KR20170048875A - Flight path determination method, flight path managing server and system - Google Patents

Abstract

A flight path determination method performed by a flight path managing server comprises a step of monitoring information on a predetermined flight space including a plurality of layers where each layer includes a plurality of cells, a step of receiving a flight path setting request from at least one flight vehicle, a step of calculating the flight path of the flight vehicle based on the information on the flight space and the flight path setting request, and a step of transmitting information about the calculated flight path to at least one flight vehicle. A flight path is a path to which one or more of the plurality of cells are connected, and can be calculated so that only one flight vehicle is allowed to fly in each cell for a predetermined time. According to the present invention, a high-speed flight to a target point is possible without collision between the flight vehicles.

Description

TECHNICAL FIELD [0001] The present invention relates to a flight path management server and a flight path management server,

The present invention relates to a route setting method, a flight path management server, and a system for a flight path management server.

Recently, there is an increasing need for unmanned aerial vehicles in environments where people can not work. Unmanned aerial vehicles (UAVs) are also becoming widely used, such as obtaining aerial images of disasters and disaster areas, which are difficult to access, and carrying out various tasks in electric power line inspection or battlefield situations.

As the field of application using unmanned aerial vehicles is expanded, the number of unmanned aerial vehicles operating at the same time and the frequency of operations are expected to increase rapidly, which can increase the risk of collision of unmanned aerial vehicles.

A study on the collision avoidance method of the unmanned aerial vehicle is a method of realizing the collision avoidance means mainly in the unmanned aerial vehicle itself, and avoids the flying obstacle ahead through image processing or sensor technology.

Since the collision avoidance method based on image processing or sensing technology is based on image or sensor information, it is necessary to limit the speed of flight by the processing speed of the image or sensor information processor, and the speed of the unmanned aerial vehicle It is difficult to maintain, and the quality of flight is likely to decline. For example, when an unmanned aerial vehicle carries a cargo vulnerable to external shocks, an unexpected sudden shake or impact may cause cargo loss due to obstacles that appear in uncertain situations.

Korean Patent Publication No. 2010-0093917 discloses a configuration in which a selection command for a specific point is received, position information of a specific point input is detected to calculate flight path information, and the calculated flight path information is transmitted to a flight device .

We want to provide information about the flight path without collision between the aircrafts and without collision to the target point. It is to be understood, however, that the technical scope of the present invention is not limited to the above-described technical problems, and other technical problems may exist.

According to a first aspect of the present invention, there is provided a routing method of a flying object performed by a flight path management server, the method comprising: receiving information about a predetermined flying space including a plurality of layers; Wherein each layer includes a plurality of cells, receiving a request for establishing a flight path from at least one air vehicle, receiving information about the flight space, Calculating a flight path of the plurality of cells, and transmitting the calculated information about the flight path to the at least one air vehicle, wherein the flight path is a path to which at least one of the plurality of cells is connected, Only one air vehicle can be calculated to fly in each cell.

In addition, the flight path management server for setting the path of the flying object according to the second aspect of the present invention manages information on a predetermined flying space including a plurality of layers, each layer including a plurality of cells And a flight path calculation module for calculating a flight path of the airplane based on the information about the airplane, wherein the flight path includes the plurality of Of the cells are connected, and it is calculated that only one airplane is allowed to fly in each cell for a predetermined time.

According to a third aspect of the present invention, there is provided a system for setting a path of a flight vehicle, the flight path management server comprising: a flight path management server; and at least one flight body, wherein the flight path management server includes a plurality of layers, Wherein each layer includes a plurality of cells and calculates a flight path of the airplane based on the information on the air space and a request for setting a flight path received from the at least one air vehicle, Wherein the at least one flight vehicle transmits a flight path setting request to the flight path management server and performs flight based on the flight path, , And transmits the position of the at least one flying object to the flight path management server And the flight path is a path to which at least one of the plurality of cells is connected, and may be calculated so that only one airplane is allowed to fly in each cell for a predetermined time.

The above-described task solution is merely exemplary and should not be construed as limiting the present invention. In addition to the exemplary embodiments described above, there may be additional embodiments described in the drawings and the detailed description of the invention.

According to any one of the above-described objects of the present invention, it is possible to provide a path capable of high-collision-free high-speed flight to a target point without collision between the flying objects.

1 is a configuration diagram of a flight path setting system according to an embodiment of the present invention.
FIG. 2 is a block diagram of the flight path management server shown in FIG. 1, according to an embodiment of the present invention.
3 is a diagram illustrating a flight space including a plurality of layers and a plurality of cells according to an embodiment of the present invention.
4 is a diagram for explaining a method of setting a non-collision flight path between cells according to an embodiment of the present invention.
FIG. 5 is a diagram for explaining a method of inter-cell entry according to an embodiment of the present invention.
6 is a diagram illustrating an information management table for a flight space according to an embodiment of the present invention.
FIG. 7 is a flowchart illustrating a route setting method according to an exemplary embodiment of the present invention. Referring to FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between . Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

In this specification, the term " part " includes a unit realized by hardware, a unit realized by software, and a unit realized by using both. Further, one unit may be implemented using two or more hardware, or two or more units may be implemented by one hardware.

In this specification, some of the operations or functions described as being performed by the terminal or the device may be performed in the server connected to the terminal or the device instead. Similarly, some of the operations or functions described as being performed by the server may also be performed on a terminal or device connected to the server.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

1 is a configuration diagram of a flight path setting system according to an embodiment of the present invention.

Referring to FIG. 1, a route setting system of a flight body may include a flight path management server 100 and a flight body 110. However, since the route setting system of FIG. 1 is only one embodiment of the present invention, the present invention is not limited to FIG. 1 and may be configured differently from FIG. 1 according to various embodiments of the present invention. have.

For example, although FIG. 1 illustrates that the air vehicle 110 is included in the route setting system of the air vehicle, other devices installed in the air vehicle 100 instead of the air vehicle 110 or program modules installed in the devices may be included in the route setting system It is possible.

The flight path management server 100 may monitor information on a predetermined flight space including a plurality of layers. Here, each layer is divided into a plurality of layers at intervals of a predetermined range, and each of the layers may include a plurality of cells. At this time, each cell can be set to a predetermined space enough for the flight vehicle to fly at full speed.

Specifically, the flight path management server 100 transmits information on a flight space including at least one of information on a time period allocated to each flight path to each cell and current occupancy information of each cell, Or via a base station installed on a cell-by-cell basis, and update information on the flight space.

The flight path management server 100 may calculate the flight path of the air vehicle 110 based on the information on the air space and the request for setting the flight path received from the at least one air vehicle 110. [ Here, the flight path setting request may include at least one of information related to the flying object 110 (e.g., flying object identification number), flight start time, flight start position, and flight end position.

The flight path management server 100 can calculate the flight path from the flight start position to the flight end position of the air vehicle 110 based on a plurality of cells not occupied by other air vehicles. Here, the flight path may be a path to which at least one of the plurality of cells is connected, and may be a path calculated so that only one airplane will fly in each cell for a predetermined time.

The flight path management server 100 can transmit information about the calculated flight path to the air vehicle 110. [

The flight body 110 may transmit a flight path setting request to the flight path management server 100. [

The flight body 110 performs the flight based on the information about the flight path received from the flight path management server 100 and transmits the position of the flight body 110 to the flight path management server 100 during the flight .

Generally, the components of the routing system of the vehicle of FIG. 1 are connected through a network 120. The network refers to a connection structure in which information can be exchanged between each node such as terminals and servers. Examples of such a network include a 3rd Generation Partnership Project (3GPP), a Long Term Evolution (LTE), a WIMAX World Interoperability for Microwave Access, Wi-Fi, 3G, 4G, and 5G.

Hereinafter, the operation of each component of the route setting system of the flight of FIG. 1 will be described in more detail.

FIG. 2 is a block diagram of the flight path management server 100 shown in FIG. 1, according to an embodiment of the present invention.

Referring to FIG. 2, the flight path management server 100 may include a cell information management module 200, a communication module 210, a flight path calculation module 220, and a DB 230. However, the flight path management server 100 shown in FIG. 2 is only one embodiment of the present invention, and various modifications are possible based on the components shown in FIG.

The cell information management module 200 can manage information on a predetermined flight space including a plurality of layers. Here, each layer may include a plurality of cells. Here, the information on the flight space may include at least one of information on a time interval allocated to each of the cells in the flight path and current occupancy information of each cell.

The cell information management module 200 allocates a flight time interval to each cell based on the flight start time at which the airplane 110 is flying with respect to each of the selected cells as the flight path of the airplane 110, The occupancy information of the selected cell according to the interval can be managed.

In this regard, referring to FIG. 3, a brief description will be given of the predetermined flying space.

3 is a diagram illustrating a flight space including a plurality of layers and a plurality of cells according to an embodiment of the present invention.

Referring to FIG. 3, the cell information management module 200 can divide and manage the upper part of a specific area into a plurality of layers and a plurality of cells included in each layer.

For example, the cell information management module 200 manages the selected layer information, the selected cell information, the information on the time period allocated to each selected cell, the current occupancy information of each cell, and the like, can do.

For example, when a flight object requests a flight path from the departure cell 300 to the arrival cell 301, the cell information management module 200 may determine a flight path from the departure cell 300 to the arrival cell 301, The shortest flight path can be selected from among the routes, and the layer and cell information included in the selected flight path can be managed. At this time, each cell selected as the flight path can be composed of cells that are not occupied by other vehicles at the time of flight of the air vehicle in each cell.

Referring again to FIG. 2, the communication module 210 can communicate with at least one air vehicle 110. For example, the communication module 210 may receive a flight path setting request from at least one air vehicle 110. [ Here, the flight path setting request may include at least one of information about the air vehicle 110 (for example, an identification number of a flying object, etc.), a flight start time, a flight start position and a flight end position.

Also, the communication module 210 may communicate with a base station installed in each cell.

The flight path calculation module 220 can calculate the flight path of the air vehicle 110 based on the information about the air space. Here, the flight path may be a path to which at least one of the plurality of cells is connected. In addition, each cell included in the flight path can be calculated so that only one airplane can fly for a predetermined time.

For example, the flight path calculation module 220 may calculate, based on the information on the flight space, only the cells whose occupancy information is "unoccupied" at the time when the flight body 110 is flying each cell from the flight start time The flight path of the air vehicle 110 can be calculated.

The flight path calculation module 220 can calculate a plurality of paths from the flight start position to the flight end position at the flight start time based on the information about the time period allocated to each flight path of each cell.

For example, the flight path calculation module 220 calculates a plurality of flight paths from the flight start position to the flight end position on the basis of the flight start time of the air vehicle 110, avoiding the time period allocated to the flight path of each occupied cell The path can be calculated.

The flight path calculation module 220 can select the shortest path among the plurality of routes using the Dijkstra Algorithm or the Aster Algorithm.

Specifically, the flight path calculation module 220 maps each cell to a node in order to calculate a plurality of paths, and calculates a state of the node based on information about a time interval allocated to each of the cells It is possible to set the occupied or nonpointed flow rate by time.

In addition, the flight path calculation module 220 can construct a spanning tree for a node set to non-point flow based on the state of the node set by time, and calculate a plurality of routes.

The flight path calculation module 220 can set a flight path including information about a gate to which the air vehicle 110 moves when the inter-cell movement of the air vehicle 110 is performed. Here, the boundary between each cell can be divided into a plurality of gates.

In this regard, a method of establishing a non-colliding flight path between cells will be briefly described with reference to FIG. 4, and a method of entering between cells will be described briefly with reference to FIG.

4 is a diagram for explaining a method of setting a non-collision flight path between cells according to an embodiment of the present invention.

Referring to FIG. 4, in order to guarantee collision between cells, a border between adjacent cells may be divided into a plurality of intervals of a predetermined range, and a layer gate may be allocated to each layer moving in each cell.

In addition, since a gate (an exit gate) and an incoming gate (an entrance gate) are required to be centered on one cell, the boundary line of one cell is divided into an entrance gate and an exit gate, You can assign a layer gate.

For example, if there are five layers, the exit gates 400-404 may include five layer gates 400-404 based on cell A. In addition, based on cell A, the entrance gates 405 to 409 may include five layer gates 405 to 409.

Also, based on cell B, the ingress gates 400-404 may include five layer gates 400-404. Further, the exit gates 405 to 409, based on the cell A, may include five layer gates 405 to 409.

In a flight space composed of a plurality of layers, when the air vehicle 110 moves between adjacent two cells, the principle of the right or left gate based on the departure cell can be established to prevent collision between the air vehicles.

When the flying object 110 moves between adjacent two cells existing on the same layer, the flight path management server 100 can set the traveling direction to be constant. For example, when the air vehicle 110 moves from the cell A existing in the layer 1 to the cell B of the same layer, the air vehicle 110 moves to the right side of the air vehicle 110, When the airplane 110 moves from the cell B to the cell A, the airplane 110 uses the first gate 405 of the inlet gate, in principle, on the left side of the airplane 110 .

When the flying object 110 moves between different layers, the flight path management server 100 can set the flying object 110 to move through the gate corresponding to the number of the layer to which the destination cell belongs. According to the principle that there should be only one flying object occupying one cell at a specific time, the path can be set so that there is only one flying object to the destination cell. For example, when the air vehicle 110 starts from the cell A of the layer 2 and moves to the cell B of the layer 4, the flight path management server 100 judges that the air vehicle 110 is in the fourth gate 403 of the exit gate, As shown in FIG.

The gate setting method described with reference to FIG. 4 is only an embodiment of the present invention. For example, each gate setting method may be set according to a predetermined reference as described above, and may be changed in real time based on the flight space information when describing the flight path.

FIG. 5 is a diagram for explaining a method of inter-cell entry according to an embodiment of the present invention.

Referring to FIG. 5, the flight path management server 100 may calculate an entry distance 504 between cells. When the layer 502 to which the cell 500 currently occupied by the flight member belongs is different from the layer 503 to which the cell 501 to be moved next belongs, (504) is required.

This entry distance 504 can be calculated using the maximum speed of the air vehicle and the height of the layer. That is, it can be an entry distance d = f (maximum speed of a flight, layer height).

Here, the height of the layer can be defined by a function using the average weather condition (for example, wind direction, wind speed, temperature, etc.) of the flying area and the ability of the flying objects to maintain stable flying height as factors. In addition, the height of the layer should be at least twice the average horizontal flight height error range of the flying objects to avoid the risk of collision between normal flying objects in neighboring layers.

Referring again to FIG. 2, the communication module 210 may transmit information regarding the flight path calculated by the flight path calculation module 220 to the air vehicle 110. In this case, each cell included in the flight path transmitted to the air vehicle 110 may be a shortest path made up of cells not occupied by other air vehicles at the time the air vehicle 110 is flying.

The communication module 210 transmits the position of the flying object 110 to the flight path where the flying object 110 moves from the flying start position of the flying object 110 to the flying end position from the flying start time of the flying object 110, As shown in Fig. At this time, the position of the air vehicle 110 may include the layer and cell information on which the air vehicle 110 is positioned.

The cell information management module 200 can update the occupancy information of each cell based on the position of the air object 110 received from the air vehicle 110 or the base station installed in each cell.

For example, the cell information management module 200 can update a cell set in the occupied state of each cell to a non-occupied state after the air vehicle 110 completes the flight of each cell.

DB 230 stores input and output data between respective components in the flight path management server 100 and inputs the input and output data between components of the flight path management server 100 and outside the flight path management server 100 And the output data. For example, the DB 230 may store information about a predetermined flying space. Also, the DB 230 can store the occupancy information table of the cell of each flight of the air vehicle. One example of such a DB 230 includes a hard disk drive, a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, and a memory card existing in the flight path management server 100 or the like.

Those skilled in the art will recognize that the cell information management module 200, the communication module 210, the flight path calculation module 220, and the DB 230 may be separately implemented, or at least one of the cell information management module 200, the communication module 210, I will fully understand.

6 is a diagram illustrating an information management table for a flight space according to an embodiment of the present invention.

Referring to FIG. 6, the information management table 600 for a flight space may store occupancy information of a time-based cell for each of a plurality of cells allocated to a flight path of a flight. The information management table 600 for the flight space may include information on a time interval allocated to the selected path as a flight path.

For example, when the flight start position of the air vehicle 110 is the first cell, the flight end position is the sixth cell, and the first cell, the second cell, the fifth cell, and When the sixth cell is calculated, the flight path management server 100 allocates a time interval of flight for each cell based on the speed of the air vehicle 110, and sets the cell state of the time interval of the corresponding flight to the occupancy state have.

In addition, the flight path management server 100 can update the occupied state of each cell allocated as the flight path to the non-occupied state when the air vehicle 110 completes the flight of each cell.

The flight path management server 100 may calculate the flight path based on the information management table 600 for the flight space.

FIG. 7 is a flowchart illustrating a route setting method according to an exemplary embodiment of the present invention. Referring to FIG.

The route setting method of the air vehicle 110 according to the embodiment shown in FIG. 7 is the same as the route setting method of the flight path management server 100 and the air vehicle 110 according to the embodiment shown in FIGS. 1 to 6 . Therefore, even if the contents are omitted in the following description, the contents described with respect to the flight path management server 100 and the flight body 110 of FIGS. 1 to 6 are also included in the path setting method of the flight body 110 according to the embodiment shown in FIG. 7 Can be applied.

Referring to FIG. 7, in step S701, the flight path management server 100 may monitor information on a predetermined flight space including a plurality of layers. Here, each of the plurality of layers may include a plurality of cells. Each layer can be composed of a plurality of layers with a predetermined range of flight space. Here, the information on the flight space may include at least one of information on a time interval allocated to each of the cells in the flight path and current occupancy information of each cell. Here, in each cell, a boundary between cells may be divided into a plurality of gates.

In step S703, the flight path management server 100 may receive a flight path setting request from at least one air vehicle 110. [ Here, the flight path setting request may include at least one of the information about the flying object 110, the flight start time, the flight start position, and the flight end position.

In step S705, the flight path management server 100 may calculate the flight path of the air vehicle 110 based on the information on the air space and the request for setting the air path. Here, the flight path may be a path to which at least one of the plurality of cells is connected, and may be a path calculated so that only one airplane will fly in each cell for a predetermined time. In addition, the flight path may include information about a gate through which the air vehicle 110 is to pass when moving between cells.

In step S707, the flight path management server 100 may transmit the information on the flight path calculated in step S705 to at least one air vehicle 110. [

Although not shown in FIG. 7, the flight path management server 100 receives the position of the air vehicle 110 from the air vehicle 110, and updates the occupancy information of each of the cells based on the position of the air vehicle 110.

Although not shown in FIG. 7, in step S705, the flight path management server 100 determines, based on the information on the time period allocated to each flight path, The path can be calculated. In addition, the flight path management server 100 can select the shortest path among the plurality of calculated paths. Here, the shortest path can be selected based on the Multi-Extra algorithm or the Easter algorithm.

Although not shown in FIG. 7, in step S705, the flight path management server 100 maps each cell to a node, and each cell occupies the state of the node over time based on information about a time interval allocated to the flight path The boiling point can be set. In addition, the flight path management server 100 may configure a spanning tree on a node set to non-point flow based on the state of the node set by time.

In the above description, steps S701 to S707 may be further divided into additional steps or combined into fewer steps, according to an embodiment of the present invention. Also, some of the steps may be omitted as necessary, and the order between the steps may be changed.

An embodiment of the present invention may also be embodied in the form of a program stored on a medium executed by a computer or a recording medium including instructions executable by the computer.

Computer readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media. In addition, the computer-readable medium may include both computer storage media and communication media. Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Communication media typically includes any information delivery media, including computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, or other transport mechanism.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

It is intended that the present invention covers the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. .

100: Flight path management server
110: Aircraft

Claims (18)

A method of routing a flight in a flight path management server,
Monitoring information on a predetermined flying space including a plurality of layers, each layer including a plurality of cells;
Receiving a flight path setting request from at least one air vehicle;
Calculating a flight path of the airplane based on the information about the airplane and the request for setting the airplane route;
Transmitting information on the calculated flight path to the at least one air vehicle
, ≪ / RTI &
Wherein the flight path is a path to which at least one of the plurality of cells is connected, and is calculated so that only one airplane will fly in each cell for a predetermined time.
The method according to claim 1,
Wherein the information on the flight space includes at least one of information on a time interval allocated to each of the cells in the flight path and current occupancy information of each cell.
3. The method of claim 2,
Receiving a position of the air vehicle from the air vehicle;
Updating the occupancy information of each cell based on the position of the air vehicle
Further comprising the steps of:
The method according to claim 1,
Wherein each of the layers divides the flight space into a plurality of layers at intervals of a predetermined range.
3. The method of claim 2,
Wherein the flight path setting request includes at least one of information on the airplane, a flight start time, a flight start position, and a flight end position.
6. The method of claim 5,
The step of calculating the flight path includes:
Calculating a plurality of paths from the flight start position to the flight end position at the flight start time based on information about a time period assigned to each of the cells in the flight path; And
Selecting a shortest path among the plurality of paths
Wherein the flight path setting method comprises:
The method according to claim 6,
Wherein the calculating the plurality of paths comprises:
Mapping each cell to a node;
Setting a status of the node to occupied or nonpoint-pointed time intervals based on information on a time interval allocated to each of the cells in the flight path; And
A step of constructing a spanning tree on a node set to a non-point channel based on the state of the node set in the time step
Wherein the flight path setting method comprises:
The method according to claim 6,
Wherein the shortest path is selected based on a Dijkstra Algorithm or an A * Algorithm.
The method according to claim 1,
In each of the cells, a boundary between the cells is divided into a plurality of gates,
Wherein the flight path includes information about a gate through which the airplane will pass when moving between cells.
1. A flight path management server for setting a route of a flight,
A cell information management module that manages information on a predetermined flying space including a plurality of layers, each layer including a plurality of cells;
A communication module for communicating with at least one air vehicle; And
A flight path calculation module for calculating a flight path of the airplane based on the information about the flight space,
≪ / RTI >
Wherein the flight path is a path to which at least one of the plurality of cells is connected and is calculated such that only one airplane is allowed to fly in each cell for a predetermined time.
11. The method of claim 10,
Wherein the communication module receives a flight path setting request from at least one air vehicle,
Wherein the information about the calculated flight path is transmitted to the at least one flight vehicle.
12. The method of claim 11,
Wherein the information on the flight space includes at least one of information on a time interval allocated to each of the cells in the flight path and current occupancy information of each cell.
13. The method of claim 12,
The communication module receives the position of the air vehicle from the air vehicle,
Wherein the cell information management module updates the occupancy information of each cell based on the position of the flying object.
13. The method of claim 12,
Wherein the flight path setting request includes at least one of information on the airplane, a start time of flight, a start position of flight, and a flight end position.
15. The method of claim 14,
The flight path calculation module includes:
Calculating a plurality of paths from the flight start position to the flight end position at the start time of flight based on information about a time period assigned to each of the cells in the flight path,
And selects the shortest path among the plurality of routes.
16. The method of claim 15,
Wherein the shortest path is selected based on a Dijkstra Algorithm or an A * Algorithm.
11. The method of claim 10,
In each of the cells, a boundary between the cells is divided into a plurality of gates,
Wherein the flight path includes information on a gate to which the airplane will move when moving between cells.
A system for setting a path of a flight,
Flight path management server; And
At least one air vehicle
, ≪ / RTI &
Wherein the flight path management server comprises:
A method of monitoring information on a predetermined flying space including a plurality of layers, wherein each layer includes a plurality of cells,
Calculating a flight path of the airplane based on the information about the airplane and a request for setting a flight path received from the at least one airplane,
And to transmit information about the calculated flight path to the at least one air vehicle,
Wherein the at least one air vehicle comprises:
Transmits a flight path setting request to the flight path management server,
Performing a flight based on the flight path,
And to transmit the position of the at least one flying object to the flight path management server during the flight,
Wherein the flight path is a path to which at least one of the plurality of cells is connected and is calculated such that only one air vehicle is flown to each cell for a predetermined time.

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