KR20180117967A - Method and apparatus for providing path for avoiding no drone zone - Google Patents

Abstract

Disclosed is a method for providing a flight path for reaching a destination with the shortest distance and preventing unnecessary power consumption. The method for providing a flight path according to an embodiment of the present invention includes the steps of: when there is a flight prohibited zone in a straight linear path, for the flight of a drone, between a start (S) and a destination (D), setting a first vertex of the flight prohibited zone, which defines a maximum angle deviating from the flight prohibited zone in the first direction based on the start (S), as a first intermediate destination (N1), by a device for providing the flight path; setting a j^th vertex of the flight prohibited zone, which defines a maximum angle deviating from the flight prohibited zone in the first direction based on the i^th intermediate destination (Ni), as a j^th intermediate destination (Nj), by the device for providing the flight path; and when only the destination (D) exists in the first direction based on a k^th intermediate destination (Nk), providing the drones with a path for connecting the start (S), the first intermediate destination (N1), a plurality of intermediate destinations, the k^th intermediate destination (Nk), and the destination (D), as a flight path for avoiding the flight prohibited zone, by the device for providing the flight path.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for avoiding a drone-

The present invention relates to a method and apparatus for providing a path for avoiding a non-flying zone of a drones. More particularly, to a method for avoiding a no-fly zone (NFZ) in which a drone is prohibited from flying and providing a route from a start point to a destination and an apparatus for performing the method.

Unmanned Aerial Vehicle (UAV) refers to a flight in which a pilot does not fly directly on a flight, but is autonomously or automatically operated on the ground by remote control or a preset route. Another type of drone is called a drone, which means "be humming".

Drones are used in various applications such as surveillance and reconnaissance, broadcasting, courier, and agriculture, and the use and application range is expected to expand rapidly in the future. In this way, it is possible to construct a convenient and safe living environment by using the drones, but inversely, such as safety or privacy invasion due to user mistake, intentionally or drone trouble, can occur.

In order to prevent this, the prohibition zone is established by law and the drone user must avoid the area and fly. It is also necessary to avoid this area when the drones are in danger of colliding with steel towers or structures during the flight. Therefore, it is necessary to provide a route for the drone to avoid the no-fly zone and to fly from the origin to the destination.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a method and apparatus for providing a path for avoiding a drones' no-fly zone.

The technical problems of the present invention are not limited to the above-mentioned technical problems, and other technical problems which are not mentioned can be clearly understood by those skilled in the art from the following description.

The method of providing a flight path according to an embodiment of the present invention is characterized in that when the flight path providing apparatus has a flight prohibited zone between a start point S and a straight path of a destination D, Setting a first vertex of the prohibited area to a first intermediate destination (N1), the first vertex of the prohibited area being a maximum angle that deviates from the prohibited area in a first direction with respect to the first intermediate destination (N1); Wherein the flight path providing device sets the j-th vertex of the forbidden zone, which forms the maximum angle at which the out-of-flight area is out of the forbidden zone in the first direction with reference to the i-th intermediate destination Ni, as the j-th intermediate destination Nj ; And when the flight path providing apparatus exists in the first direction and the destination D exists only in the first direction with respect to the kth intermediate destination Nk, the departure point S, the first intermediate destination N1, And providing the intermediate path between the kth intermediate destination (Nk) and the destination (D) to the drones by a flight path avoiding the non-flying zone.

Preferably, the step of setting to the first intermediate destination N1 may further comprise the step of setting an angle? DSAx between the destination D and the origin S and the respective vertexes Ax of the non- 1 < / RTI > intermediate destination.

Preferably, the step of setting to the jth intermediate destination Nj comprises the step of setting an angle? DNiAx formed by the destination D, the ith intermediate destination Ni, and each of the vertexes Ax of the non- , Wherein each of the vertexes (Ax) of the prohibited area corresponds to only the vertexes existing in the first direction from the ith intermediate destination (Ni).

Preferably, the flight path providing apparatus may further include a step of determining that the flight can not be performed if any of the departure point S and the destination point D is included in the prohibition area.

Preferably, the flight path providing apparatus searches the avoidance path in a second direction different from the first direction, compares the avoidance path in the first direction and the avoidance path in the second direction, To the drones.

Preferably, the flight path providing apparatus may further include a step of modeling one non-flying area including all of the plurality of non-flying areas when there are a plurality of the non-flying areas.

Advantageously, modeling the one non-flying zone may include modeling a polygon having n vertices into the one non-flying zone based on the area of the one non-flying zone.

Preferably, the flight path providing apparatus further comprises: searching for a first avoidance path for avoiding the first prohibited area when there are a plurality of the prohibited areas; Wherein the flight path providing device is configured to set the mth intermediate destination as a new starting point and to avoid the second ninth intermediate point as a new starting point in order to avoid a second prohibiting zone existing between the mth intermediate destination and the nth intermediate destination of the first avoidance path, Searching for a second avoidance path having a destination as a new destination; And the flight path providing apparatus replaces only the path between the mth intermediate destination and the nth intermediate destination in the first avoidance path with the second avoidance path to set the second avoidance path to the first avoidance path And merging.

Preferably, the flight path providing apparatus searches for a first avoidance route in a first prohibited area having a largest area in preference to a second avoidance route in a second prohibited area having a smaller area than the first prohibited area, Path, and merges the second avoiding path into the first avoiding path.

A flight path providing apparatus according to an embodiment of the present invention includes a network interface;

One or more processors; A memory for loading a computer program executed by the processor; And a storage for storing information on a prohibited area to which the drones can not fly, said computer program being characterized in that said non-flying zone is located between the source (S) and the destination (D) , Setting a first vertex of the prohibited area to a first intermediate destination (N1), the first vertex of the prohibited area forming a maximum angle deviating from the non-flying area in a first direction with respect to the source (S); Setting a j-th vertex of the prohibited area to a j-th intermediate destination (Nj) at a maximum angle that deviates from the prohibited area in the first direction with respect to the ith intermediate destination (Ni); And the kth intermediate destination (Nk), the source (S), the first intermediate destination (N1), the plurality of intermediate destinations, and the kth intermediate And an operation of providing a route connecting the destination (Nk) and the destination (D) to the drones by a flight route avoiding the prohibited area.

Preferably, the operation to be set to the first intermediate destination N1 is performed based on an angle? DSAx formed by the destination D, the origin S and the respective vertexes Ax of the prohibited area, 1 < / RTI > intermediate destination.

Preferably, the operation for setting the jth intermediate destination Nj is performed based on an angle? DNiAx formed by the destination D, the i-th intermediate destination Ni, and the respective vertexes Ax of the fly- , Wherein each vertex Ax of the prohibited area corresponds to only a vertex existing in the first direction from the ith intermediate destination Ni.

The effects according to the present invention are as follows.

With the route providing method proposed by the present invention, it is possible to avoid the dragon fly-free area or the dangerous area and reach the destination with the shortest distance. This can prevent security problems or personal privacy problems in advance. It also provides the shortest route avoiding the no-fly zone, thereby preventing unnecessary power consumption of the drones.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood to those of ordinary skill in the art from the following description.

1 is a view for explaining a prohibited area and a restricted area.
FIG. 2 is a view for explaining a method of providing a path for avoiding a non-flying zone of a dron according to an embodiment of the present invention.
FIG. 3 is pseudo code for implementing a method for providing a path for avoiding a non-flying zone of a drones according to an embodiment of the present invention.
Figures 4A-4B illustrate the modeling of a no-fly zone that may be used in an embodiment of the present invention.
Figures 5A-5C illustrate a recursive avoidance path search that may be used in an embodiment of the present invention.
Figure 6 is a flow diagram of a method for providing a path for avoiding a no-fly zone of a drones in accordance with an embodiment of the present invention.
7 is a hardware block diagram of an apparatus for providing a path for avoiding a non-flying zone of a dron according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing.

The terms first, second, A, B, etc. may be used to describe various elements, but the elements should not be limited by the terms. The 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. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a view for explaining a prohibited area and a restricted area.

With reference to Article 23 of the Aviation Act, regulations for the flight of ultra light aircraft are being mentioned. Particularly in Article 68 of the Enforcement Regulations, the prohibited areas are defined by legislation. This prohibits irresponsible flight and restricts the flight of drones to only those users who have been approved in advance.

A brief look at this point is as follows: 1) The area near the ceasefire line and part of Seoul city center is set as no-fly zone. This is a no-fly zone established due to security concerns. 2) Nationwide airports (civil airports, military airports) are set within the radius of 9.3 km. This is a no-fly zone established for the safety of airplanes. 3) In all regions, flight altitude above 150m is prohibited. 4) It is prohibited to fly in densely populated areas or in all over the world.

Thus, the drones are not able to fly anywhere, but are divided into flightable areas and impossible areas. Referring to FIG. 1, on the map near Seoul and the metropolitan area, it is possible to see the areas where the drones can fly and the impossible areas. The P-518 area was set as a no-fly zone due to military facilities, and the P-73A area was set as a non-flying area due to national key facilities including the Blue House.

In addition to the legally-forbidden zones, areas with steel towers and structures are also difficult to fly. In this case, if you want to fly the dron through autonomous driving, you need to avoid the no-fly zone and set the route.

FIG. 2 is a view for explaining a method of providing a path for avoiding a non-flying zone of a dron according to an embodiment of the present invention.

Referring to FIG. 2, the prohibited area is shown in the form of a polygon. The shortest route from the departure point (S, 110) to the destination (D, 130) has a no-fly zone, so it is impossible to fly freely along the shortest route. At this time, an alternative route that avoids the no-fly zone is required.

To this end, the present invention proposes a method of searching for the avoidance path by setting a plurality of intermediate destinations N from the source 110 to the destination 130. Although the drone can fly freely in a three-dimensional space in practice, the present invention will be described in two dimensions in order to facilitate understanding.

Referring to FIG. 2, in order to reach the destination 130 from the departure place 110, the prohibited area should be avoided. Since the description is made in two dimensions, the method of avoiding the prohibited area is to avoid the counter clockwise direction to the right There is a method and a clockwise way to the left.

First, the straight line extending from the departure point 110 to the destination 130 and the straight line extending to each vertex of the polygon formed by the departure point 110 and the fly-out zone are compared with each other Set the vertex of the polygon that has the largest angle to the intermediate destination.

In other words, when ∠DSN1 is compared with ∠DSN2 and ∠DSN3, ∠DSN1 has the largest angle. It is most preferable to first set the vertex N1 as the intermediate destination from the departure point S to the destination D in order to avoid the prohibition zone. After N1 is set to the first intermediate destination 121, the angle is again compared with N1.

In other words, when ∠DN1N2 and ∠DN1N3 are compared, ∠DN1N2 has the largest angle. At this time, it can be seen that setting N2 as the second intermediate destination 122 next to the first intermediate destination 121 is the most desirable for avoiding the non-flying zone. The N3 is set to the third intermediate destination 123 and finally the third intermediate destination 123 is moved to the destination D so as to avoid the prohibited area efficiently.

It is possible to reset the shortest route avoiding the prohibited area through the route of the departure location 110 → the first intermediate destination 121 → the second intermediate destination 122 → the third intermediate destination 123. If a path that avoids a no-fly zone in the clockwise direction to the left is searched, a shortest path can be set based on the angle of incidence through a similar process.

If the shortest route is selected as the final avoidance route and provided to the dron, the dron can travel along the provided avoidance route without departing the prohibited area, To the destination (130). This can save the power consumption of drones, monitor reconnaissance, broadcasting, courier, agricultural and more faithful to the original purpose can be.

FIG. 3 is pseudo code for implementing a method for providing a path for avoiding a non-flying zone of a drones according to an embodiment of the present invention.

Referring to FIG. 3, the pseudocode of the avoidance path providing method illustrated in FIG. 2 can be confirmed. First, it is checked whether the departure place 110 and the destination place 130 are included in the prohibition area. If either of them is included in a non-flying area, the avoidance route is not possible. At this time, the process of terminating the flight is terminated.

Otherwise, identify the shortest straight-line path between the origin 110 and the destination 130 and verify that the shortest straight-line path intersects the non-flying zone. If there is an intersection, the avoidance route needs to be searched because the prohibited area is located between the departure place 110 and the destination place 130.

In order to search for the avoidance path, the origin 110 is set as the current position and the vertex having the largest angle between the destination 130 and the origin 110 of the prohibition area is selected. The selected vertex is set as an intermediate destination, and the process of comparing the angle of incidence is repeated by resetting the intermediate destination to the current position until reaching the destination 130. [

In this case, when avoiding to the right, the angle is compared only with the vertex of the polygon on the right side in the intermediate destination. Since the vertex of the polygon on the left side is rather a retreat path, it is excluded from the comparison object. Likewise, when avoiding to the left, the angle is compared only to the vertex of the polygon on the left side of the intermediate destination.

In this way, it is possible to search for a route avoiding the prohibited area by repeatedly setting the intermediate destination based on the maximum angle from the departure point 110 to the destination 130. Also, in order to facilitate understanding of the present invention, a description has been given of a process of searching for a avoidance path based on two dimensions, but this can be extended to three dimensions in the same manner.

However, since most of the non-flying area includes the vertical direction as a reference, the two-dimensional avoidance path search method described so far can still be effectively used.

Figures 4A-4B illustrate the modeling of a no-fly zone that may be used in an embodiment of the present invention.

Referring to FIG. 4A, when a plurality of non-flying zones are set, a process of setting up a non-flying zone is performed. First, it can be seen that the first prohibited area 151 is located in a rectangular shape and the second prohibited area 152 is located at the lower right of the first prohibited area 151.

In this case, a polygon including both the first and second non-flying zones 151 and 152 may be modeled as a new non-flying zone 150. In FIG. 4A, it can be seen that a new forbidden zone 150 is modeled in the form of an octagon.

If there are a plurality of prohibited areas, a polygon that minimizes the area after merging may be set as a new prohibited area 150. In this case, if the number of vertices of the new polygon is increased, the area of the new non-flying zone 150 can be minimized and the avoidance path can be set to a shorter distance.

However, as the number of vertices of the polygon in the new prohibited area 150 increases, the number of vertexes of the polygon needs to be appropriately used because the amount of computation for setting the avoidance path increases. At this time, the area of the prohibited area 150 may be used as a criterion for determining the number of vertices for modeling the new prohibited area 150.

For example, if the area of the newly modeled no-fly zone 150 is greater than a preset value, the number of vertexes may be increased by K to reset the no-fly zone to minimize the area of the no-fly zone 150 have.

Referring to FIG. 4B, it can be seen that the new non-flying zone 150 is modeled when the non-flying zone is not a polygon. In some cases, non-flying areas may appear in the form of lines or points rather than polygons. For example, in the case of a transmission tower, it may appear in the form of a point on the map.

Even if the non-flying area is not a polygon, a new non-flying area 150 including the corresponding non-flying area can be set. In the example of FIG. 4B, the new prohibition zone 150 is modeled by merging the first prohibition zone 151 and the third prohibition zone 153 composed of three line segments.

If the non-flying area is not a polygon, the new non-flying area 150 can be set so that the area of the new non-flying area 150 is minimized. If there are a plurality of prohibited areas in this way, it is possible to minimize the amount of calculation for searching for the avoidance path by merging all of them and setting the new prohibition area 150.

In particular, if the evacuation route providing device is embedded in the drones, the resource amount of the drones is limited. Of course, the avoidance path providing apparatus may provide a avoidance path through communication from outside the drones.

4A to 4B, in the case where a plurality of prohibited areas exist between the departure place S and the destination place D, in addition to the method of merging all of them into one prohibition area, It is also possible to search the avoidance path without merging the forbidden zones.

For example, suppose you have searched for a first avoidance path that includes the i th intermediate destination and the j th intermediate destination to avoid the first non-prohibited zone. In this case, if there is a second prohibited area between the i th intermediate destination and the j th intermediate destination, the i th intermediate destination is referred to as a new starting point (S = i), the j th intermediate destination is set as a new destination (D = j) Only the route between the i-th intermediate destination and the j-th intermediate destination in the first escape route can be replaced with the second escape route. This will be referred to as a recursive avoidance path searching method and will be described in more detail with reference to FIGS. 5A to 5C.

Figures 5A-5C illustrate a recursive avoidance path search that may be used in an embodiment of the present invention.

Referring to FIG. 5A, it can be seen that a first prohibited area 151 and a second prohibited area 152 exist between the departure place 110 and the destination place 130. If there are a plurality of prohibited areas between the departure point 110 and the destination 130, an avoidance path for avoiding any one prohibited area may be searched first. In the case of FIG. 5A, the first avoidance route can be searched first based on the first prohibition zone 151. [

Referring to FIG. 5B, it can be seen that the first avoidance route for avoiding the first prohibited area 151 is searched. It is possible to avoid the first prohibited area 151 through the first avoidance route leading to the departure place 110 - the first intermediate destination 121 - the second intermediate destination 122 - the destination 130. At this time, when the first avoidance route is searched, the second avoidance area 152 is ignored and the first avoidance route is searched first.

Referring to FIG. 5B, it can be seen that a second prohibited area exists between the starting point 110 and the first intermediate destination 121 of the first avoidance route. In this case, it is possible to search for a second avoidance route for avoiding the second prohibition zone 152, with the departure location 110 as a new departure point and the first intermediate destination as a new destination.

Referring to FIG. 5C, it can be seen that a red second avoidance path has been searched for via the third intermediate destination 123 to avoid the second prohibit zone 152. Thus, if only the partial path between the starting point 110 of the first avoiding path and the first intermediate destination 121 is searched again for the second avoiding path and merged into the first avoiding path, the avoidance of the shortest distance You can navigate the path.

Referring to FIG. 5C, a second avoidance route leading from the departure location 110 to the third intermediate destination 123 to the first intermediate destination 121 is referred to as a first intermediate destination 121, a second intermediate destination 122, and a destination 130 to the final avoiding path leading from the source 110 to the third intermediate destination 123 to the first intermediate destination 121 to the second intermediate destination 122 to the destination 130, . ≪ / RTI >

When there are a plurality of prohibited areas, as shown in FIGS. 4A and 4B, a single avoidance route may be set after modeling a single prohibited area by merging all of them. FIG. 5A to FIG. 5C It is possible to avoid only the second prohibited area when there is another second prohibited area between the first avoiding paths after searching for the first avoiding route avoiding the first prohibited area It is possible to search for the second route and merge it with the first avoidance route.

In this case, when there are a plurality of non-flying zones, it is possible to determine by which of various criteria to search for a route that avoids the non-flying zone first. For example, the avoidance route can be searched by selecting the prohibited area having the largest area. Alternatively, the avoidance route can be searched by first selecting the nearest non-flying area in the departure place (S).

In summary, if there are multiple non-flying areas between the departure and destination areas, avoidance of multiple non-flying areas can be avoided by combining both the prohibited area merging method by modeling the prohibited area or the avoidance path merging method by searching the recursive avoiding path. It can be used as a method for searching a route. Either way, it is possible to search for the shortest avoidance path with a similar amount of computation.

Figure 6 is a flow diagram of a method for providing a path for avoiding a no-fly zone of a drones in accordance with an embodiment of the present invention.

6, it is checked whether the departure place 110 or the destination place 130 is included in the prohibited area (S1100). If any of the place 110 or the destination 130 is included in the prohibited area, (S1500) and ends the process of searching for the avoidance path.

In contrast, if both the origin 110 and the destination 130 are not included in the prohibited area, it is determined whether there is a prohibited area between the departure place 110 and the destination place 130. If there is no prohibited area between the departure point 110 and the destination 130, the straightest path connecting the departure point 110 and the destination 130 becomes the shortest path.

However, if there is a no-fly zone between the departure point 110 and the destination 130, a avoidance path is required. In this case, the current position is set as the departure point (S1200), the angles of the respective vertexes constituting the destination 130 - the current position - the forbidden region are compared, and the vertex having the greatest angle is set as the intermediate destination (S1400).

Until the current location is the same as the destination 130 (S1300), the intermediate destination is reset to the current location and the intermediate destination is searched again (S1400). If the current position is the same as the destination 130 through the recursive process, that is, if the destination 130 is reached, the flight is terminated (S1550).

7 is a hardware block diagram of an apparatus for providing a path for avoiding a non-flying zone of a dron according to an embodiment of the present invention.

Referring to FIG. 7, an apparatus 10 that provides a path for avoiding a drones' no-fly zone may include one or more processors 510, a memory 520, a storage 560, and an interface 570. The processor 510, the memory 520, the storage 560, and the interface 570 transmit and receive data via the system bus 550.

The processor 510 executes a computer program loaded into the memory 520 and the memory 520 loads the computer program from the storage 560. [ The computer program may include a path input receive operation 521, a flight path setting operation 523, an avoidance path search operation 525, and a prohibit area modeling operation 529.

The path input reception operation 521 receives location information about a source and a destination through which the drone should flow through the interface 570 and transmits the source location 561 and the destination 563 of the storage 560 via the system bus 550, . The location information of the departure location 561 and the destination location 563 is utilized in setting a later avoidance route.

The flight path setting operation 523 compares the shortest route between the departure point 561 and the destination 563 and the prohibition area 567 stored in the storage 560 and compares the distance between the departure point 561 and the destination 563 Check whether the non-flying zone 567 exists. If there is no prohibited area 567 between the departure point 561 and the destination 563, the straightest shortest path connecting the departure point 561 and the destination 563 is the flight path.

However, if there is a forbidden zone 567 between the departure point 561 and the destination 563, the avoidance path should be set. The process of searching for the avoidance path is performed by the avoidance path search operation 525. [

The avoidance path search operation 525 compares the angles formed by the respective vertexes of the destination 563 to the departure point 561 and the no-fly zone 567 when determining to avoid the first direction, Is set as the first intermediate destination.

The avoidance route search operation 525 again compares the angles formed by the vertices located in the first direction with respect to the first intermediate destination among the vertexes of the destination 563-the first intermediate destination-prohibited area 567, To the second intermediate destination.

Through the process of repeatedly setting the intermediate destination, the avoidance route from the starting point 561 to the destination 563 is searched and stored in the flight path 565 of the storage 560 through the system bus 550. This will be used as a shortest flight route to avoid drones provided later on the drone.

The no-fly zone modeling operation 527 may include a plurality of non-fly zones 567 to increase the efficiency of the avoidance path search when there are a plurality of the forbidden zones 567 between the departure point 561 and the destination 563. [ You can set a new no-fly zone to include.

The new one no-fly zone is modeled to have a minimum area including all of the plurality of non-flying zones 567. At this time, the new no-fly zone can determine the number of vertices based on the area of the newly created no-fly zone. As the number of vertices of the new non-flying area increases, the area of the new non-flying area decreases, but the amount of computation to search for the avoidance path increases.

Therefore, if the area of the new non-flying area is small, there is less damage from not optimizing the avoidance path even if it does not have many vertices. However, if the area of the new non-flying area is large but has a small number of vertices, the avoidance path may occur too much.

Therefore, by setting the area of the new prohibited area as an interval, it is possible to allocate more vertex points to the first section than to a few vertices, and to the second section that is wider than the first section. This allows for the optimization and modeling of the new no-fly zone.

Each component in FIG. 7 may refer to software or hardware such as an FPGA (Field Programmable Gate Array) or an ASIC (Application-Specific Integrated Circuit). However, the components are not limited to software or hardware, and may be configured to be addressable storage media, and configured to execute one or more processors. The functions provided in the components may be implemented by a more detailed component, or may be implemented by a single component that performs a specific function by combining a plurality of components.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

Claims (12)

When the flight path providing apparatus is located in the first direction with respect to the departure place (S) in the case where there is a prohibited area between the departure place (S) and the straight way route of the destination (D) Setting a first vertex of the forbidden zone at a maximum angle to a first intermediate destination (N1);
Wherein the flight path providing device sets the j-th vertex of the forbidden zone, which forms the maximum angle at which the out-of-flight area is out of the forbidden zone in the first direction with reference to the i-th intermediate destination Ni, as the j-th intermediate destination Nj ; And
Wherein when the destination D exists only in the first direction on the basis of the kth intermediate destination Nk, the flight path providing apparatus may further include a destination S, a first intermediate destination N1, Providing a path between the destination and the kth intermediate destination (Nk) to the destination (D) to the drones by a flight path avoiding the forbidden zone.
How to provide flight path. The method according to claim 1,
The step of setting to the first intermediate destination (N1)
And setting the first intermediate destination based on an angle? DSAx formed by the destination (D), the origin (S), and each vertex (Ax) of the prohibited area.
How to provide flight path. The method according to claim 1,
The step of setting to the jth intermediate destination (Nj)
Setting the jth intermediate destination based on an angle? DNiAx formed by the destination (D), the ith intermediate destination (Ni), and each vertex (Ax) of the prohibited area,
Wherein each vertex (Ax) of the non-flying area corresponds to only a vertex existing in the first direction in the i-th intermediate destination (Ni)
How to provide flight path. The method according to claim 1,
Further comprising the step of determining that the flight is impossible if the flight path providing apparatus is included in the non-flying area, either the start point (S) or the destination point (D)
How to provide flight path. The method according to claim 1,
The flight path providing apparatus searches for the avoidance route in a second direction different from the first direction and compares the avoidance route in the first direction with the avoidance route in the second direction to provide the shortest escape route to the drones ≪ / RTI >
How to provide flight path. The method according to claim 1,
Wherein the flight path providing device further includes modeling one prohibited area including all of the plurality of prohibited areas when there are a plurality of prohibited areas,
How to provide flight path. The method according to claim 6,
Wherein modeling the one non-flying zone comprises:
Modeling a polygon having n vertices based on the area of the one non-flying zone into the one non-flying zone.
How to provide flight path. The method according to claim 1,
If the flight path providing apparatus has a plurality of the prohibited areas, searching for a first avoidance path for avoiding the first prohibited area;
Wherein the flight path providing device is configured to set the mth intermediate destination as a new starting point and to avoid the second ninth intermediate point as a new starting point in order to avoid a second prohibiting zone existing between the mth intermediate destination and the nth intermediate destination of the first avoidance path, Searching for a second avoidance path having a destination as a new destination; And
Wherein the flight path providing apparatus replaces only the path between the mth intermediate destination and the nth intermediate destination in the first avoidance path by the second avoidance path and merges the second avoidance path into the first avoidance path, ≪ / RTI >
How to provide flight path. 9. The method of claim 8,
The flight path providing apparatus searches for a first avoidance route in a first prohibited area having the largest area and searches for a second avoidance route in a second prohibited area having a smaller area than the first prohibited area And the second avoiding path is merged into the first avoiding path.
How to provide flight path. Network interface;
One or more processors;
A memory for loading a computer program executed by the processor; And
Includes storage that stores information about prohibited areas that the drones can not fly,
The computer program comprising:
(S) and the straight path of the destination (D) in the first direction with respect to the departure point (S) when the dragon is in the first direction Setting a first vertex of the no-fly zone to a first intermediate destination (N1);
Setting a j-th vertex of the prohibited area to a j-th intermediate destination (Nj) at a maximum angle that deviates from the prohibited area in the first direction with respect to the ith intermediate destination (Ni); And
Wherein when the destination (D) exists only in the first direction with respect to the kth intermediate destination (Nk), the source (S), the first intermediate destination (N1), the plurality of intermediate destinations, (Nk) < / RTI > to said destination (D) to said drones by a flight path avoiding said < RTI ID =
Flight path provider. 11. The method of claim 10,
The operation for setting the first intermediate destination N1 may be,
And setting the first intermediate destination based on an angle? DSAx formed by the destination (D), the origin (S), and each vertex (Ax) of the prohibited area.
Flight path provider. 11. The method of claim 10,
The operation for setting the jth intermediate destination (Nj)
And setting the jth intermediate destination based on an angle? DNiAx formed by the destination (D), the ith intermediate destination (Ni), and each vertex (Ax) of the prohibited area,
Wherein each vertex (Ax) of the non-flying area corresponds to only a vertex existing in the first direction in the i-th intermediate destination (Ni)
Flight path provider.

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