KR20180026883A - Path guidance system of unmanned aerial vehicle using weather information, method thereof and computer readable medium having computer program recorded thereon - Google Patents

Abstract

The present invention discloses a system for guiding a path of an unmanned flight vehicle using weather information, a method thereof, and a recording medium where a computer program is recorded. The system for guiding a path of an unmanned flight vehicle: determines the flight of an unmanned flight vehicle by using weather information from a plurality of densely placed weather stations, observed in real time based on a base station that exists between a departure point and a destination of an unmanned flight vehicle; provides an optimum path corresponding to a valid shortest time path or an optimum fuel consumption path for a plurality of operable paths when the flight of the unmanned vehicle is determined; and re-searches a flight path or searches a returning path when a real-time observation value in a flight scheduled path exceeds a preset reference value for a fixed time during a flight, or when new strong wind, rainfall, or lightning is observed in the flight scheduled path, or when continuous flight is determined to be difficult through sensors, etc. mounted in the unmanned flight vehicle. Therefore, the system for guiding a path of an unmanned flight vehicle by using weather information is able to accurately determine the flight of an unmanned flight vehicle and is able to select a path for an economical and stable flight.

Description

[0001] The present invention relates to a route guidance system for an unmanned aerial vehicle using weather information, a method thereof, and a recording medium on which a computer program is recorded.

The present invention relates to a route guidance system for an unmanned aerial vehicle using meteorological information, a method thereof, and a recording medium on which a computer program is recorded. More particularly, Determines whether to operate the unmanned aerial vehicle using the weather information of the observation station, and provides an optimal route corresponding to the effective shortest time path or optimum fuel consumption route for a plurality of routes that can be operated when the operation for the unmanned air vehicle is determined , When the real-time observation value on the operation scheduled route during the operation exceeds a preset reference value for a predetermined time or a new strong wind, precipitation or lightning is observed on the scheduled operation route, or it is judged that continuous operation is difficult through the sensors mounted on the unmanned aerial vehicle , Navigate the navigation path, or Relates to an unmanned air vehicle is of a color using the weather information for route guidance system, the method and computer program recording medium.

Small unmanned aerial vehicles are used in various fields such as traffic control, video shooting, reconnaissance missions, and fire surveillance. With the development of processors, sensors and communication technologies, performance and functions have been improved, and as they have become smaller and more cost-effective, they have expanded their presence in various fields and will accelerate in the future.

These small unmanned aerial vehicles (UAVs) use the meteorological information of the flight area to determine the shortest flight route considering the obstacles between the departure point and the destination, so that the local weather information such as strong wind, rainfall, There is a risk of loss or fall if the battery or fuel consumption increases or the control of the unmanned aerial vehicle becomes difficult or severe in operation.

Korean Patent Laid-Open No. 10-2015-0033792 [titled: Method of providing dynamic route using weather information, system and apparatus therefor]

An object of the present invention is to determine whether to operate an unmanned aerial vehicle by using meteorological information of a plurality of dense meteorological stations observed in real time based on a base station existing between a source and a destination of the unmanned aerial vehicle, The present invention provides a route guidance system for an unmanned aerial vehicle using meteorological information providing an optimum route corresponding to an effective shortest time path or an optimal fuel consumption route for a plurality of possible routes, There is.

Another object of the present invention is to provide a navigation system and a navigation system capable of real time observation of a real-time observation value on a navigation scheduled route during operation, A route guidance system for an unmanned aerial vehicle using weather information for searching for a navigation route or searching for a return route when it is judged difficult, and a recording medium on which a computer program is recorded.

According to an embodiment of the present invention, there is provided a route guidance method of an unmanned aerial vehicle using weather information, the method comprising: generating position information of a moving unmanned aerial vehicle along a navigation route from a start point to a destination; Measuring an observed value of an area where the unmanned aerial vehicle is located by the sensor unit; Confirming whether or not an emergency event has occurred based on the generated position information of the unmanned air vehicle and the measured observation value by the control unit; The control unit may be further configured to, when it is determined that the emergency event has occurred, based on the plurality of additional weather information for each observation station provided from the server, the position information of the unmanned air vehicle, the measured observation value, Re-searching the navigation route; And moving the unmanned aerial vehicle along the rediscovered navigation route by the control unit through at least one of attitude control and position control of the unmanned air vehicle.

As an example related to the present invention, a navigation route that is searched from a departure place to a destination includes a plurality of weather information measured at a plurality of observation stations located within a predetermined radius based on a shortest path from a departure place to a destination, ; Determining by the control unit whether or not to operate from the departure point to the destination based on the received plurality of weather information; And searching the navigation route from the origin to the destination based on the one or more safe routes that can be operated by the control unit when the navigation is determined to be one or more safe routes that can be operated from the origin to the destination Lt; / RTI >

According to an embodiment of the present invention, in the step of determining whether or not to operate the air conditioner, the control unit controls the air conditioner to select an avoidance path from a plurality of routes from a source to a destination, based on a plurality of weather information on a plurality of routes from the source to the destination Removal process; Determining, by the control unit, the remaining one or more paths as a safe path when a remaining path exists after removing the avoidance path from the plurality of paths; Determining, by the control unit, a state in which operation to the unmanned aerial flight is possible when there is one or more safe routes from the source to the destination; And determining, by the control unit, that the unmanned aerial vehicle can not be operated when at least one safe route that can be operated from the source to the destination does not exist.

As an example related to the present invention, the avoidance path may be a route in which a wind speed included in weather information for each station among a plurality of routes from a source to a destination exceeds a predetermined wind speed threshold value, a route corresponding to the weather information A route corresponding to the weather information in which the current lightning stroke is observed, a route corresponding to a current lightning stroke, a route corresponding to the current lightning stroke, A path where the wind speed exceeds the wind speed threshold value, a path where the rainfall forecast information included in the forecast information exceeds a predetermined rainfall threshold value, and a path where the lightning stroke occurrence information included in the forecast information exceeds a preset threshold Path < / RTI >

In one embodiment of the present invention, the step of searching for a navigation route from the starting point to the destination includes: calculating a total effective time for each of the at least one safe route by the control unit; And a step of selecting, by the control unit, a path from a starting point to a destination corresponding to the shortest time among the calculated total effective time by path as a final operating path.

In one embodiment of the present invention, the step of searching for a navigation route from the start point to the destination includes: calculating a fuel consumption amount per route for the at least one safe route that can be operated by the control unit; And a step of selecting, by the control unit, the route from the starting point to the destination, which consumes the least fuel among the calculated fuel consumption amount per route, as the final operating route.

As an example related to the present invention, the observed value may include at least one of the humidity, the temperature, the wind direction, the wind speed, the occurrence of rainfall, the occurrence of a lightning stroke, and the remaining amount or state of the fuel storage unit or the battery provided in the unmanned air vehicle And may include at least one.

As an example related to the present invention, the emergency event may be an event in which the wind speed included in the observed value exceeds a predetermined wind speed threshold value, rain occurs, a lightning stroke occurs, The remaining amount or the state of which can not be operated from the current location of the unmanned aerial vehicle to the destination.

As an example related to the present invention, the step of re-searching the navigation route may include: when the emergency event occurs, the control unit causes the plurality of additional weather information for each observation station, the position information of the generated unmanned air vehicle Reconfirming at least one safe route that can be operated from the current position of the unmanned air vehicle to the destination based on the measured value and the destination information; And searching the navigation path from the current position of the unmanned air vehicle to the destination based on one or more safe routes that can be operated from the current position of the unmanned air vehicle to the destination by the control unit.

As an example related to the present invention, when the emergency event occurs or the navigation route is rediscovered, the destination arrives based on the current position of the unmanned air vehicle based on the measured observation value, Identifying at least one observing station among the at least one safe path that can be operated from the current position of the unmanned aerial vehicle when it is determined to be difficult, the observing station having the minimum actual fuel consumption, the observing station having the shortest distance, and the observing station having the minimum passing route; Updating, by the control unit, a toll path to be turned to the confirmed observing station; And moving the unmanned aerial vehicle along the updated to-be-traveled path through at least one of attitude control and position control of the unmanned air vehicle by the control unit.

A computer program for carrying out the method according to the above-described embodiment may be stored in the recording medium on which the computer program according to the embodiment of the present invention is recorded.

A navigation system for an unmanned aerial vehicle using meteorological information according to an embodiment of the present invention includes a GPS receiver for generating location information of a moving unmanned aerial vehicle along a navigation route from a start location to a destination location; A sensor unit for measuring an observation value of an area where the unmanned aerial vehicle is located; And a controller for confirming whether or not an emergency event has occurred based on the position information of the unmanned air vehicle and the measured observation value, and when the emergency event occurs, a plurality of additional weather information Searching the navigation route based on the generated position information of the unmanned air vehicle, the measured value, and the destination information, and controlling at least one of the attitude control and the position control of the unmanned air vehicle, And a control unit for moving the unmanned aerial vehicle along the route.

As an example related to the present invention, when the emergency event occurs as a result of the checking, the control unit causes the control unit to calculate a plurality of additional weather information for each observation station, position information of the generated unmanned air vehicle, Wherein the unmanned aerial vehicle includes at least one safe route that can be operated from the current location of the unmanned air vehicle to the destination based on the destination information and the at least one safe route that can be operated from the current position of the unmanned air vehicle to the destination, The navigation path from the current position to the destination can be searched again.

As an example related to the present invention, when the emergency event occurs or when the navigation route is re-searched, it is difficult to arrive at the destination based on the current position of the unmanned air vehicle based on the measured observation value When it is judged that at least one of the at least one safe route that can be operated from the current position of the unmanned aerial vehicle is located, an observation station having a minimum fuel consumption, an observing station having the shortest distance and an observing station having the minimum passing route, , And can move the unmanned aerial vehicle along the updated toll path through at least one of attitude control and position control of the unmanned aerial vehicle.

The present invention determines whether or not an unmanned aerial vehicle is operated using meteorological information of a plurality of dense meteorological observations observed in real time based on a base station existing between a source and a destination of the unmanned aerial vehicle, It is possible to precisely determine whether the unmanned aerial vehicle is operated or not by providing an optimum route corresponding to an effective shortest time path or an optimal fuel consumption route for a plurality of possible routes and to select a route for an economical and stable operation .

In addition, the present invention can be applied to a case where a real time observation value on a navigation scheduled route during operation is exceeded by a preset reference value for a predetermined time or a new strong wind, precipitation or lightning is observed on a scheduled navigation route, If it is judged to be difficult, it is possible to minimize the hand loss of the unmanned aerial vehicle due to weather deterioration, unexpected situation, urgent situation, etc. by searching the navigation route or searching the return route.

1 is a block diagram illustrating a configuration of a route guidance system for an unmanned aerial vehicle using weather information according to an embodiment of the present invention.
2 is a block diagram illustrating a configuration of an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 3 and FIG. 4 illustrate an example for path search of an unmanned aerial vehicle according to an embodiment of the present invention.
5 is a flowchart illustrating a route guidance method of an unmanned aerial vehicle using weather information according to an embodiment of the present invention.
6 is a diagram illustrating an example of path search for an unmanned aerial vehicle according to an embodiment of the present invention.

It is noted that the technical terms used in the present invention are used only to describe specific embodiments and are not intended to limit the present invention. In addition, the technical terms used in the present invention should be construed in a sense generally understood by a person having ordinary skill in the art to which the present invention belongs, unless otherwise defined in the present invention, Should not be construed to mean, or be interpreted in an excessively reduced sense. In addition, when a technical term used in the present invention is an erroneous technical term that does not accurately express the concept of the present invention, it should be understood that technical terms that can be understood by a person skilled in the art can be properly understood. In addition, the general terms used in the present invention should be interpreted according to a predefined or prior context, and should not be construed as being excessively reduced.

Furthermore, the singular expressions used in the present invention include plural expressions unless the context clearly dictates otherwise. The term "comprising" or "comprising" or the like in the present invention should not be construed as necessarily including the various elements or steps described in the invention, Or may further include additional components or steps.

Furthermore, terms including ordinals such as first, second, etc. used in the present invention can be used to describe elements, but the elements should not be limited by terms. Terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or similar elements throughout the several views, and redundant description thereof will be omitted.

In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. It is to be noted that the accompanying drawings are only for the purpose of facilitating understanding of the present invention, and should not be construed as limiting the scope of the present invention with reference to the accompanying drawings.

1 is a block diagram showing a configuration of a route guidance system 10 for an unmanned aerial vehicle using weather information according to an embodiment of the present invention.

As shown in FIG. 1, a route guidance system 10 for an unmanned aerial vehicle using weather information includes an observation station 100, a server 200, and an unmanned aerial vehicle 300. All of the components of the route guidance system 10 of the unmanned aerial vehicle shown in FIG. 1 are not essential components, and the route guidance system 10 of the unmanned aerial vehicle is implemented by more components than the components shown in FIG. Or the route guidance system 10 of the unmanned aerial vehicle may be implemented by a lesser number of components.

The unmanned aerial vehicle 300 determines whether or not to operate (or not) based on a plurality of weather information measured at a plurality of observation stations 100 located within a preset radius based on the shortest path from the origin to the destination instead of the wide- do. When the navigation is determined, the unmanned aerial vehicle 300 calculates the total effective time and / or the fuel consumption amount per route for the plurality of safety routes determined from the plurality of navigation routes from the origin to the destination, The final route is selected based on the total effective time by route and / or fuel consumption by route. Thereafter, the unmanned aerial vehicle 300 travels along the selected final navigation route. When a preset emergency event occurs based on the current position of the unmanned object 300 and observation values measured through the unmanned object 300 while the unmanned air vehicle 300 moves along the final navigation path, The navigation system 300 re-searches a new navigation route based on a plurality of additional weather information newly provided from the server 300, the current position of the unmanned air navigation system 300, observation values, and the like, do.

The station 100 may be a base station having communication facilities installed therein.

In addition, the observatory 100 includes various weather sensors (not shown) for measuring (or collecting) weather information. Here, the weather information includes information such as wind direction, wind speed, rainfall, occurrence of a lightning stroke, and measurement time information.

In addition, the observing station 100 measures (or collects) weather information of the area where the observing station 100 is located.

In addition, the observatory 100 transmits the measured (or collected) weather information to the server 200 and / or the unmanned air vehicle 300. At this time, the weather information may further include location information (for example, latitude, longitude, etc.) of the area where the observation station 100 is located.

The server 200 communicates with one or more stations 100, one or more unmanned aerial vehicles 300, and the like.

In addition, the server 200 receives a plurality of weather information transmitted from one or more stations 100, respectively. At this time, the server 200 receives the weather information transmitted from the corresponding observation station 100 at predetermined time intervals, or receives the weather information transmitted from the specific observation station 100 in response to the weather information transmission request of the server 200 can do.

In addition, the server 200 receives unique identification information, departure location information, destination information, and the like of the unmanned aerial vehicle 300 transmitted from the unmanned air vehicle 300.

The server 200 may further include a plurality of weather information (or more than one weather information) corresponding to the departure location information and the destination information among the weather information for each of the plurality of observation stations stored in advance in the server 200 based on the received source information and the destination information, To the corresponding unmanned aerial vehicle (300).

That is, the server 200 selects a plurality of weather information of the plurality of stations, which are stored in advance in the server 200 based on the received source information and the destination information, based on the shortest path from the source to the destination And transmits a plurality of weather information collected at the observation station 100 to the unmanned aerial vehicle 300.

In addition, the server 200 may acquire an observation value measured during operation of the unmanned aerial vehicle 300 transmitted from the unmanned aerial vehicle 300, position information of the unmanned air vehicle 300, a final navigation route (for example, Way route / intermediate route, etc.).

In addition, the server 200 determines whether or not to search the navigation path of the unmanned air vehicle 300 based on the weather information updated in real time, the observed value, the location information of the unmanned air vehicle 300,

That is, the server 200 determines whether the time when the real-time observation value of the unmanned aerial vehicle 300 exceeds the predetermined threshold value for a predetermined time or longer during the operation of the unmanned air vehicle 300, whether the observed / estimated route is included in the final navigation route .

When it is determined that the navigation path search of the unmanned air vehicle 300 is determined as a result of the determination, the server 200 transmits the weather information updated in real time, the observed value, the location information of the unmanned air vehicle 300, Based on this, the final navigation route is searched again.

For example, when the real-time observation value of the unmanned aerial vehicle 300 exceeds a predetermined threshold value for a certain period of time or longer, the server 200 may update the weather information, the observed value, the unmanned air vehicle 300), the final navigation route, and the like.

For example, when the path that predicts the occurrence of precipitation is included in the final navigation route based on the weather information that is updated in real time, the server 200 stores the weather information updated in real time, the observed value, the unmanned air vehicle 300 ), The final navigation route, and the like.

In addition, the server 200 transmits the redirected navigation route, weather information updated in real time, and the like to the unmanned aerial vehicle 300.

If the plurality of unmanned aerial vehicles 300 are in operation in the case of an emergency evacuation such as an abnormal climate, a mild climate, or a need for charging, the server 200 may transmit the unmanned air vehicles 300 The priority based on the current state of the unmanned aerial vehicle 300 (for example, the remaining battery level, immersion status of the unmanned aerial vehicle 300 by moisture measurement, difficulty in attitude control, weather condition of the corresponding local area, It is possible to control the landing path update to be performed in consideration of the reception allowance situation information of the air vehicle 300 and the distance between the unmanned air vehicle 300 and the landing area.

2, the unmanned air vehicle (or drone) 300 includes a communication unit 310, a GPS receiver 320, a sensor unit 330, a storage unit 340, a display unit 350, and a control unit 360. [ . All of the components of the unmanned aerial vehicle 300 shown in Fig. 2 are not essential components, and the unmanned aerial vehicle 300 may be implemented by more components than the components shown in Fig. 2, The unmanned aerial vehicle 300 may be implemented.

The communication unit 310 communicates with at least one external terminal or any internal component via a wired / wireless communication network. At this time, an external arbitrary terminal may include an observation station 100, a server 200, and the like. Here, the wireless Internet technology includes a wireless LAN (WLAN), a digital living network alliance (DLNA), a wireless broadband (Wibro), a world interoperability for a microwave (WiMAX), a high speed downlink packet access ), HSUPA (High Speed Uplink Packet Access), IEEE 802.16, Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), Wireless Mobile Broadband Service (WMBS) And the communication unit 310 transmits and receives data according to at least one wireless Internet technology in a range including internet technologies not listed above. Near field communication technologies may include Bluetooth, RFID, IrDA, UWB, ZigBee, NFC, Ultrasound (USC), Visible Light (VLC), WiFi and WiFi Direct. have. The wired communication technology may include a power line communication (PLC), a USB communication, an Ethernet, a serial communication, an optical / coaxial cable, and the like.

In addition, the communication unit 310 can transmit information to and from an arbitrary terminal through a universal serial bus (USB).

In addition, the communication unit 310 may be a mobile communication system, such as a mobile communication system, a mobile communication system, a mobile communication system, a mobile communication system, a mobile communication system, (Wideband CDMA), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only) The station 100, the server 200, and the like on a mobile communication network constructed in accordance with a long term evolution (e. G., Long Term Evolution-Advanced)

The communication unit 310 is connected to the communication unit 310 under the control of the control unit 360. The communication unit 310 receives a plurality of weather events measured at a plurality of observation stations 100 located within a predetermined radius based on the shortest path from the source to the destination, Information is received. Here, the weather information includes information such as location information (for example, latitude, longitude, etc.) of the observing station 100, wind direction, wind speed, rainfall, occurrence of a lightning stroke, and measurement time information.

In addition, the communication unit 310 may receive weather information transmitted by individual observation stations 100, respectively.

Under the control of the control unit 360, the communication unit 310 transmits real-time current position information (for example, latitude information and hardness information at the current position, etc.) of the corresponding unmanned aerial vehicle 300 generated through the GPS receiver 320 , Various observation values measured through the sensor unit 330, final flight information generated (or searched) by the control unit 360, unique identification information of the unmanned air vehicle 300, and the like to the server 200 do.

The GPS receiver 320 receives the GPS signals transmitted from the satellites and generates (generates / confirms) the position data of the unmanned object 300 in real time based on the longitude coordinates and the latitude coordinates included in the received GPS signals . Here, the generated position data is defined as the current position (or current position data) of the UAV 300. Here, not only the GPS receiver but also location information may be received through Wi-Fi or Wibro communication.

The signals received through the GPS receiver 320 include 802.11, a standard for a wireless network for a wireless LAN including a wireless LAN and some infrared communication proposed by the Institute of Electrical and Electronics Engineers (IEEE), Bluetooth, UWB , A wireless metropolitan area network (MAN) including Broadband Wireless Access (FWA) and the like, 802.15 standard specification for a wireless personal area network (PAN) including a ZigBee, (Wireless Broadband Wireless Access (MBWA) including 802.16, Wibro, and WiMAX), which is a standard for the mobile Internet, such as 802.20, The location information of the terminal may be provided to the unmanned aerial vehicle 300 using the map information.

The sensor unit 330 includes various weather sensors (not shown) for measuring humidity, temperature, occurrence of rainfall, occurrence of lightning, and the like.

The sensor unit 330 measures (or collects) the observation values including the humidity, the temperature, the wind direction, the wind speed, the occurrence of rainfall, and the occurrence of the lightning strike in the area (or area) where the unmanned aerial vehicle 300 is located .

The sensor unit 330 measures the remaining amount (or state) of the fuel storage unit (or battery) (not shown) provided in the unmanned aerial vehicle 300.

The storage unit 340 stores data and programs necessary for the operation of the route guidance system 10 of the unmanned aerial vehicle.

That is, the storage unit 340 stores a plurality of application programs (application programs or applications) driven by the navigation system 10 of the unmanned aerial vehicle, data for operation of the navigation system 10 of the unmanned air vehicle, . At least some of these application programs may be downloaded from the external service providing device via wireless communication. The application program is stored in the storage unit 340 and installed in the route guidance system 10 of the unmanned aerial vehicle to perform the operation (or function) of the route guidance system 10 of the unmanned air vehicle by the control unit 360 .

The storage unit 340 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory A random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a PROM (Programmable Read-Only Memory). In addition, the navigation system 10 of the unmanned aerial vehicle may operate a web storage for performing a storage function of the storage unit 340 on the Internet, or may operate in connection with web storage.

The storage unit 340 also stores a plurality of weather information for each observation station received through the communication unit 310 under the control of the controller 360. [

The storage unit 340 stores position information of the unmanned air vehicle 300 generated through the GPS receiver 320 under the control of the controller 360. [

The storage unit 340 stores the humidity, the temperature, the wind direction, the wind speed, the occurrence and the occurrence of rainfall in the area (or the area) where the unmanned air vehicle 300 is located by the sensor unit 330 under the control of the controller 360, (Or state) of the fuel storage unit (or battery) (not shown) provided in the unmanned air vehicle 300, and the like.

The display unit 350 can display various contents such as various menu screens by using the user interface and / or graphical user interface stored in the storage unit 340 under the control of the controller 360. [ Here, the content displayed on the display unit 350 includes various text or image data (including various information data) and a menu screen including data such as an icon, a list menu, and a combo box. In addition, the display unit 350 may be a touch screen.

The display unit 350 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) A flexible display, a three-dimensional display, an e-ink display, and a light emitting diode (LED).

In addition, the display unit 350 may be configured as a stereoscopic display unit for displaying a stereoscopic image.

In the stereoscopic display unit, a three-dimensional display system such as a stereoscopic system (glasses system), an autostereoscopic system (no-glasses system), a projection system (holographic system) can be applied.

In addition, the display unit 350 may include an LED for indicating an operation state of the unmanned air vehicle 300. [

In addition, the display unit 350 displays the operation status, the abnormality status, and the like of the unmanned air vehicle 300 via the LED under the control of the control unit 360. [

Under the control of the control unit 360, the display unit 350 displays the humidity, the temperature, the wind direction, the wind speed, the occurrence of rainfall, and the like in the area (or area) where the unmanned air vehicle 300 is located, (Or state) of the fuel storage unit (or battery) (not shown) provided in the unmanned air vehicle 300, and the like.

The control unit 360 executes the overall control function of the unmanned air vehicle 300.

In addition, the control unit 360 executes an overall control function of the unmanned air vehicle 300 using the programs and data stored in the storage unit 340. The control unit 360 may include a RAM, a ROM, a CPU, a GPU, and a bus, and the RAM, the ROM, the CPU, and the GPU may be connected to each other via a bus. The CPU accesses the storage unit 340 and performs booting using the O / S stored in the storage unit 340. The CPU can perform various operations using various programs stored in the storage unit 340, Can be performed.

When the unmanned air vehicle 300 wants to fly from the departure place to the destination, it is determined whether the unmanned air vehicle 300 can start and safely fly to the destination. As shown in FIG. 3, If the route corresponding to the shortest distance on the GIS system is referred to as route 1, the control unit 360 does not simply determine whether the wind speed of the station A closest to the departure point exceeds the predetermined wind speed threshold value, And the weather information including the wind speed and direction of the various observation stations existing in the possible path including the observing station B on the route 2, the observing station C on the route 2, and the destination observing station D.

In addition, when the wind speed exceeds a predetermined wind speed threshold value or a path that is close to the wind speed threshold value exists on the path, the controller 360 may select a path to avoid the wind speed threshold to consider whether or not the operation is performed.

In addition, the control unit 360 determines whether to travel from the departure point to the destination based on the plurality of weather information received through the communication unit 310. [

That is, the control unit 360 removes the avoidance route from a plurality of routes from the origin to the destination based on the plurality of weather information on the plurality of routes from the origin to the destination. Here, the avoidance path is a path in which the wind speed included in the weather information for each station exceeds a predetermined wind speed threshold among a plurality of paths from the start point to the destination, a path corresponding to the weather information (or an observatory) .

In addition, if there is a remaining path after removing the avoidance path from among a plurality of paths, the control unit 360 determines the remaining one or more paths as a safe path.

The controller 360 determines that the unmanned air vehicle 300 can be operated in the presence of at least one safe route from the departure point to the destination.

If there is no more than one safe route that can be operated from the departure point to the destination, the control unit 360 determines that the operation of the unmanned air waybill 300 is impossible.

When determining whether or not there is a safe route, the control unit 360 determines whether a route exceeding the preceding wind speed threshold value among the plurality of routes from the origin to the destination, a route corresponding to the weather information in which the current rainfall is observed, It is determined whether or not there is a safe route by combining the traveling speed of the unmanned air vehicle 300 and the distance of each section route and the forecast information provided for each station, as well as the route corresponding to the observed weather information (or observation station) You may.

That is, the control unit 360 determines whether the wind speed included in the weather information of each preceding station among the plurality of paths from the start point to the destination exceeds the wind speed threshold, the path corresponding to the weather information in which the current rainfall is observed, (Or point) at which the unmanned air vehicle 300 arrives at a plurality of routes according to the traveling speed of the unmanned air vehicle 300, based on the forecast information on the route (or point) The rain forecast information included in the forecast information based on the route where the wind speed included in the forecast information exceeds the wind speed threshold value and the forecast information about the route at the time when the unmanned air vehicle 300 reaches the plurality of routes It is possible to determine whether or not a safe route exists by removing an avoidance route including a route exceeding a predetermined rainfall threshold value.

In such a general case, it is necessary to determine whether or not the unmanned aerial vehicle 300 can be operated depending on the weather information (or meteorological information) of the entire area announced by the Korea Meteorological Administration.

As in the embodiment of the present invention, when using a plurality of dense stations 100 located from a departure point to a destination, the control unit 360 notifies information about the departure point and the destination, as well as a plurality of paths 1, 2, ... ., n (where n is a natural number), observation information (or weather information) (e.g. a _1, a _2, on _{..., a n, B 1,} B 2, ..., B n, ... , Z ₁ , Z ₂ , ..., Z _N (where N is a natural number)), and calculates a path that exceeds the wind speed threshold value on the route, a route corresponding to the observation station where the current rainfall is observed, It is possible to remove the route corresponding to the weather information (or the observation station) in which the lightning strike is observed, determine whether or not there is a safe route, and determine whether or not the vehicle can be operated.

In this way, when the decision is made to determine whether the vehicle can be operated through the representative value (or weather information) provided by the weather station or the like while minimizing the safety risk, .

When the determination of the traveling speed and the distance of the route of the unmanned aerial vehicle 300 is performed and the forecast information (or the point forecast information) produced by each station is used in combination, It is possible to more finely determine whether or not the air vehicle 300 is safely operated.

If it is determined that the flight is possible, the controller 360 uses the logic for determining the optimal path by combining the actual physical distance with the weather information for each station including the wind direction and wind speed of each station.

For example, the control unit 360 calculates the fuel efficiency and the actual flightable speed when the forward wind of 4 m / sec blows at the observing point on the shortest path 1 shown in FIG. 3 and the forward wind of 3 m / To determine the considered optimal route (or optimal routing).

으로 나타낸다. 또한, m/sec로 표현되는 관측소별 풍향/풍속 벡터를

라 하고, 각 서브 루트에서 무인 비행체(300)의 운항 속도(또는 비행 속도)와 관측소 간 방향을 또 다른 벡터를

라 하면, 유효 속도는

와 같으며, 경로별 총 유효 시간은

과 같이 나타낼 수 있다.4, the control unit 360 refers to a sub-route in which the observation stations 100 existing on each route are connected by a straight line as a sub-route, Assuming that the unmanned object 300 moves linearly along the path, the length of the lower path between the stations is referred to as a subrout length (Length_Sub_route), where k = 1 to n The sum of the travel distances

Respectively. Also, the wind direction / wind speed vector per station expressed in m / sec

(Or flight speed) of the unmanned air vehicle 300 on each subroutine and another vector as the direction of the station

, The effective speed is

, And the total effective time per route is

As shown in Fig.

In a similar manner, an effective shortest time path, an optimum fuel consumption path, and the like can be calculated by combining the traveling direction of the actual unmanned aerial vehicle 300 with the wind direction and / or the wind speed on the path.

Particularly, in the case of the optimal fuel consumption route, since it can expect a substantial effect on the unmanned air vehicle 300, it can be utilized as one of important route routing methods.

In addition, even if the validity time is the shortest, the avoidance path such as the case where the observing station 100 exceeding the safety operation threshold wind speed threshold is included in the route, the case where there is a rainfall observation, have.

In addition, when the navigation is determined, that is, when the avoidance route is removed from the plurality of routes from the origin to the destination and there is a remaining safe route (or there is more than one safe route from the origin to the destination) ) Searches the route from the origin to the destination based on one or more safe routes that can be operated. Here, the avoidance path is a path in which the wind speed included in the weather information for each station exceeds a predetermined wind speed threshold value among a plurality of paths from the start point to the destination, a path corresponding to the weather information in which the present rainfall is observed, The route corresponding to the weather information (or the observation station) and the forecasting information of the route (or point) at the time when the unmanned air vehicle 300 reaches the plurality of routes according to the speed of operation of the unmanned aerial vehicle 300, The rainfall forecast information included in the forecast information based on the route where the wind speed included in the information exceeds the wind speed threshold value and the forecast information about the route when the unmanned air vehicle 300 reaches the plurality of routes, A route exceeding the set rainfall threshold value, and the like.

That is, when the navigation is determined, the controller 360 calculates the total effective time for each route and / or the route (for each route) for a plurality of safety routes (or one or more safe routes that can be operated) determined from among a plurality of navigation routes from the source to the destination The fuel consumption is calculated.

In addition, the control unit 360 calculates a route from the starting point to the destination corresponding to the shortest time out of the calculated total effective time by route (or by combining a route corresponding to a plurality of shortest times from the starting point to the destination) Select (or select).

In addition, the control unit 360 calculates a route from the departure place to the destination, which consumes the least fuel among the calculated route-specific fuel consumption amount (or a combination of the routes corresponding to the plurality of minimum fuel consumption from the start place to the destination) (Or selected).

The control unit 360 controls the operation of the unmanned aerial vehicle 300 through the attitude control and / or the position control of the unmanned air vehicle 300 and controls the operation of the unmanned air vehicle 300 based on the previously selected (or selected) And moves the unmanned aerial vehicle 300 to the destination.

In addition, the control unit 360 can dynamically update the optimum route through updating of information such as real-time wind direction and wind speed on the route during flight (or flight).

In this way, the control unit 360 can operate the safe unmanned air vehicle 300 using the weather information through the determination of whether or not to operate, the optimum route prediction and selection, and the application of a new route by updating the real time weather information during operation.

Of course, the control unit 360 may be configured so as to avoid a high-level building such as a building or a forest in a plurality of routes.

That is, the above-described avoidance path further includes a building (or a building) over a predetermined height according to user setting, a mountain, a forest, and a dangerous area due to a risk of falling (for example, And the unmanned aerial vehicle 300 can be operated while avoiding the avoidance route.

In addition, when the operation time of the unmanned aerial vehicle 300 takes longer than a predetermined time (or there is a possibility that the current and the weather may be different), the control unit 360 controls the vector of the preceding observatories and the critical For comparison with the value, the present observation value is compared with the forecast information for each station, and the total effective time and / or the fuel consumption amount for each route are calculated on the basis of the larger value, Can be calculated.

If there is no observing station 100 on the path, the controller 360 combines (or interpolates) the forecasting model value (or the forecasting information) provided by the weather station or the nearby observing station 100 with the forecast information of the nearby observing station, You can calibrate using one value.

However, when a value obtained by combining the forecasting model value (or the forecasting information) provided by the weather station or the peripheral observing station 100 with the forecast information of a nearby station is used, the error occurrence probability may be increased. And safety prediction can be further considered by selecting a larger value such as a wind direction, a wind speed, a rainfall occurrence probability, a lightning occurrence probability, or the like among the local forecast information.

In addition, the base station 100 may be located at a generally high position depending on the installation environment of the base station and the weather measurement application, and may be adjacent to the flight path of the unmanned aerial vehicle 300.

Therefore, if the autonomous movement is to be performed through a predetermined route due to a communication failure of the control system (or the route guidance system 10) during the operation of the unmanned air vehicle 300, the control unit 360 may control the flow of the weather information from the observatory 100 You can receive it directly.

The control unit 360 controls the position of the real-time unmanned air vehicle 300 generated (or generated) through the GPS receiver 320, the real-time observation value measured through the sensor unit 330, (Or judges) whether an event has occurred or not. In this case, the emergency event is a phenomenon in which the measured amount of the fuel stored in the fuel storage unit (or the battery) (or the state of the battery) becomes higher than the wind speed of the unmanned air vehicle 300 when the measured wind speed exceeds the wind speed threshold, In the case where it is impossible to operate from the current location of the destination to the destination.

When the preset emergency event does not occur, the control unit 360 confirms the current position of the unmanned air vehicle 300 through the GPS receiver 320, And returns to the process of measuring various observations in the area where the unmanned aerial vehicle 300 is located.

When a preset emergency event occurs, the control unit 360 controls the GPS receiver 320 to receive a plurality of additional weather information for each station, which is additionally provided from the server 200, (Or flight path) based on the current position of the unmanned air vehicle 300, various observation values measured through the sensor unit 330, destination (or destination information, latitude and longitude information corresponding to the destination) Search.

That is, when a preset emergency event occurs, the control unit 360 calculates a plurality of additional weather information for each observation station, the current position of the unmanned air vehicle 300 identified through the GPS receiver 320, And reestablishes one or more safe routes that can be operated from the current position to the destination based on various observations measured through the sensor unit 330, destination (or destination information, latitude and longitude information corresponding to the destination) Retrieves the navigation path from the current location to the destination based on one or more secure routes from the location to the destination.

The control unit 350 controls the operation of the corresponding unmanned object 300 through the attitude control and / or the position control of the unmanned object 300 so that the current position of the unmanned object 300 along the re- (Or flight / flight) the corresponding unmanned aerial vehicle 300 to the destination.

When a predetermined emergency event occurs, or when a route is re-searched according to the occurrence of an emergency event, the current position of the unmanned air vehicle 300 based on the real-time observation value measured through the sensor unit 330, (Or battery) consumption is determined based on the wind direction and / or the wind speed included in the observation value measured through the sensor unit 330, (Or an observatory having the minimum fuel consumption of at least one or more safe routes that can be operated from the current location, or an observatory having the shortest distance / the shortest distance / corresponding to the shortest route).

In addition, the control unit 360 determines whether the actual consumption of the fuel (or the battery) is minimum or the at least one safe route that can be operated from the current position, (Or an observatory with an observatory / minimum crossing route corresponding to < RTI ID = 0.0 > a < / RTI > At this time, when a previously preset emergency event occurs or a route is rediscovered according to the occurrence of an emergency event, the current position of the unmanned air vehicle 300 based on the real-time observation value measured through the sensor unit 330, The control unit 360 may update the inbound route so that the control unit 360 can return to the origin based on one or more safe routes that can be operated from the current location.

The control unit 360 controls the operation of the corresponding unmanned air vehicle 300 through the attitude control and / or the position control of the unmanned air vehicle 300 and controls the operation of the unmanned air vehicle 300 at the current position of the unmanned air vehicle 300 along the updated to- (100) where there is a minimum of actual fuel (or battery) consumption / one or more safe routes that can be operated from the current location, an observatory with the shortest actual fuel consumption / an observatory with the shortest distance / (Or a navigation / observation / observation station having a minimum pass-through route).

As described above, the control unit 360 may be configured to determine whether the unmanned object 300 is in a difficult position to be solved by the attitude control program of the unmanned air vehicle 300 due to a gust of wind or a wind speed higher than expected during operation of the unmanned air vehicle 300, When it is recognized that the unmanned air vehicle 300 is difficult to operate normally based on observation values observed by a self-contained gyro sensor, a motion sensor, a moisture sensor, a GPS receiver 320, etc. installed in the server 330, 200) (or a controller) (not shown). At this time, when communication with the server 200 is impossible, the control unit 360 performs a route re-search by itself and autonomously moves the unmanned aerial vehicle 300, and thereafter informs the server 200 of the route re- Notification (or notification / transmission).

If the optimal safety route is not found as a result of the re-search, the controller 360 searches the nearby landing area (or the station 100) including the departure place, searches for the return route, It is possible to prevent a hand loss of the air vehicle 300.

In addition, the controller 360 compares the battery remaining amount (or the remaining amount of fuel) of the unmanned air vehicle 300 with the estimated remaining battery amount (or the remaining amount of fuel) for driving to the destination during the route search, (Or fuel consumption) is larger than expected, it is possible to search for a nearby landing area where charging is possible, and search for a new route through the searched landing area (or destination).

When the user searches for a new route for charging, the controller 360 controls the operation of the unmanned air vehicle 300 through attitude control and / or position control of the unmanned air vehicle 300, (Or flight / flight) the corresponding unmanned air vehicle 300 from the current position of the unmanned air vehicle 300 along the route to the destination for the corresponding charging.

In addition, when it is desired to resume the operation after the battery charging (or fuel charging) of the unmanned flight vehicle 300 is completed, the control unit 360 newly searches for a route to arrive at the initial re- .

After the charging of the unmanned air vehicle 300, the controller 360 controls the operation of the unmanned air vehicle 300 through attitude control and / or position control of the unmanned air vehicle 300, (Or flight / flight) the corresponding unmanned aerial vehicle 300 to the first destination.

In addition, the unmanned air vehicle 300 may further include an interface unit (not shown) that functions as an interface with all the external devices connected to the unmanned air vehicle 300. For example, the interface unit may include a wired / wireless headset port, an external charger port, a wired / wireless data port, a memory card port, a port for connecting a device having an identification module, an audio I / Input / output (I / O) port, video I / O (input / output) port and earphone port. Herein, the identification module is a chip for storing various information for authenticating the usage right of the unmanned air vehicle 300, and includes a user identity module (UIM), a subscriber identity module (SIM) A Universal Subscriber Identity Module (USIM), and the like. In addition, a device provided with the identification module can be manufactured in a smart card format. Accordingly, the identification module can be connected to the unmanned aerial vehicle 300 through the port. The interface unit receives data from an external device or receives power from the external device and transmits the received data to each component in the unmanned aerial vehicle 300 or the data in the unmanned air vehicle 300 to be transmitted to an external device.

In addition, when the unmanned aerial vehicle 300 is connected to an external cradle, the interface unit may be a path through which the power from the cradle is supplied to the unmanned air vehicle 300 or various command signals input from the cradle by the user, (Not shown). The various command signals input from the cradle or the corresponding power source may be operated as a signal for recognizing that the unmanned aerial vehicle 300 is correctly mounted on the cradle.

In addition, the unmanned air vehicle 300 may include an input unit (not shown) for receiving a command or a control signal generated by an operation such as button operation by a user or a signal according to an arbitrary function selection, or touch / Not shown).

The input unit may include at least one of a command, a selection, data, and information of a user. The input unit may include a plurality of input keys and function keys for inputting numeric or character information and setting various functions.

The input unit may include a key pad, a dome switch, a touch pad (static / static), a touch screen, a jog wheel, a jog switch, a jog shuttle, a mouse, , A stylus pen, a touch pen, and the like can be used. Particularly, when the display unit 350 is formed in the form of a touch screen, some or all of the functions of the input may be performed through the display unit 350.

In addition, each component (or module) of the unmanned aerial vehicle 300 may be software stored on the memory (or the storage unit 340) of the unmanned aerial vehicle 300. The memory may be an internal memory of the unmanned aerial vehicle 300, and may be an external memory or other type of storage device. Further, the memory may be a non-volatile memory. Software stored on the memory may include a set of instructions that cause the unmanned aerial vehicle 300 to perform certain operations upon execution.

In addition, the processor mounted on the observation station 100, the server 200, and the unmanned aerial vehicle 300 according to the present invention can process program instructions for executing the method according to the present invention. In one implementation, the processor may be a single-threaded processor, and in other embodiments, the processor may be a multi-threaded processor. Further, the processor is capable of processing instructions stored in memory or storage devices.

In this manner, it is determined whether or not the unmanned aerial vehicle is operated using the meteorological information of a plurality of dense meteorological stations observed in real time based on the base stations existing between the source and the destination of the unmanned aerial vehicle, It is possible to provide an optimum path corresponding to an effective shortest time path or an optimal fuel consumption path for a plurality of possible paths.

In this way, when the real-time observation value on the navigation scheduled route during the operation exceeds a preset reference value for a predetermined time or when a strong wind, precipitation or lightning is observed on the navigation scheduled route, or continuous operation is performed through sensors mounted on the unmanned aerial vehicle If it is judged to be difficult, the navigation route can be searched again or the navigation route can be searched.

Hereinafter, a method of guiding an unmanned aerial vehicle using weather information according to the present invention will be described in detail with reference to FIGS. 1 to 6. FIG.

5 is a flowchart illustrating a route guidance method of an unmanned aerial vehicle using weather information according to an embodiment of the present invention.

First, the communication unit 310 receives a plurality of weather information measured from a plurality of observation stations 100 located within a predetermined radius based on a shortest path from a source to a destination provided from the server 200. Here, the weather information includes information such as location information (for example, latitude, longitude, etc.) of the observing station 100, wind direction, wind speed, rainfall, occurrence of a lightning stroke, and measurement time information. At this time, the communication unit 310 may receive the weather information transmitted by the individual stations 100, respectively.

6, the communication unit 310 includes a plurality of paths (for example, paths A, B,...) Between the start point nearest observation station, the destination nearest observation station, and the start point and the destination provided from the server 200. ..., A _N , B ₁ ,..., B _{M located at the} stations A ₁ ,. Here, M and N are natural numbers. In addition, each path observing station 100 may include all stations capable of collecting meteorological information between the source and destination (S510).

Then, the control unit 360 determines whether or not to operate from the departure point to the destination based on the plurality of weather information received.

That is, the control unit 360 removes the avoidance route from a plurality of routes from the origin to the destination based on the plurality of weather information on the plurality of routes from the origin to the destination. Here, the avoidance path is a path in which the wind speed included in the weather information for each station exceeds a predetermined wind speed threshold among a plurality of paths from the start point to the destination, a path corresponding to the weather information (or an observatory) .

In addition, if there is a remaining path after removing the avoidance path from among a plurality of paths, the control unit 360 determines the remaining one or more paths as a safe path.

The controller 360 determines that the unmanned air vehicle 300 can be operated in the presence of at least one safe route from the departure point to the destination.

If there is no more than one safe route that can be operated from the departure point to the destination, the control unit 360 determines that the operation of the unmanned air waybill 300 is impossible.

For example, the control unit 360 corresponds to the paths corresponding to the observing stations A ₁ and A ₃ that provide the weather information exceeding the wind speed threshold among the plurality of paths shown in FIG. 6, the observing station A ₄ where the current rainfall is observed And the route corresponding to the observing stations A ₁ and A ₃ and the route corresponding to the observing station A ₄ are removed from the plurality of routes and the remaining one or more routes are determined as the safe route. In addition, the controller 360 determines that the unmanned air vehicle 300 is operable when it is possible to operate from the origin to the destination through the safe route including one or more routes.

When determining whether or not there is a safe route, the control unit 360 determines whether a route exceeding the preceding wind speed threshold value among the plurality of routes from the origin to the destination, a route corresponding to the weather information in which the current rainfall is observed, It is possible to determine whether or not there is a safe route by combining the traveling speed of the unmanned aerial vehicle 300 and the distance between each section route and the forecast information provided for each station, as well as the route corresponding to the observed weather information.

That is, the control unit 360 determines whether the wind speed included in the weather information of each preceding station among the plurality of paths from the start point to the destination exceeds the wind speed threshold, the path corresponding to the weather information in which the current rainfall is observed, (Or point) at the time point when the unmanned air vehicle 300 reaches the plurality of routes according to the traveling speed of the unmanned air vehicle 300, the route corresponding to the weather information, The rainfall forecast information included in the forecast information based on the forecasted information about the path at which the unmanned aerial vehicle 300 reaches the plurality of paths when the wind speed exceeds the wind speed threshold, Based on the forecast information of the path at the time when the unmanned aerial vehicle 300 reaches the plurality of paths, The generation information is removed, the avoidance route comprising a path such as exceeding a pre-set threshold, an electrical storm, may determine whether the trusted path exists.

In one embodiment the other, the control unit 360 is in the station A ₄ is a corresponding path, current rainfall at a station A ₁ and A ₃ provides weather information exceeding the wind speed threshold value from among a plurality of paths shown in Fig. 6 observations the corresponding path, the unmanned air vehicle 300 is moving, including on forecast information at the time it reaches the station a ₇ the station a ₇ rainfall prediction information (e.g. the current station a _7, but without rain unattended vehicle is a preset precipitation threshold (e.g., removing the routes, and in excess of 60%), a plurality of path 300 is a forecast information) move rainfall probability of a point to be close to the station a ₇ 70% among them, the path corresponding to the station a ₁ and a ₃ each corresponding route, station a ₄ a ₇ stations corresponding path, the probability of rainfall corresponding to 70% of the forecast information on which the determination is removed the rest of the path to a safe path The (S520).

Thereafter, when the navigation is determined, that is, when the avoidance route is removed from the plurality of routes from the origin to the destination and there is a remaining safe route (or when there is more than one safe route that can travel from the origin to the destination) ) Searches the route from the origin to the destination based on one or more safe routes that can be operated. Here, the avoidance path is a path in which the wind speed included in the weather information for each station exceeds a predetermined wind speed threshold among a plurality of paths from the start point to the destination, a path corresponding to the weather information in which the current rainfall is observed, (Or point) at the time point when the unmanned aerial vehicle 300 reaches the plurality of routes according to the traveling speed of the airplane, the route having the wind speed included in the forecast information exceeding the corresponding wind speed threshold value, A path where the rainfall forecast information included in the forecast information exceeds a predetermined rainfall threshold value based on the forecast information about the route at the time when the unmanned aerial vehicle 300 reaches a plurality of routes, and the like.

That is, when the navigation is determined, the controller 360 calculates the total effective time for each route and / or the route (for each route) for a plurality of safety routes (or one or more safe routes that can be operated) determined from among a plurality of navigation routes from the source to the destination The fuel consumption is calculated.

In addition, the control unit 360 calculates a route from the starting point to the destination corresponding to the shortest time out of the calculated total effective time by route (or by combining a route corresponding to a plurality of shortest times from the starting point to the destination) Select (or select).

In addition, the control unit 360 calculates a route from the departure place to the destination, which consumes the least fuel among the calculated route-specific fuel consumption amount (or a combination of the routes corresponding to the plurality of minimum fuel consumption from the start place to the destination) (Or selected).

For example, the control unit 360 calculates the total effective time by route for each of the routes corresponding to the observing stations A ₁ and A ₃ and the route corresponding to the observing site A ₄ from the plurality of routes shown in FIG. 6, .

In addition, the controller 360 selects a route from the calculated total effective time for each route to the source-B ₁ - B ₂ - ... B _M - destination corresponding to the shortest time as the first final navigation route.

In one embodiment the other, the control unit 360 has a plurality of paths in a path corresponding to the path and the stations A ₄ respectively corresponding to the station A ₁ and A ₃ are removed with respect to the rest of the safety paths, fuel consumption by the path shown in Figure 6 .

In addition, the control unit 360 calculates a route from the calculated starting fuel consumption amount to the starting-B ₁ - B ₂ - A ₃ - A ₅ ... - A _N - destination consuming the minimum fuel as the second final operating route (S530).

The control unit 360 controls the operation of the unmanned aerial vehicle 300 through the attitude control and / or the position control of the unmanned air vehicle 300 and controls the operation of the unmanned air vehicle 300 in accordance with the previously selected (or selected) (Or flight / flight) the corresponding unmanned aerial vehicle 300 to the destination.

For example, the control unit 360 is selected first final flight path (e. G. From _{- B 1 - B 2 - ...} - B M - route to the destination), the operation of the unmanned air vehicle 300 to follow the (S540).

Then, the GPS receiver 320 checks the current position of the unmanned air vehicle 300 in real time while the unmanned air vehicle 300 is operating (or flying) to the destination.

That is, the GPS receiver 320 receives the GPS signals transmitted from the satellites, generates (or generates / confirms) the position data of the unmanned object 300 in real time based on the longitude coordinates and the latitude coordinates included in the received GPS signals ).

In one embodiment, GPS receiver 320 is in the position information (for example stations B ₁ point in the station B ₁ point of the first unmanned air vehicle 300 is being operated as the final flight path for the path B shown in Figure 6 Corresponding latitude and longitude information) (S550).

The sensor unit 330 senses the humidity of the area where the unmanned aerial vehicle 300 is located, the temperature, the wind direction, the wind speed, the occurrence of rainfall, the occurrence of a lightning strike, (Or collecting) an observation value including a remaining amount (or a state) of a battery (not shown).

For example, the sensor unit 330 detects the humidity, the temperature, the wind direction, the wind speed, and the occurrence of rainfall at the observation site B ₁ of the unmanned air vehicle 300 operating on the first final navigation path corresponding to the path B shown in FIG. 6 The occurrence of a lightning stroke, and the remaining amount of the battery of the unmanned air vehicle 300 are measured (S560).

The control unit 360 receives the position information of the real-time unmanned air vehicle 300 generated (or generated) through the GPS receiver 320, the real-time observation value measured through the sensor unit 330, (Or judges) whether an event has occurred or not. In this case, the emergency event is a phenomenon in which the measured amount of the fuel stored in the fuel storage unit (or the battery) (or the state of the battery) becomes higher than the wind speed of the unmanned air vehicle 300 when the measured wind speed exceeds the wind speed threshold, In the case where it is impossible to operate from the current location of the destination to the destination.

For example, the control unit 360 determines whether the measured wind speed at the station B ₁ of the unmanned air vehicle 300 operating on the first final navigation path corresponding to the path B shown in FIG. 6 exceeds the wind speed threshold do.

In another example, the control unit 360 confirms whether rainfall is measured at an observation point B ₁ of the unmanned air vehicle 300 operating on the first final navigation path corresponding to the path B shown in FIG.

In another example, the control unit 360 determines whether a lightning stroke occurs at an observation point B ₁ of the unmanned air vehicle 300 operating on the first final navigation path corresponding to the path B shown in FIG.

In another example, the controller 360 determines that the battery remaining amount of the unmanned air vehicle 300 measured at the observation point B ₇ of the unmanned air vehicle 300 operating on the first final navigation path corresponding to the path B shown in FIG. 6 It is checked whether it is possible to travel from the current location to the destination (S570).

When the preset emergency event does not occur, the control unit 360 confirms the current position of the unmanned air vehicle 300 through the GPS receiver 320, And returns to the process of measuring various observations in the area where the unmanned aerial vehicle 300 is located.

For example, when the wind speed measured at the station B ₁ of the unmanned air vehicle 300 operating on the first final navigation path corresponding to the path B shown in FIG. 6 is smaller than the wind speed threshold value, (Not measured), and the remaining battery level of the unmanned aerial vehicle 300 measured at the corresponding point is in a state capable of operating from the current position to the destination, the controller 360 controls the unmanned aerial vehicle 300 through the GPS receiver 320, The process returns to step S550 of confirming the current position of the display device (e.g., step S550).

When a preset emergency event occurs, the control unit 360 controls the GPS receiver 320 to receive a plurality of additional weather information for each station, which is additionally provided from the server 200, (Or flight path) based on the current position of the unmanned air vehicle 300, various observation values measured through the sensor unit 330, destination (or destination information, latitude and longitude information corresponding to the destination) Search.

That is, when a preset emergency event occurs, the control unit 360 calculates a plurality of additional weather information for each observation station, the current position of the unmanned air vehicle 300 identified through the GPS receiver 320, And reestablishes one or more safe routes that can be operated from the current position to the destination based on various observations measured through the sensor unit 330, destination (or destination information, latitude and longitude information corresponding to the destination) Retrieves the navigation path from the current location to the destination based on one or more secure routes from the location to the destination.

The control unit 350 controls the operation of the corresponding unmanned object 300 through the attitude control and / or the position control of the unmanned object 300 so that the current position of the unmanned object 300 along the re- (Or flight / flight) the corresponding unmanned aerial vehicle 300 to the destination.

For example, if the measured wind speed at the station B ₁ of the unmanned air vehicle 300 operating on the first final navigation path corresponding to the path B shown in FIG. 6 exceeds the wind speed threshold and the rainfall at the station B ₁ The controller 360 controls the GPS receiver 320 to detect the current position of the unmanned air vehicle 300 and the sensor unit 330 in response to a plurality of additional weather information provided by the server 200, (Or destination information, latitude and longitude information corresponding to the destination), and the like, as well as one or more safe routes that can be operated from the current location to the destination.

In addition, the control unit 360 calculates the total effective time per route and / or the fuel consumption amount per route for one or more safe routes that can be operated from the re-confirmed current position to the destination.

In addition, the controller 360 combines the route from B ₁ to the destination (or a route corresponding to a plurality of shortest times from the current location to the destination), which is the current location corresponding to the shortest time out of the calculated route- B ₁ - A ₂ - A ₅ - ... - B _{M - 1} - B _M - Select (or select) the route to the destination as the last navigation route (or the third navigation route).

At this time, the control unit 360 calculates a route B ₁ - A ₂ - B ₅₄ - ... - B _M - a route from the current position B ₁ to the destination, which consumes the least fuel among the calculated fuel consumption _per route, The route may be selected (or selected) as the last navigation route (or the fourth navigation route).

In addition, the control unit 360 determines whether the re-searched third final navigation path (for example, B ₁ - A ₂ - A ₅ - ... - B _{M - 1} - B _M - The operation of the unmanned flight vehicle 300 is controlled so as to move along the route of the unmanned air vehicle 300 (S590).

When a predetermined emergency event occurs, or when a route is re-searched according to the occurrence of an emergency event, the current position of the unmanned air vehicle 300 based on the real-time observation value measured through the sensor unit 330, (Or battery) consumption is determined based on the wind direction and / or the wind speed included in the observation value measured through the sensor unit 330, (Or an observatory having the minimum fuel consumption of at least one or more safe routes that can be operated from the current location, or an observatory having the shortest distance / the shortest distance / corresponding to the shortest route).

In addition, the control unit 360 determines whether the actual consumption of the fuel (or the battery) is minimum or the at least one safe route that can be operated from the current position, (Or an observatory with an observatory / minimum crossing route corresponding to < RTI ID = 0.0 > a < / RTI > At this time, when a previously preset emergency event occurs or a route is rediscovered according to the occurrence of an emergency event, the current position of the unmanned air vehicle 300 based on the real-time observation value measured through the sensor unit 330, The control unit 360 may update the inbound route so that the control unit 360 can return to the origin based on one or more safe routes that can be operated from the current location.

The control unit 360 controls the operation of the corresponding unmanned air vehicle 300 through the attitude control and / or the position control of the unmanned air vehicle 300 and controls the operation of the unmanned air vehicle 300 at the current position of the unmanned air vehicle 300 along the updated to- (100) where there is a minimum of actual fuel (or battery) consumption / one or more safe routes that can be operated from the current location, an observatory with the shortest actual fuel consumption / an observatory with the shortest distance / (Or a navigation / observation / observation station having a minimum pass-through route).

For example, if the battery remaining amount of the unmanned air vehicle 300 measured at the observation site B ₇ of the unmanned air vehicle 300 operating on the first final navigation route corresponding to the route B shown in FIG. 6 is the current location B ₇ when the route is unavailable state to a destination, automatically by the control unit 360 is a station a ₉ determine the route of the real fuel consumption is the minimum value among the one or more trusted path available station a ₉ from the present position, and the consumption the identified actual fuel is minimum Update the flight path to travel.

Further, the control unit 360 is updated diverted path (e.g. the B ₇ are here of an unattended vehicle (300) path to A ₉₎ controls the operation of the unmanned air vehicle 300 to move along.

In another example, if the wind speed measured at the station B ₁ of the unmanned air vehicle 300 operating on the first final navigation path corresponding to the path B shown in FIG. 6 exceeds the wind speed threshold and the rainfall at the station B ₁ The control unit 360 controls the sensor unit 330 to measure the current position of the unmanned air vehicle 300 identified through the GPS receiver 320, (Or destination information), latitude and longitude information corresponding to the destination, and the like, and the like.

In addition, the control unit 360 calculates the total effective time per route and / or the fuel consumption amount per route for one or more safe routes that can be operated from the re-confirmed current position to the destination.

Also, based on the calculated fuel consumption amount of each route and the battery remaining amount of the unmanned air vehicle 300, it is impossible to operate the navigation apparatus from the current location to the destination according to the amount of fuel consumed by the route due to the battery remaining amount of the unmanned air vehicle 300 State, the control unit 360 updates the to-be-traveled route so as to go from the current position B ₁ to the departure point.

The control unit 360 controls the operation of the unmanned air vehicle 300 to move along the updated to-be-returned path (for example, the path from the B ₁ to the departure point, which is the current position of the unmanned air vehicle 300) .

The route guidance system for an unmanned aerial vehicle using weather information according to an embodiment of the present invention can be created by a computer program, and the codes and code segments constituting the computer program can be easily deduced by computer programmers in the field. In addition, the computer program is stored in a computer-readable medium and readable and executed by a computer, an observing station, a server, an unmanned aerial vehicle according to an embodiment of the present invention, The route guidance system of FIG.

The information storage medium includes a magnetic recording medium, an optical recording medium, and a carrier wave medium. The computer program implementing the route guidance system of the unmanned aerial vehicle using the weather information according to the embodiment of the present invention can be stored and installed in an internal memory such as an observation station, a server, and an unmanned aerial vehicle. Alternatively, an external memory such as a smart card storing and installing a computer program implementing a route guidance system of an unmanned aerial vehicle using weather information according to an embodiment of the present invention may be provided in a route guidance system of an unmanned aerial vehicle using weather information .

As described above, the embodiment of the present invention determines whether to operate the unmanned aerial vehicle using the meteorological information of a plurality of dense meteorological stations observed in real time based on the base stations existing between the source and the destination of the unmanned aerial vehicle, It is possible to precisely determine whether or not the unmanned aerial vehicle is operated by providing an optimal route corresponding to an effective shortest time path or an optimum fuel consumption route for a plurality of routes that can be operated when the operation for the air vehicle is determined, You can choose the route for the journey.

As described above, in the embodiment of the present invention, when the real-time observation value on the navigation scheduled route during the operation exceeds a preset reference value for a predetermined time or a new strong wind, precipitation or lightning is observed on the expected navigation route, If it is judged that the continuous operation is difficult through the sensors installed, it is possible to minimize the hand loss of the unmanned aerial vehicle due to weather deterioration, sudden situation, urgent situation, etc. by searching the navigation route or searching the return route.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or essential characteristics thereof. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

The present invention determines whether or not an unmanned aerial vehicle is operated using meteorological information of a plurality of dense meteorological observations observed in real time based on a base station existing between a source and a destination of the unmanned aerial vehicle, The present invention provides an optimum route corresponding to an effective shortest time path or an optimal fuel consumption route for a plurality of possible routes and provides a route in which a real time observation value on a navigation scheduled route during a navigation exceeds a preset reference value for a predetermined time, Or if a lightning strike or a lightning strike is detected or it is judged that the continuous operation is difficult by the sensor mounted on the unmanned air vehicle, it is possible to precisely determine whether the unmanned air vehicle is operated by searching the navigation route or searching the return route, Can choose a route for economic and stable operation And can be widely used in UAV (unmanned aerial vehicle) field, aviation field, quadrotor field, and the like.

10: Route guidance system 100: Observation station / base station
200: server 300: unmanned vehicle
310 communication unit 320 GPS receiver
330: sensor unit 340: storage unit
350: display unit 360:

Claims (16)

Generating position information of the unmanned air vehicle traveling along a navigation route that is searched from a start point to a destination by a GPS receiver;
Measuring an observed value of an area where the unmanned aerial vehicle is located by the sensor unit;
Confirming whether or not an emergency event has occurred based on the generated position information of the unmanned air vehicle and the measured observation value by the control unit;
The control unit may be further configured to, when it is determined that the emergency event has occurred, based on the plurality of additional weather information for each observation station provided from the server, the position information of the unmanned air vehicle, the measured observation value, Re-searching the navigation route; And
And moving the unmanned aerial vehicle along the rediscovered navigation route through at least one of attitude control and position control of the unmanned air vehicle by the control unit. The method according to claim 1,
The navigation path, which is searched from the starting point to the destination,
Receiving, by the communication unit, a plurality of weather information measured at a plurality of stations located within a predetermined radius based on a shortest path from a start point to a destination provided by the server;
Determining by the control unit whether or not to operate from the departure point to the destination based on the received plurality of weather information; And
The control unit searches for a navigation route from the origin to the destination based on one or more safe routes that can be operated when there is one or more safe routes that can be operated from the origin to the destination and the navigation is determined, Wherein the route guidance information of the unmanned aerial vehicle is obtained by using weather information. 3. The method of claim 2,
The method of claim 1,
Removing the avoidance route from a plurality of routes from the origin to the destination based on the plurality of weather information on the plurality of routes from the origin to the destination;
Determining, by the control unit, the remaining one or more paths as a safe path when a remaining path exists after removing the avoidance path from the plurality of paths;
Determining, by the control unit, a state in which operation to the unmanned aerial flight is possible when there is one or more safe routes from the source to the destination; And
Wherein the control unit determines that the operation of the unmanned aerial vehicle is impossible when at least one safe route that can be operated from the source to the destination does not exist. Way. The method of claim 3,
The avoidance path includes:
A route corresponding to the weather information in which the current wind speed is greater than a predetermined wind speed threshold value, a route corresponding to the weather information in which the current rainfall is observed, and a route corresponding to the weather information in which the current thunderstorm is observed A path where the wind speed included in the forecast information exceeds the wind speed threshold value on the basis of the forecast information about the route at the time when the unmanned aerial vehicle reaches the plurality of routes according to the speed of the unmanned air vehicle, A path where the rainfall forecast information included in the forecast information exceeds a predetermined rainfall threshold value and a path where the lightning stroke occurrence information included in the forecast information exceeds a preset threshold of the occurrence of a lightning stroke A Route Guidance Method for Unmanned Aerial Vehicle Using Information. 3. The method of claim 2,
The step of searching for the navigation route from the starting point to the destination includes:
Calculating, by the control unit, the total effective time for each of the at least one safe route that can be operated; And
And selecting the route from the starting point to the destination corresponding to the shortest time among the calculated total effective time by route as the final navigation route by the control unit . 3. The method of claim 2,
The step of searching for the navigation route from the starting point to the destination includes:
Calculating, by the control unit, the amount of fuel consumed by each route for the at least one safe route that can be operated; And
And selecting, by the control unit, a route from the departure point to the destination, which consumes the least fuel among the calculated route-specific fuel consumption amounts, as the final navigation route. The method according to claim 1,
The observed value may be,
Wherein the weather information includes at least one of a humidity, a temperature, a wind direction, a wind speed, a rainfall occurrence, a lightning occurrence occurrence, and a remaining amount or state of a fuel storage unit or a battery provided in the unmanned air vehicle. Route guidance method of unmanned aerial vehicle using. The method according to claim 1,
The emergency event may include:
Wherein when the wind speed included in the observed value exceeds a predetermined wind speed threshold value, when rainfall occurs, when a lightning stroke occurs, and when the measured remaining amount or state of the fuel storage unit or the battery reaches the destination Wherein the navigation information includes at least one of the navigation information and the navigation information. The method according to claim 1,
The re-searching of the navigation path may include:
As a result of the determination, when the emergency event occurs, the control unit determines, based on the plurality of additional weather information for each observation station, the position information of the generated unmanned air vehicle, the measured observation value, Reconfiguring one or more secure routes from a location to a destination; And
Searching for a navigation route from the current location of the unmanned aerial vehicle to the destination based on one or more safe routes that can be operated from the current location of the unmannurant vehicle to the destination by the control unit Route guidance method of unmanned aerial vehicle using weather information. The method according to claim 1,
When the emergency event occurs or when it is determined that the arrival of the destination is difficult based on the current position of the unmanned air vehicle based on the measured observation value in the case of rediscovering the navigation route, Identifying at least one observing station among the at least one safe path that can be operated from the current position of the air vehicle, the observing station having the minimum actual fuel consumption, the observing station having the shortest distance, and the observing station having the minimum passing route;
Updating, by the control unit, a toll path to be turned to the confirmed observing station; And
Further comprising the step of moving the unmanned aerial vehicle along the updated toll path through at least one of attitude control and position control of the unmanned air vehicle by the control unit Route guidance method. 11. A recording medium on which a computer program for performing the method according to any one of claims 1 to 10 is recorded. A GPS receiver for generating position information of the unmanned aerial vehicle traveling along the navigation route from the departure point to the destination;
A sensor unit for measuring an observation value of an area where the unmanned aerial vehicle is located; And
Wherein the control unit checks whether or not an emergency event has occurred based on the position information of the unmanned air vehicle and the measured observation value, and when the emergency event occurs, a plurality of additional weather information, Searching the navigation route based on the generated position information of the unmanned air vehicle, the measured value and the destination information, and controlling the re-searched navigation route through at least one of attitude control and position control of the unmanned air vehicle And a control unit for moving the unmanned aerial vehicle along with the navigation information. 13. The method of claim 12,
The observed value may be,
Wherein the weather information includes at least one of a humidity, a temperature, a wind direction, a wind speed, a rainfall occurrence, a lightning occurrence occurrence, and a remaining amount or state of a fuel storage unit or a battery provided in the unmanned air vehicle. Route guidance system for unmanned aerial vehicles. 13. The method of claim 12,
The emergency event may include:
Wherein when the wind speed included in the observed value exceeds a predetermined wind speed threshold value, when rainfall occurs, when a lightning stroke occurs, and when the measured remaining amount or state of the fuel storage unit or the battery reaches the destination Wherein the navigation system includes at least one of a navigation system and a navigation system. 13. The method of claim 12,
Wherein,
As a result of the determination, when the emergency event occurs, the control unit determines, based on the plurality of additional weather information for each observation station, the position information of the generated unmanned air vehicle, the measured observation value, Rechecking one or more safe routes from the location to the destination and re-navigating the navigation route from the current location of the unmanned aerial vehicle to the destination based on one or more safe routes that can be operated from the current location of the unmanned air vehicle to the destination, Wherein the route guidance system comprises: 13. The method of claim 12,
Wherein,
When the emergency event occurs or when the navigation route is re-searched, when it is determined that the arrival of the destination is difficult based on the current position of the unmanned air vehicle based on the measured observations, Identifying one or more observable stations among the at least one safe route that can be operated, the observatory having the minimum actual fuel consumption, the observing station having the shortest distance and the observing station having the minimum route, updating the traveling route so as to return to the confirmed observing station, Wherein the control unit moves the unmanned aerial vehicle along the updated toll path through at least one of attitude control and position control of the air vehicle.

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