted to the drone path setting device 100. As such, the user terminal T is a terminal that provides a UI (User Interface) for receiving necessary information from the user and displaying various information and a communication function for transmitting and receiving information, such as a smartphone, tablet PC, laptop, desktop, etc. this may apply.

The drone route setting device 100 provides meteorological information of the drone flight area, such as information about the drone flight area stored in advance, such as river network data, population density and publicly announced land price information in the drone flight area, wind direction/wind speed, current and predicted rainfall intensity information, etc. Based on this, the flight path of the drone is set. For reference, the drone flight area is an area where the drone can fly and includes an area that can be included as a movement path.

2 is a block diagram showing the configuration of a drone path setting device 100 according to an embodiment of the present invention. Hereinafter, with reference to FIG. 2, a detailed configuration of the drone route setting device 100 will be described.

Referring to FIG. 2 , the drone path setting device 100 includes a communication unit 10, a memory 20, and a processor 30.

The communication unit 10 communicates with the user terminal T and a meteorological server (not shown) that generates meteorological information such as rain or wind to transmit and receive various information necessary for setting a drone path, WI-FI, It can be implemented by including a communication module that provides various known wired and wireless communication methods such as Ethernet, LTE, and 5G.

The memory 20 is implemented as a memory device such as RAM, ROM, EEPROM, flash memory, etc., and can store various operating systems (OS), middleware, platforms, and various applications of the drone path setting device 100, and drone path setting Program code for drone flight area, river network data, population density, publicly announced land price, area information where drone flight is restricted or prohibited, rainfall, wind information received from weather server, digital surface model (DSM) It stores all the information necessary to set the drone route, such as

Here, the river network data is data indicating the location of a river, and may be expressed as a longitude and latitude vertex array in the OGC standard linestring format, for example. In addition, as river network data, it may include not only the location of the river, but also data on the depth and width of the river, and whether or not it is a water source protection area. In this way, the river network data may be stored as a record including geometry information indicating the location of a river for each predetermined section, the width and depth of the river, and whether or not a water source protection area exists.

Meanwhile, population density and known city price data may be stored in various formats. For example, the drone flight area may be divided into predetermined grid cell units and stored in a raster format in which population density values or public land prices are stored as each cell value, where the population density is a static population residing in the area. Or it may be a floating population. For reference, the National Geographic Information Institute in Korea provides information on population density and officially announced land prices nationwide in the form of a grid of 500 m units, which can be applied or processed and utilized.

In addition, the rainfall intensity data may be received time-sequentially at predetermined intervals from a related organization server (not shown), and may include current rainfall intensity data or predicted rainfall intensity data. Rainfall intensity data may also be stored in various data formats, but, for example, the drone flight area is divided into predetermined grid cell units, similar to population density and public land price data, and the rainfall intensity value (mm/ h) can be stored in a stored raster format.

Wind direction/speed data can also be received time-sequentially at predetermined intervals from the servers of related organizations, and can be stored in various data formats. However, like other data, the drone flight area is divided into predetermined grid cell units and each Wind direction and wind speed values (m/s) at the corresponding location may be stored in a raster format.

On the other hand, the numerical surface model refers to a model in which the land is divided into a plurality of lattice cells, and the elevation of the area corresponding to each lattice cell is recorded in numerical form to express the relief of the ground and surface cover. Such a digital surface model can be created based on the elevation obtained by using the contour lines of a topographical map or through aerial photogrammetry, LIDAR survey, etc. there is.

The processor 30 is based on information received through the user terminal T and data stored in the memory 20, that is, river network data, numerical surface model, wind direction/wind speed data, rainfall intensity data, population density, publicly announced land price data, and the like. to set the flight path of the drone. Hereinafter, an example of how the processor 30 sets a flight path of a drone will be described.

The processor 30 basically sets the movement route between the starting point and the destination input from the user terminal T, and sets the movement route so that the drone moves along the river for at least a part of the flight section. The processor 30 minimizes movement in areas where people live or pass, or where buildings are densely populated, and sets a flight path focusing on the river network in order to reduce the risk in the event of a crash of a drone or a loaded object.

However, when setting the flight path of the drone to move along the river network, it is virtually impossible to configure all the travel paths from the starting point to the destination with only rivers.

As such, when setting a movement route including a route other than a river, the processor 30 may configure the movement route to include as few non-river movement sections as possible based on a physical distance between the river and the non-river section.

3 is a reference diagram for explaining a first embodiment in which the processor 30 according to an embodiment of the present invention sets a path entering a river section from a non-river section. Referring to Figure 3, the processor 30, when entering the river section (R1) from a predetermined point (p1) of the non-river section (S1), the predetermined point (p1) of the non-river section (S1) and the river section (R1) By setting the shortest path d1 as the movement path of the drone, the movement section in the non-river section S1 can be minimized. For reference, FIG. 3 shows a case of entering a river section from a non-river section, but on the contrary, even when advancing from a river section to a predetermined point in a non-river section, the shortest path may be followed.

4 is a reference diagram for explaining a second embodiment in which the processor 30 according to an embodiment of the present invention sets a path entering a river section from a non-river section.

4 assumes a case in which an area (X) with a high population density or a high official land price is included on the shortest path between the non-river section (S2) and the river section (R2). In this case, the processor 30 may set a movement path d2 bypassing the corresponding area without following the shortest path. In this case, the reference value of population density or official land price, which is a detour criterion, may be directly input from the user through the user terminal T or may be based on a preset internal criterion. However, even if some areas are detoured, a route can be set to travel the shortest distance by default.

In this way, the processor 30 follows the shortest path when entering from a non-river section to a river section or when exiting from a river section to a non-river section, but sets the movement path of the drone by applying the population density and public land price as constraints. However, it goes without saying that population density and publicly notified land price may not be applied as constraints depending on the user's choice. In addition, not only static population but also floating population values can be applied to the population density, and at this time, the memory 20 stores the floating population density by time and calculates the floating population density corresponding to the time when the drone is predicted to move in the area. It can be applied to determine whether to bypass or pass through the area.

On the other hand, as another constraint condition for setting the movement path, the water depth and width of the river, the intensity of rainfall, and the wind speed may be applied. First, the application of the river depth and river width as constraint conditions is described. You can set a movement path to move along the river. At this time, since the data on the depth or width of the river is a value that can change according to the occurrence of rainfall or flood, whenever the data on the depth or width of the river is updated from the server of the relevant institution, the changed data is received to check whether the condition is satisfied. will be able to judge

The processor 30 may apply a water source protection area among river network data as a constraint condition according to a user's selection or an internal criterion. For example, if the user selects to apply the water source protection area as a constraint condition, the area classified as the water source protection area may be set to be excluded from the movement route. Alternatively, in response to the type of goods transported by drones, whether or not to exclude the water source protection area is prepared as an internal standard, and in the event of a fall, drones that transport items that adversely affect the water quality of the river are not allowed to pass through the area designated as the water source protection area. You can set the movement route.

In addition, the processor 30 may set an area where the current or predicted rainfall intensity of the corresponding area exceeds a predetermined reference value at the time of the drone movement based on the data stored in the memory 20 to be excluded from the drone movement route. Here, the movement point of the drone is the point in time at which the drone is predicted to move in the corresponding area, and can be predicted based on the departure time of the drone input from the user terminal T, information on the distance to the departure point of the drone, and the average speed of the drone. there is.

As another constraint condition, the processor 30 may apply the wind speed data stored in the memory 20 to set a region where the wind speed exceeds a predetermined reference value at the time of the drone's movement to be excluded from the movement path of the drone. This is to prevent a situation in which the drone crashes or rolls over due to strong wind.

The user can directly select whether or not to set the aforementioned river depth and width, rainfall intensity, and wind speed as constraints through the user terminal T, and when the constraints are applied, the reference value is directly input from the user through the user terminal T It can be received or based on preset internal standards. For reference, data on rainfall intensity and wind direction/speed may be stored in a raster format in which the space for the drone flight area is divided into grid cells and values of rainfall intensity and wind direction/speed corresponding to the location of the grid cells are stored. same as bar

Meanwhile, the processor 30 may determine an entry position where the drone enters the river or an exit position where the drone leaves the river based on the numerical surface model of the drone flight area stored in the memory 20 .

To elaborate on this, a system of running water with a certain flow path is classified as a river, but various tributaries diverge from this river or tributaries flow into the river. The processor 30 grasps the flow of flowing water such as tributaries not classified as rivers in the river network data, and determines an entry position where the drone enters the river or an exit position away from the river. At this time, the processor 30 is equipped with various known algorithms for calculating the flow direction for each grid constituting the numerical surface model, including the 'D-8' algorithm that utilizes eight flow direction grids, , it is possible to determine the location of entry or exit into the river based on this. For reference, an algorithm for analyzing the flow direction of flowing water based on the lattice cell value of the numerical surface model is known, and detailed descriptions will be omitted for simplicity of description.

5 is a reference diagram for explaining an example in which the processor 30 according to an embodiment of the present invention determines an entry position at which a drone enters a river based on a numerical surface model.

Referring to FIG. 5, the result code of analyzing the flow of flowing water using the 'D-8' algorithm based on the numerical surface model is shown in (a), and (b) is a visualization of the above result code. The flow direction code is predefined by ESRI and the like. For example, according to ESRI, the flow analysis code '1' means rightward flow. In (b), the arrow inside the grid cell indicates the direction of flow at the location of the grid cell. The processor 30 may determine the moving path of the drone to follow the flowing water flow area. That is, when the flow direction of the flowing water is analyzed as shown in (b) of FIG. 5, the processor 30 enters or exits the river through the position of the grid cell marked with a thick border in (b) or enters or exits the river location can be determined.

In this way, by reflecting the flow analysis result of running water other than rivers to the setting of the moving route of the drone, it is possible to obtain an effect of avoiding densely populated areas even if the water depth is not sufficient. This is because the location where running water flows is an area where the flow of population is practically impossible or the flow rate is low.

The processor 30 sets a plurality of nodes to which the drone can move according to predetermined standards and intervals within the drone flight area, calculates a cost for each link connecting the nodes, and determines the total cost of each link. Connect the nodes to minimize the movement path of the drone. In this way, each link connecting nodes corresponds to a unit constituting a movement path of a drone. Here, the cost assigned to each link may be based on a predetermined cost calculation criterion according to physical distance, wind speed, and altitude.

In the aforementioned cost calculation criterion, the physical distance means the physical distance between nodes and corresponds to a fixed value, and can be identified based on map data of the drone flight area. Altitude can be determined based on the digital surface model, and a cost according to the altitude can be calculated based on the altitude profile obtained from the numerical surface model. A cost value corresponding to such a fixed item may be preset for each link.

The processor 30 increases the cost more when the physical distance is relatively long, but may separately calculate the cost for the physical distance in the river section and the physical distance in the non-river section. For example, assuming the same physical distance, the river section may be preferentially applied by giving a higher cost to a link corresponding to a non-river section than to a link corresponding to a river section. For reference, whether a corresponding link corresponds to a river section can be determined based on river network data. And, as described above, even if the area is not classified as a river, the section corresponding to the flow direction of the flow can be given a relatively small cost compared to the non-river section that does not correspond to the flow direction of the flow through the flow analysis. there is.

In addition, the cost according to the altitude is calculated by summing the cost according to the altitude difference for each predetermined unit distance determined in advance using the altitude profile, not the simple altitude difference between the start and end points of the section. In this case, the cost corresponding to the altitude difference may be calculated by applying the physical distance as a standard and converting it into a cost corresponding to the physical distance. For example, if the altitude difference is +10m, the drone consumes energy and travels to increase the altitude, so it can be converted into a cost corresponding to +15m, which increases the horizontal distance by 15m, and the altitude difference -20m is less than the altitude difference +20m, but It can be converted into a cost of +2m, which increases the horizontal distance by 2m, considering the energy consumption and the lengthening of the moving path even in descending. For reference, the sign in front of the altitude value is expressed as '+' when the altitude increases relative to the direction in which the drone travels, and as '-' when it decreases. As such, the processor 30 may prepare and store a cost conversion standard for converting a cost according to an altitude increase or decrease to a cost according to a horizontal distance.

On the other hand, among the cost calculation standard items, wind speed is the speed of wind per unit time, and as the value changes over time, the cost corresponding to the wind speed also changes. For reference, the wind speed is a concept including the speed and direction of the wind and may be expressed as a vector.

6 is a reference diagram for explaining an example in which the processor 30 according to an embodiment of the present invention sets a moving path of a drone by reflecting wind speed.

Referring to FIG. 6 , wind may be decomposed into a vertical component and a horizontal component with respect to a moving direction of a drone. Here, the vertical component acts as an element that helps or hinders the movement of the drone depending on the direction. That is, a vertical component in the same direction as the moving direction of the drone helps the drone move, and a vertical component in a direction opposite to the moving direction of the drone hinders the movement of the drone. On the other hand, the horizontal component always acts as an element that hinders the movement of the drone, and the greater the size of the component, the greater the degree of interference. Using this relationship, the processor 30 may increase or decrease the cost by considering the moving direction of the drone, the vertical component direction, and the horizontal component direction of the wind in each link when the drone travels from the starting point to the destination. . For example, if a vertical component identical to the moving direction of the drone exists, the cost may be reduced, and if an opposite vertical component exists, the cost may be increased. At this time, the increase or decrease of the cost varies according to the size of the specific component. In addition, the cost increases when a horizontal component exists, and the amount of increase may vary depending on the size of the component.

As such, the processor 30 calculates a cost corresponding to each link by summing the first cost fixed according to the physical distance, the second cost fixed according to the altitude, and the third cost according to the wind speed, and calculates the cost corresponding to each link. The movement path of the drone is set by connecting the nodes between the starting point and the destination so that the total cost is minimized. The drone flies from the starting point inputted from the user terminal T to the destination by moving the section corresponding to the connected node and link. At this time, as described above, wind speed, official land price, population density, water source protection area, current or predicted rainfall intensity, river water depth, and river width may be applied as constraint conditions. For example, a section according to a constraint condition is excluded from a movement route even if the cost is low.

The processor 30 may utilize the well-known Dijkstra algorithm when searching for a path having the minimum cost from a starting point to a destination by analyzing the cost of a network composed of a plurality of links.

Meanwhile, a specific flight shape of a drone in a link between nodes may be a straight line or a curved shape. Here, the straight flight means that the drone flies while drawing a straight line, and the curved flight means that the drone flies while drawing a curve. As a form of curved flight, clothoid transition curve, lemniscate An example of a transition curve, a cubic parabolic transition curve.

The processor 30 performs at least one of a movement section from a predetermined location in the non-river area to entering the river, a movement section from the river to a predetermined position in the non-river area, a movement section within the river, or a movement section within the non-river. For one moving section, a specific flight type of the drone may be determined during straight flight or curved flight. At this time. The processor 30 may reflect and determine the direction of the wind. For example, when the polar angle formed by the wind direction and the transverse axis is 45 degrees, the flight shape may be determined so as to draw a clothoid relaxation curve that appears the shortest among the three relaxation curves. As such, the processor 30 may determine the flight type in consideration of the moving distance of the drone according to the direction of the wind in the corresponding section.

The moving path of the drone determined by the processor 30 is transmitted to the user terminal T. The processor 30 may overlap and display the calculated moving path of the drone on a map and provide it, or may provide a plurality of moving path candidates so that the user can select one of them.

7 is a flowchart illustrating a drone route setting method according to an embodiment of the present invention. A description overlapping with the aforementioned embodiment will be omitted for brevity.

Referring to FIG. 7 , various data used by the drone path setting device 100 to set the movement path of the drone, for example, a numerical surface model of the drone flight area, river network data, wind direction/wind speed data, rainfall intensity data, and map data. , population density and publicly announced land are premised on receiving and storing data (S10). Here, the numerical surface model or map data is data that can be continuously applied as long as there is no significant change, and data related to the wind direction/speed data, rainfall intensity data, and river depth and width of the river network data are data that change over time and are predetermined. It is required to be updated on a periodic basis.

Next, the drone path setting device 100 acquires location information of the departure point and destination of the drone from the user terminal T (S20). At this time, whether or not to set the water depth and width of the river, water source protection area, rainfall intensity, wind speed, population density, public land price, etc. as constraints, and a reference value when the constraints are applied may also be input from the user terminal T.

The drone route setting device 100 sets a movement route between the starting point and the destination so that the drone moves along the river for at least a part of the section based on the data stored in step S10 (S30). The drone route setting apparatus 100 may analyze the flow direction of flowing water for each grid cell based on the numerical surface model, and determine an entry position where the drone enters the river or an exit position where the drone leaves the river based on the analysis.

The drone path setting device 100 sets a plurality of nodes in the drone flight area in advance, calculates a cost for each link connecting the nodes according to a predetermined cost calculation standard according to physical distance, wind speed, and altitude, and calculates the cost for each link. As described above, it is possible to establish a movement path by connecting nodes such that the total sum of costs of links is minimized.

At this time, the drone path setting device 100 applies constraints such as river depth and width, water source protection area, rainfall intensity, wind speed, population density, public land price, etc. as constraints according to the selection of the user terminal T or a preset internal standard. Sections corresponding to the conditions can be set to be excluded from the movement route.

The movement path set by the drone path setting device 100 is provided to the user terminal T and used to control the flight of the drone based on the movement path (S40).

As described above, according to the drone route setting device 100 and method according to the present invention, by allowing the drone to move along the river section, human life or property damage is minimized in a dangerous situation in which the drone or loaded goods fall, and at the same time It has the effect of reducing the damage of drones.

In the above, even though all components constituting the embodiment of the present invention have been described as being combined or operated as one, the present invention is not necessarily limited to these embodiments. That is, within the scope of the object of the present invention, all of the components may be selectively combined with one or more to operate. In addition, although all of the components may be implemented as a single independent piece of hardware, some or all of the components are selectively combined to perform some or all of the combined functions in one or a plurality of hardware. It may be implemented as a computer program having. Codes and code segments constituting the computer program may be easily inferred by a person skilled in the art. Such a computer program may implement an embodiment of the present invention by being stored in a computer readable storage medium, read and executed by a computer. A storage medium of a computer program may include a magnetic recording medium, an optical recording medium, and the like.

In addition, terms such as "comprise", "comprise" or "having" described above mean that the corresponding component may be present unless otherwise stated, and thus exclude other components. It should be construed as being able to further include other components. All terms, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs, unless defined otherwise. Commonly used terms, such as terms defined in a dictionary, should be interpreted as being consistent with the contextual meaning of the related art, and unless explicitly defined in the present invention, they are not interpreted in an ideal or excessively formal meaning.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

100: drone path setting device 10: communication department
20: memory 30: processor

Claims (9)

a communication unit that acquires location information of a departure point and a destination of a drone from a user terminal;
A memory for storing river network data in the drone flight area and a numerical surface model for the drone flight area; and
And a processor for setting a movement path between the departure point and the destination based on the river network data so that the drone moves along the river for at least a portion of the section,
the processor,
Based on the flow direction of each lattice cell constituting the numerical surface model, the flow of the flowing water of a tributary not classified as a river in the river network data is identified, and the entry position where the drone enters the river or the drone enters the river Determining the location of entry out of the river,
A plurality of nodes are set in the drone flight area, and a cost is calculated according to a predetermined cost calculation standard according to physical distance, wind speed, and altitude for each link connecting the nodes, and the total cost of each link is at least A movement path is set by connecting the nodes so that the cost according to the altitude is calculated by adding up the cost according to the difference in altitude for each unit distance determined in advance using an altitude profile obtained based on the numerical surface model, and the wind speed The drone route setting device according to claim 1 , wherein the cost according to is calculated in consideration of the moving direction of the drone in each link and the direction of the vertical component and the direction of the horizontal component of the wind.
delete According to claim 1,
The river network data includes data on the depth and width of the river,
Wherein the processor sets the movement path to move along a river having a water depth or width equal to or greater than a predetermined standard.
According to claim 1,
The memory stores information on the population density or publicly announced land price of the drone flight area,
Wherein the processor applies the population density or public land price as a constraint condition to set a region exceeding a predetermined population density or public land price standard to be excluded from the movement route.
According to claim 1,
The memory stores information on current rainfall intensity or predicted rainfall intensity in the drone flight area,
The drone path setting device, characterized in that the processor configures to exclude an area where the current or predicted rainfall intensity exceeds a predetermined criterion at the time of movement of the drone from the movement route.
According to claim 1,
The memory stores information about wind speed in the drone flight area,
The drone route setting device, characterized in that the processor sets the area where the wind speed exceeds a predetermined criterion at the time of movement of the drone to be excluded from the movement route.
delete According to claim 1,
Wherein the processor assigns more cost to a link corresponding to a non-river section than a river section for the same physical distance.
In the drone route setting method in which each step is performed by a drone route setting device for setting a drone movement route,
Storing river network data in the drone flight area and a numerical surface model for the drone flight area;
Acquiring location information of a departure point and a destination of a drone from a user terminal;
Setting a movement path between the departure point and the destination based on the river network data so that the drone moves along the river for at least a portion of the section; and
Providing the set movement path to the user terminal;
The step of setting the movement path,
Based on the flow direction of each lattice cell constituting the numerical surface model, the flow of the flowing water of a tributary not classified as a river in the river network data is identified, and the entry position where the drone enters the river or the drone enters the river Determining the entry point away from the river,
A plurality of nodes are set in the drone flight area, and a cost is calculated according to a predetermined cost calculation standard according to physical distance, wind speed, and altitude for each link connecting the nodes, and the total cost of each link is at least A movement path is set by connecting the nodes so that the cost according to the altitude is calculated by adding up the cost according to the difference in altitude for each unit distance determined in advance using an altitude profile obtained based on the numerical surface model, and the wind speed The drone path setting method according to claim 1 , wherein the cost according to is calculated in consideration of the moving direction of the drone in each link and the vertical component direction and the horizontal component direction of the wind.

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