KR20190006634A - System, method and apparatus for wide area drone operation - Google Patents

Abstract

Disclosed are a system, a method and an apparatus for operating a wide area drone. According to an embodiment of the present invention, the system for operating the wide area drone may include: ground control station agents (GCSs) controlling each of drone groups which separately control areas of interest; and a ground control station (GCS) transmitting a plan for operating the drones to the GCSs.

Description

SYSTEM, METHOD AND APPARATUS FOR WIDE AREA DRONE OPERATION FIELD OF THE INVENTION [0001]

The following embodiments are directed to a system, method and apparatus for wide area drone operation.

Drones are flying objects that fly by remote control or autonomously along designated routes and are used in a variety of fields such as camera shooting, military use, transportation, security, and personal use. The drones are generally used as small unmanned aerial vehicles operated manually by the operator's radio manipulation signal, and the attractor drones are also being commercialized.

Although the application range of the drone is gradually expanding, the operation error of the drone implies a possibility of a fatal accident, and in the case of a plurality of drone operations for managing a wide area, it may be more vulnerable to the possibility of operation error than the operation of a single drone. In addition, in order to carry out continuous and long-term operational tasks, it is necessary to consider a variable drones operating environment that varies with the capacity and efficiency of the drones and the environmental tolerance. Therefore, it is required to develop a system for integrally managing and operating a plurality of drones.

Embodiments provide a system for sharing the load of integrated control and integrated control in order to operate a plurality of drones in a wide area of interest.

Embodiments are intended to provide a technique for generating an operational plan for integrated operation of a plurality of drones.

Embodiments are intended to provide a technique for adjusting operating plans for variable generation as a function of a plurality of drones.

A wide area drone operating system according to an embodiment includes: a GCS agent (GCS agent) for controlling each of drones groups (each of the drones belonging to interest areas); And a GCS (Ground Control Station) for transmitting a drone operation plan to the GCS agents, the GCS agents transmitting drone operation commands to the drone groups based on the drone operation plan, At least one of drone collection information, drone status information, and information collection related metadata from the drones flying according to at least one of the GCS agent status information and at least one of the environment information corresponding to the ROIs And transmits at least one of the received information and the obtained information to the GCS, and the GCS may generate a second drill operation plan based on the information received from the GCS agents.

According to one embodiment, the drones state information includes at least one of battery performance information and dron performance information, and the GCS is configured to determine, based on the drones state information, whether the first droned population Identifying a first dronon, identifying a first GCS agent controlling the first droned population, and based on the identification result, performing a second dron operation on at least one GCS agent, including the first GCS agent, You can create a plan.

According to one embodiment, the GCS may generate a second drones operation plan that excludes the first drones from the first drones population.

According to one embodiment, the GCS is arranged such that the GCS includes at least one of the first region of interest, the number of drones of the first dron group, the region of interest of at least one remaining dron excluding the first dron in the first dron group, A second drone operation plan is created to control at least one of the flight time, flight time, flight period, flight line, type of information to be collected, information collection time, information collection period, charge time, charge period, .

According to one embodiment, the GCS excludes a second drones from a second group of drones that govern a second region of interest, and the second drones cause at least some of the first regions of interest to be photographed, And incorporating the drones into the first drones group, wherein the object of the generated second drones operation plan is a second Groning agent that controls the second drones group .

According to one embodiment, the GCS agent state information includes at least one of network connection state information, power information, internal temperature and humidity information, and drone landing capacity information of a GCS agent, and the GCS may determine, based on the GCS agent state information, Identifying a first drones group under the control of the first GCS agent, identifying, based on the identification result, at least one GCS agent including at least one GCS agent including the first GCS agent, 2 You can create a drone operation plan.

According to one embodiment, the GCS generates a second drones operation plan that causes at least one second GCS agent to control at least one first dron in the first dron group instead of the first GCS agent, The object of the generated second drill operation plan may include the second GCS agent.

According to an embodiment, the environment information corresponding to the area of interest includes weather information of the area of interest, and the GCS identifies a first area of interest where the drone operational meteorological disorder occurred based on the environmental information, Identifying a first droned population over a region of interest, identifying a first GCS agent controlling the first drones group, and based on the identification result, identifying at least one GCS agent, including the first GCS agent, It is possible to generate a second dron operation plan as an object.

According to one embodiment, the GCS is configured such that the GCS includes at least one of the first region of interest, the number of drones of the first dron group, the region of interest of at least one first dron within the first group of drones, A second drone operation plan that controls at least one of a flight cycle, a flight line, a type of information to be collected, an information collection time, an information collection cycle, a charge time, a charge cycle, a takeoff and landing time, and a takeoff and landing cycle.

According to one embodiment, the GCS generates a second droning operation plan that allows at least one first dronon in the first dronedocourse to navigate a second region of interest, and the object of the generated second drones operation plan A second GCS agent, and the second GCS agent may control a second group of drones that govern the second region of interest.

According to one embodiment, the drone collection information includes an image taken by a drone, the information collection related metadata includes geographical information on which the image is photographed, and the GCS includes the dron collection information and the information collection related metadata Acquire image analysis information generated based on the data, and generate a second drill operation plan based on the image analysis information.

According to one embodiment, the image analysis information includes at least one of image-capturing blank information, image quality abnormality information, and interest level adjustment information, and the GCS adjusts a photographing gap, an image quality abnormality, and an interest degree based on the image analysis information Identifying a first group of drones over which the first region of interest is to be identified, identifying a first GCS agent controlling the first group of drones, and identifying, based on the identification result, , And generate a second drill operation plan for at least one GCS agent including the first GCS agent.

According to one embodiment, the GCS may generate a second drones operation plan that causes at least one first drones in the first drones group to re-photograph at least a portion of the first region of interest.

According to one embodiment, the GCS excludes a second drones from a second group of drones that govern a second region of interest, and the second drones cause at least some of the first regions of interest to be photographed, And incorporating the drones into the first drones group, wherein the object of the generated second drones operation plan is a second Groning agent that controls the second drones group .

According to one embodiment, the GCS is configured such that the GCS includes at least one of the first region of interest, the number of drones of the first dron group, the region of interest of at least one first dron within the first group of drones, A second drone operation plan that controls at least one of a flight cycle, a flight line, a type of information to be collected, an information collection time, an information collection cycle, a charge time, a charge cycle, a takeoff and landing time, and a takeoff and landing cycle.

According to one embodiment, the GCS further comprises: increasing the number of drones of the first dron group when the interest of the first region of interest is increased; increasing the time of collecting information of the at least one first dron within the first dron group Generating a second drones operation plan to perform at least one of an operation and an operation of reducing the information collection period of the first drones and reducing the number of drones of a second dron group when the interest of the second region of interest is lowered, A second drone operation plan that performs at least one of an operation of reducing the information collection time of at least one second drone in the second drone group and an operation of increasing the information collection period of the second drone.

The wide area drones operating system according to an exemplary embodiment may further include a drones collection information analysis server for generating image analysis information based on the dron collection information and the information collection related metadata.

According to one embodiment, the GCS agent communicates with at least one dron to control takeoff and landing of the at least one drones, provide a landing space for at least one dron, and provide a wireless auto-fill platform for at least one dron , And obtain environmental information corresponding to the area of interest from the AWS (Automatic Weather System).

A method for wide area drone operation according to an exemplary embodiment of the present invention includes: transmitting a drone operation plan to a GCS agent (Ground Control Station Agent) that controls each of drone groups, each of the drone groups having respective areas of interest; Receiving at least one of drone collection information, drone status information, information collection related metadata, GCS agent status information, and environment information corresponding to the ROIs from the GCS agents; And generating a second drill operation plan based on the information received from the GCS agents.

A method for wide area drone operation in accordance with an embodiment includes the steps of: controlling a group of drones that govern a region of interest; Receiving a drones operation plan from a GCS (Ground Control Station); Transmitting a drone operation command to the drones based on the drone operation plan; Receiving at least one of dron collection information, dron state information, and information collection related metadata from a drones group flying according to the drones operation command; Obtaining at least one of GCS agent status information and environment information corresponding to the area of interest; And transmitting at least one of the received information and the obtained information to the GCS.

Embodiments can provide a system capable of long term drone operation in a wide area of interest.

Embodiments can provide a system that shares the load of integrated control and integrated control to operate a plurality of drones.

Embodiments may provide a technique for generating an operational plan for integrated operation of a plurality of drones.

The embodiments may provide a technique for adjusting the operation plan for variable generation according to the operation of a plurality of drones.

1 is a view for explaining a wide area drone operating system according to an embodiment.
2 is a view for explaining the operation of a wide area drone operating system according to an embodiment.
3 is a diagram for explaining a database according to an embodiment.
4 is a diagram for explaining an embodiment for adjusting the drone operation plan based on the dron state information.
5 is a diagram for explaining an embodiment for adjusting the drone operation plan based on the GCS agent state information.
6 is a diagram for explaining an embodiment for adjusting the drone operation plan based on environmental information.
7 is a diagram for explaining an embodiment for adjusting the drone operation plan based on the drone collection information.
8 is a diagram for explaining an embodiment for adjusting the drone operation plan based on the drone collection information.
9 is a diagram for explaining a wide-area drone operating system according to an embodiment.
10 is a flowchart illustrating a method for operating a wide-area drone according to an embodiment.
11 is a flowchart illustrating a method for operating a wideband drone according to an embodiment.
12 is an exemplary view of the configuration of an apparatus according to an embodiment.

Specific structural or functional descriptions of embodiments are set forth for illustration purposes only and may be embodied with various changes and modifications. Accordingly, the embodiments are not intended to be limited to the particular forms disclosed, and the scope of the present disclosure includes changes, equivalents, or alternatives included in the technical idea.

The terms first or second, etc. may be used to describe various elements, but such terms should be interpreted solely for the purpose of distinguishing one element from another. For example, 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.

It is to be understood that when an element is referred to as being "connected" to another element, it may be directly connected or connected to the other element, although other elements may be present in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms " comprises ", or " having ", and the like, are used to specify one or more of the described features, numbers, steps, operations, elements, But do not preclude the presence or addition of steps, operations, elements, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning of the context in the relevant art and, unless explicitly defined herein, are to be interpreted as ideal or overly formal Do not.

Embodiments may be implemented in various forms of products, such as personal computers, laptop computers, tablet computers, smart phones, televisions, smart home appliances, intelligent cars, kiosks, wearable devices, For example, embodiments may be applied to recognize users in smartphones, mobile devices, smart home systems, and the like. Embodiments can be applied to a payment service through user recognition. Also, the embodiments can be applied to an intelligent automobile system that automatically recognizes a user and starts up. Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

1 is a view for explaining a wide area drone operating system according to an embodiment.

1, a wide area drone operating system 100 according to an embodiment includes a GCS (Ground Control Station) 101 and a GCS agent (Ground Control Station Agent) 102, 103, 104, and 105 . The wide area drones operating system 100 may further include drones 112, 113, 114 and 115. The GCS 101 may control the GCS agents 102, 103, 104 and 105. The GCS agent 102 controls the drones group 112 and the GCS agent 103 controls the drones group 113 and the GCS agent 104 controls the drones group 114 and the GCS agent 105, Lt; RTI ID = 0.0 > 115 < / RTI > The GCS 101 and the GCS agent 102 may be implemented as a server or a device, for example, a software module, a hardware module, or a combination thereof. The drones groups 112, 113, 114 and 115 may be configured to automatically perform flight operations, landing and landing operations, information gathering operations, drones information acquisition operations, and charging operations in accordance with input or received commands, And embodiments are not limited by the type of drones groups 112, 113, 114, and 115.

The drones group 112 governs the region of interest 122 and the drones group 113 governs the region of interest 123 and the drones group 114 governs the region of interest 124 and the drones 115, May be responsible for the region of interest 125. The overall area of interest 110 includes interest areas 122,123,124 and 125 and the wide area drone operating system 100 controls the GCS agents 102,103, 110). ≪ / RTI > The interest regions 122, 123, 124, and 125 may include overlapping portions and may be distributed discretely, and the entire region of interest 110 may include regions of interest 122, 123, 124 and 125, But may further include additional areas. Various aspects may be employed depending on the design intent or system efficiency.

The GCS agents 102,103, 104 and 105 send the regular commands to the drones groups 112,113, 114 and 115, respectively, to operate the drones groups 112,113, 114 and 115, The system 101 collectively controls the GCS agents 102, 103, 104 and 105 to collect information about the region of interest 110 and collects information about the drones 112, 113, 114 and 115 ) Can be modified to suit the situation. This allows the wide area drones operating system 100 to load the loads associated with normal operation to the GCS agents 102, 103, 104 and 105 and to load the loads associated with the overall dron operation to the GCS 101, Can be layered.

The wide area drones operating system 100 can remotely control the GCS agents 102, 103, 104 and 105 installed in the regions of interest 122, 123, 124 and 125 respectively using the GCS 101, 113, 114 and 115 via the remote control of the GCS agents 102, 103, 104 and 105 via the GCS 101. [ The area of interest 110 is a region where repetitive physical access is required, an area where manual operation of the drone is not easy, an area where information collection is required through drone flight, And it may be an area requiring remote control access. The wide area drones operating system 100 uses a remote control and layered control scheme of the GCS agents 102, 103, 104 and 105 via the GCS 101 to create an area of interest 110 113, 114 and 115 and collect information through the operation of the drones groups 112, 113, 114, and 115. The drones 112, 113, 114,

According to one embodiment, the GCS 101 may send the drone operation plan to the GCS agents 102, 103, 104 and 105. For example, the GCS 101 may send different drone operation plans to the GCS agents 102, 103, 104 and 105, respectively. Alternatively, the GCS 101 sends the same Drona operation plan to the GCS agents 102, 103, 104 and 105, and the GCS agents 102, 103, 104 and 105 each identify their own drone operation plan . Various embodiments may be adopted for collective transmission and differential transmission of the drone operation plan depending on design intent or system efficiency.

According to one embodiment, the GCS agents 102, 103, 104 and 105 may execute operations according to the drone operation plan received from the GCS 101. The GCS agents 102, 103, 104 and 105 may send the drone operation commands to the drones 112, 113, 114 and 115 based on the drones operation plan received from the GCS 101. [ GCS agents 102, 103, 104 and 105 may send information by drones 112, 113, 114 and 115 to GCS 101 and GCS 101 may analyze the received information . The GCS 101 can determine whether to change or maintain the drone operation plan based on the received information.

According to one embodiment, the network 130 enables wired and wireless communication between various entities within the wide area drone operating system 100. GCS 101, GCS agents 102, 103, 104 and 105 and drones groups 112, 113, 114 and 115 may communicate with each other via network 130, Techniques and / or protocols. In the following, the operation of the GCS agents 102, 103, 104 and 105 and the drones groups 112, 113, 114 and 115, in which the GCS 101 and the GCS agents 102, 103, 104 and 105 communicate, However, the embodiments are not limited by the subject matter or the mode of communication, and various applications can be employed. Hereinafter, an embodiment related to the execution and generation of the drone operation plan of the wide area drone operation system will be described with reference to FIGS. 2 and 3. FIG. Referring to Fig. 4, an embodiment related to the creation or change operation of the drone operation plan according to the drones state information will be described. Referring to FIG. 5, an embodiment related to the creation or change operation of the drone operation plan according to the GCS agent status information will be described. Referring to Fig. 6, an embodiment related to the creation or alteration operation of the drone operation plan according to environmental information will be described. Referring to Figs. 7 and 8, an embodiment related to the creation or alteration operation of the drone operation plan according to the drone collection information will be described.

2 is a view for explaining the operation of a wide area drone operating system according to an embodiment.

 Referring to FIG. 2, the GCS 201 may receive commands from an operator 205 of the wide area drone operating system (211). The input command includes an instruction for wide-area drone operation, and the GCS 201 can generate a drone operation plan based on the input command. According to one embodiment, the GCS 201 may perform a drone operation plan based on at least one of an analysis result by the GCS 201 and an analysis result by the drone collection information analysis server 206 without a separate input of the operator 205 Can be generated.

The GCS 201 may send the drone operation plan to the GCS agents 202 and 203 (212). The drone operation plan is information related to the plan for operating the drone and may include information necessary for GCS agents 202 and 203 to control drones groups 204. [ For example, a drone operation plan may include information about the jurisdictional area of drones (including 204), flight time, flight period, flight line, type of information to be collected, information collection time, Take-off time, take-off period, sub-area of interest of each dron, and the like. Here, the drones 204 are objects of control of the GCS agent 202, and the illustration of the drones groups controlled by the remaining GCS agents is omitted for convenience of explanation.

The GCS agents 202 and 203 may send the drone operational commands to the drones 204 (based on the drones operation plan received from the GCS 201) (213). The GCS agents 202 and 203 may receive at least one of the dron collection information, the dron status information, and the information gathering related metadata from the drones groups (including 204) that have flown according to the drones commands (214).

Drone collection information is information collected by a drone, for example, an image taken by a drone through a flight, information collected through a sensor, and can be represented by raw data. The drone state information is information on the state of the drone, for example, battery performance information and drones performance information (SOH). The battery performance information is information on the performance of the battery, and includes parameters such as a state of charge (SOC) of the battery, a measured value related to the battery state such as the efficiency of the battery, an estimated value, and the like. The drone performance information is information on the performance of the drone, and includes parameters such as, for example, breakage information of the drone, information on whether or not the drone is normal, part information, and life information. The meta data related to the information collection is metadata related to the information collected by the drones, and includes parameters such as position, time, resolution, and camera information of the image.

The GCS agents 202 and 203 may obtain at least one of the GCS agent status information and the environment information corresponding to the ROIs. The GCS agent status information is information on the status of the GCS agents 202 and 203. For example, the GCS agent power, internal temperature and humidity, network connection status, drone landing possible number, current drone landing number, , Damage information, information on normal operation status, parts information, and life time information. The GCS agent may obtain GCS agent status information from an internal or external sensing device.

The environment information corresponding to the ROI includes information about the environment of the ROI such as weather information (wind speed, rainfall, temperature and humidity), and information about the possibility of flying the drone. The GCS agent can acquire environmental information corresponding to a region of interest from an internal or external sensing device. For example, the GCS agent can acquire environmental information from an AWS (Automatic Weather System) installed inside or outside the GCS agent. AWS can measure environmental information and provide it as a GCS agent. According to one embodiment, the GCS agent communicates with at least one dron to control takeoff and landing of at least one dron, provide landing space for at least one dron, and provide a wireless auto-fill platform for at least one dron And acquire environmental information corresponding to the area of interest from the AWS.

The GCS agents 202 and 203 send at least one of the drone collection information, the drone status information, the information collection related metadata, the GCS agent status information, and the environment information corresponding to the ROIs to the GCS 201 (215).

The GCS 201 generates state information, reports, and image analysis information related to the drone operation based on the received information and provides the state information, report, and image analysis information to the operator 205 (216). According to one embodiment, the GCS 201 may send the received information to the drones collection information analysis server 206 (217). The drone collection information analysis server 206 may provide the received information to the operator 205 and users 207 (218 and 219). The drone collection information analysis server 206 may generate status information, reports, and image analysis information related to the drone operation based on the received information and provide it to the operator 205 and the users 207 (218 and 219) . According to one embodiment, the drones collection information analysis server 206 may be implemented as a crawl server in a form in which the users 207 are freely engaged and editable, and may include state information related to drone operation, Can be created, processed, managed and edited by users (207). The drone collection information analysis server 206 performs preprocessing, post-processing, and analysis processing of photographed images by the drone, and the users 207 can process and distribute information in a desired form.

According to one embodiment, the GCS 201 can receive a second command by the operator 205, generate a second drill operation plan based on the input second command, and generate a second drill operation plan To the GCS agents 202 and 203. Here, the second command may include at least one of dron collection information, drone status information, information collection related metadata, GCS agent status information, environment information corresponding to regions of interest, status information related to the dron operation, The existing command may be maintained or changed by the information and input to the GCS 201 from the operator 205. In accordance with one embodiment, the GCS 201 may be configured to provide an existing drone operation plan (not shown) based on at least one of an analysis result by the GCS 201 and an analysis result by the drone collection information analysis server 206, To create or modify the second drilling operation plan. GCS agents 202 and 203 control the drones groups 204 (including 204) and receive the information received from the drones groups 204 (according to the second drones operation plan sent from the GCS 201) GCS 201, as shown in FIG. Through the transmission of these commands and the gathering of information, the wide-area drone operation system can create a drone operation plan suitable for the condition and situation, and can adaptively modify the drone operation plan as conditions and conditions change. The GCS 201 analyzes and collects the information collected from the GCS agents 202 and 203 and provides it to the operator 205 and the operator 205 performs routine management of the region of interest and drones .

3 is a diagram for explaining a database according to an embodiment.

The wide-area drone operation system can database the information for operating the wide-area drone and retrieve necessary information from the internal or external database. Here, the database may be a database inside or outside the GCS, the GCS agent, and the drones collection information analysis server, or a database inside or outside the wide area drone operation system.

Referring to FIG. 3, a wide area drone operating system may database information related to a GCS agent, a region of interest, a group of drones, and the like. For example, the wide area drones operating system includes identifiers 301 of GCS agents, identifiers 302 of interest regions, identifiers 303 of physical information of interest regions, identifiers 304 of GCS agent status information, The identifiers 305 of the drones in the drones group, and the identifiers 306 of the dron status information. According to one embodiment, the wide area drone operating system of interest to identify the GCS agent "A1" from the database, and identifying the "A1""AS_1" GCS agent status information corresponding to, and corresponding to "A1" area "R _{1 &} quot ;, identifying a position " P ₁ " and a size " S ₁ " corresponding to " R _{1 &} quot ;, identifying a group of drones corresponding to &Quot; D _{11 &} quot ;, and identify the dron status information " DS ₁₁ " corresponding to " D ₁₁ ". The wide-area drone operating system can query the database for information to create or change the drone operation plan, and utilize the inquired information. Embodiments related to the type of database-structured information and the database construction method are not limited to the above-described schemes and drawings, and various embodiments may be employed in consideration of design intent or system efficiency.

4 is a diagram for explaining an embodiment for adjusting the drone operation plan based on the dron state information.

The wide area drones operating system can generate a second drones operation plan based on the dron state information. Here, the second drilling operation plan may be the same or modified drone operation plan as the existing drone operation plan according to the drone condition information. The drone state information is the same as described above.

4, a wide area drone operating system includes GCS agents 401 and 402 and a GCS (not shown), and a GCS (not shown) may generate a second drone operation plan. The first GCS agent 401 controls the first drones 403,404,405 and 406 and the second GCS agent 402 controls the second drones 407,408 and 409, The drones 403, 404, 405 and 406 are responsible for the first area of interest 410 and the second group of drones 407, 408 and 409 are for the second area of interest 420, The drones 405 govern the sub-areas of interest 450 and the drones 406 govern the sub-areas of interest 440. The drones 406 govern the sub-areas of interest 430, 460). Hereinafter, for convenience of explanation, the drones 405 will be referred to as a first drones, and the drones 407 will be referred to as second drones.

In accordance with one embodiment, a GCS (not shown) may be coupled to the first drones 403, 404, 405, and 406 that govern the first region of interest 410, 405). The GCS (not shown) can determine whether a dron has a failure based on the dron state information and a predefined criterion, and various methods can be adopted as a criterion for determining whether a dron has a failure. The GCS (not shown) may identify the first GCS agent 401 that controls the first drones 403, 404, 405, and 406. The GCS (not shown) may generate a second drones operation plan based on the identification result for at least one GCS agent including the first GCS agent 401.

The GCS (not shown) may perform an identification operation using an internal or external database, or may receive an identification result from outside, and may generate a second drone operation plan generation subject and a second drone operation plan (Not shown), a combination of GCS (not shown) and an external server, or an external server. For example, a GCS (not shown) may generate a second drill operation plan through communication with an external server or perform a judgment operation for generating a second drill operation plan, and may execute a second drill operation plan Or to receive a determination result for generation of the second drill operation plan. Although the embodiment will be described mainly in the case where the GCS (not shown) is the subject of execution, embodiments related to the subject may be variously defined as described above or described below, and may also be applied to the following description.

According to one embodiment, a GCS (not shown) may generate a second drones operation plan that excludes the first drones 405 from the first drones 403, 404, 405, and 406. The first drones 405 may be stored in the first GCS agent 401 or may be moved out and repaired and repaired.

According to one embodiment, a GCS (not shown) may include a first interest region 410, a number of drones in a first dron group 403, 404, 405 and 406, a first dron group 403, 404, 405 and 406, The time of flight of the sub-areas of interest 430, 440 and 460, the remaining drones 403, 404 and 406, which are controlled by at least one remaining drones 403, 404 and 406 except for the first dron 405, The type of information to be collected, the information collection time, the information collection period, the charging time, the charging period, the take-off time, and the take-off and landing period. The GCS (not shown) may generate a second drill operation plan based on the adjustment results. Alternatively, the GCS (not shown) may include a sub-area 450 of the first drones 405, flight time, flight period, flight line, type of information to be collected, information collection time, , The takeoff and landing time, and the take-off and landing period.

According to one embodiment, the GCS (not shown) may exclude the second drones 407 from the second group of drones 407, 408, and 409 that govern the second region of interest 420. The GCS (not shown) may include proximity to the first region of interest 410, characteristics of drones groups (dron numbers, drones state information, etc.), excluding the first drones 403, 404, 405, and 406, (E.g., GCS agent state information, etc.) of the GCS agents other than the first drones 401. The GCS (not shown) allows the second drones 407 to capture at least a portion of the first region of interest 410 and the second drones 407 to the first drones 403, 404, 405, and 406 And a second drilling operation plan that performs at least one of the operations of incorporating the drilling operation. The GCS (not shown) incorporates the first drones 405 from the first dron group 403,404, 405, and 406 while incorporating the second drones 407 into the first dron group 403,404, 405, A 2-Dron operation plan can be created. According to one embodiment, the subject of the second drill operation plan may include a second GCS agent 402.

According to one embodiment, a GCS (not shown) may send a second drone operation plan to the first GCS agent 401 or to the first GCS agent 401 and the second GCS agent 402. The GCS (not shown) may update the database as the second drone operation plan is created.

5 is a diagram for explaining an embodiment for adjusting the drone operation plan based on the GCS agent state information.

The wide area drones operating system may generate a second drones operation plan based on the GCS agent state information. The GCS agent status information is the same as described above.

5, the wide area drone operating system includes a GCS 501, GCS agents 502 and 503, and a drone collection information analysis server 506. [ Here, the first GCS agent 503 is a failed GCS agent, and the second GCS agent 502 controls the second dron group 504. According to one embodiment, the GCS 501 may identify the failed first GCS agent 503 based on the GCS agent state information. The GCS 501 may identify the first drones group that the first GCS agent 503 controls. The GCS 501 may generate a second drones operation plan based on the identification result, the second dron operation plan being directed to at least one GCS agent including the first GCS agent 503. [ As described above, the drone collection information analysis server 506 may be implemented as a cloud server accessible to the operator 505 or the users 507. [

Referring to FIG. 5, the GCS 501 may receive GCS agent state information from the first GCS agent 503 (511). The GCS 501 may provide information to the operator 505 about the processed GCS agent state information or GCS agent state information (512). Alternatively, the GCS 501 may provide status information, reports, and image analysis information related to the drone operation to the operator 505 based on the received information (512). The GCS 501 can receive a command regarding wide area drone operation from the operator 505 (513). The GCS 501 may generate a second drill operation plan based on the entered command and send the generated second drill operation plan to the GCS agents 502 and 503 (514 and 515). According to one embodiment, the GCS 501 may send a command associated with the control disconnection to the first GCS agent 503 and may send a command related to the operational plan change to the second GCS agent 502. [ GCS agents 502 and 503 operate in accordance with the received second drones operation plan, and the remaining operations 516 through 521 are as described above.

According to one embodiment, the GCS 501 may include at least one first drones in a first dron group (not shown), a second drones 502 that allow the second GCS agent 502 to control instead of the first GCS agent 503, You can create an operational plan. Alternatively, the GCS 501 may control the second GCS agent 502 such that the second drones 504 are responsible for at least some of the first area of interest (not shown) that the first drones group (not shown) The second drone operation plan can be generated. The above-described or later contents may be applied to the embodiments related to the creation, the object, and the subject of the second drill operation plan.

6 is a diagram for explaining an embodiment for adjusting the drone operation plan based on environmental information.

The wide area drones operating system may generate a second drones operation plan based on environmental information corresponding to the regions of interest. The environmental information corresponding to the region of interest is the same as described above.

Referring to FIG. 6, the wide area drone operating system includes GCS agents 601 and 602 and a GCS (not shown), and a GCS (not shown) may generate a second drone operation plan. The first GCS agent 601 controls the first drones 603, 604, 605 and 606 and the second GCS agent 602 controls the second drones 607, 608 and 609, The second group of drones 607,608 and 609 dominate the second region of interest 620 and the drones 403 and 603 respectively correspond to the first region of interest 610 and the drones 603,604, 605 and 606, The drones 604 govern the sub-areas of interest 640 and the drones 605 govern the sub-areas of interest 650 and the drones 606 govern the sub-areas of interest 640. The drones 606, 660). Hereinafter, the drones 605 and 606 will be referred to as first drones for convenience of explanation.

According to one embodiment, the GCS (not shown) may identify a first region of interest 610 where a drone operational meteorological disorder has occurred, based on environmental information corresponding to regions of interest. For example, the weather state of the first area of interest 610 may be unsuitable for drone operation, and the first GCS agent 601 acquires environmental information from the AWS 611 installed inside or outside, The GCS (not shown) can determine whether a drone operation meteorological fault has occurred based on the received information and a predefined criterion, and various methods are used as criteria for determining a drone operation meteorological disorder .

The GCS (not shown) may identify a first group of drones 603, 604, 605, and 606 that govern the first region of interest 610. The GCS (not shown) may identify the first GCS agent 601 that controls the first drones 603, 604, 605, and 606. Based on the identification result, the GCS (not shown) may generate a second drill operation plan for at least one GCS agent including the first GCS agent 601.

According to one embodiment, the GCS (not shown) may include a first interest region 610, a first number of drones 603, 604, 605 and 606, The flight time of the drones 603, 604, 605, and 606, the flight period, the flight line, the type of information to be collected, the information collection time, information At least one of a collection period, a charging period, a charging period, a take-off time, and a take-off period can be adjusted. The GCS (not shown) may generate a second drill operation plan based on the adjustment results.

According to one embodiment, a GCS (not shown) is coupled to a second drones 604, 605, and 606 to allow the first drones 605 and 606 within the first drones 603, You can create an operational plan. For example, the second region of interest 620 may be a region where no drone operational meteorological disturbance has occurred. The GCS (not shown) maintains the control subjects of the first drones 605 and 606 in the first GCS agent 601, or changes to the second GCS agent 602, or to the first GCS agent 601 The second GCS agent 602 may interwork to create a second drones operation plan to control the first drones 605 and 606. The above-described or later contents may be applied to the embodiments related to the creation, the object, and the subject of the second drill operation plan.

7 is a diagram for explaining an embodiment for adjusting the drone operation plan based on the drone collection information.

The wide area drones operating system may generate a second drones operation plan based on the dron collection information and information gathering related metadata. The drone collection information and the metadata related to the information collection are the same as those described above.

Referring to FIG. 7, a wide area drone operating system includes GCS agents 701 and 702 and a GCS (not shown), and a GCS (not shown) may generate a second drone operation plan. The first GCS agent 701 controls the first drones 703,704,705 and 706 and the second GCS agent 702 controls the second drones 707,708 and 709, The drones 703 704 705 and 706 dominate the first region of interest 710 and the second drones 707 708 and 709 dominate the second region of interest 720 and the drones 703, The drones 704 govern the sub-areas of interest 740 and the drones 705 govern the sub-areas of interest 750 and the drones 706 govern the sub-areas of interest 760).

According to one embodiment, the image analysis information includes at least one of a shooting gap, an image quality abnormality, and an interest level adjustment. Based on the image analysis information, the GCS (not shown) can identify the first region of interest 710 in which at least one of the shooting gap, the image quality abnormality, and the interest adjustment occurs. The GCS (not shown) may identify the first group of drones 703, 704, 705, and 706 that govern the first region of interest 710. The GCS (not shown) may identify the first GCS agent 701 that controls the first drones 703, 704, 705, and 706. Based on the identification result, the GCS (not shown) may generate a second drones operation plan that targets at least one GCS agent including the first GCS agent 701.

Referring to FIG. 7, a photographing blank 712 may occur in the photographed image 711 associated with the first region of interest 710. [0065] FIG. The quality of the photographed image 713 associated with the first region of interest 710 may be reduced compared to predefined criteria. The GCS (not shown) can determine whether a shooting gap, an image quality abnormality, and an interest level adjustment have occurred based on the received information and a predefined criterion, and determine whether a shooting gap, an image quality abnormality, Various methods can be adopted as a criterion.

According to one embodiment, a GCS (not shown) is provided to at least one first dron within the first drones 703, 704, 705, and 706 to capture at least a portion of the first region of interest 710 You can create a drone operation plan. According to one embodiment, the GCS (not shown) may include a first interest region 710, a first number of drones 703, 704, 705, and 706, The type of the information to be collected, the information collection period, the charging time, the charging period, the take-off time, and the time period during which the at least one first dron has jurisdiction, At least one of the take-off and landing cycles can be adjusted. The GCS (not shown) may generate a second drill operation plan based on the adjustment results. The above-described or later contents may be applied to the embodiments related to the creation, the object, and the subject of the second drill operation plan.

8 is a diagram for explaining an embodiment for adjusting the drone operation plan based on the drone collection information.

8, a wide area drone operation system includes GCS agents 801 and 802 and a GCS (not shown), and a GCS (not shown) may generate a second drone operation plan. The first GCS agent 801 controls the first drones 803, 804, 805 and 806 and the second GCS agent 802 controls the second drones 807, 808 and 809, The drones 803 804 805 and 806 dominate the first area of interest 810 and the second drones 807 808 and 809 dominate the second area of interest 820. For convenience of description, drones 807 and 808 will be referred to as second drones.

The GCS (not shown) may identify the first region of interest 810 where the interest adjustment occurred, based on the image analysis information. The GCS (not shown) may identify a first group of drones 803, 804, 805, and 806 that govern the first region of interest 810. The GCS (not shown) may identify the first GCS agent 801 that controls the first drones 803, 804, 805, and 806. Based on the identification result, the GCS (not shown) may generate a second drill operation plan for at least one GCS agent including the first GCS agent 801.

Referring to FIG. 8, the interest of the first region of interest 810 may be increased by the photographed image 811 associated with the first region of interest 810. The interest of the second region of interest 820 may be lowered by the photographed image 812 associated with the second region of interest 820. [ For example, the GCS (not shown) may analyze the photographed image 811 or determine the degree of interest of the first region of interest 810 using the analysis results. It can be determined from the photographed image 811 whether the object to be observed is found or the frequency with which the object is found is high or a specific phenomenon has occurred. The GCS (not shown) may analyze the photographed image 812 or determine the degree of interest of the second region of interest 820 using the analysis results. For example, the GCS (not shown) may analyze the photographed image 812 or determine the degree of interest of the second region of interest 820 using the analysis results. It can be judged whether the object to be observed is not found from the photographed image 812 or there is no change of the image or no specificity occurs during a predefined period.

According to one embodiment, the GCS (not shown) excludes the second drones 807 and 808 from the second drones 807, 808, and 809 that govern the second region of interest 820, (807 and 808) to capture at least a portion of the first region of interest (810), and to incorporate the second drones (807 and 808) into the first group of drones (803, 804, 805, and 806) Or a second drill operation plan that performs at least one of the following.

According to one embodiment, the GCS (not shown) may include operations to increase the number of drones in the first dron group 803, 804, 805, and 806 when the interest of the first region of interest 810 is increased, 803, 803, 804, 805, and 806) and an operation of reducing the information collection period of the first drones.

According to one embodiment, the GCS (not shown) may include actions to reduce the number of drones of the second drones 807, 808, and 809 when the interest of the second region of interest 820 is lower, 808, and 809) and an operation to increase the information collection period of the second drones. The above-described or later contents may be applied to the embodiments related to the creation, the object, and the subject of the second drill operation plan.

According to one embodiment, the GCS (not shown) may generate a second drill operation plan based on a combination of the above described variables. For example, a GCS (not shown) may apply a weight to at least one of drone collection information, drone state information, information collection related metadata, GCS agent state information, and environment information, The second drone operation plan can be generated based on the second drone operation plan. The method of applying the weights may be variously modified according to predefined criteria, conditions and conditions, may be inputted by the operator, and various applications may be adopted depending on the design intention or system efficiency.

9 is a diagram for explaining a wide-area drone operating system according to an embodiment.

The wide area drones operating system can perform continuous operation or monitoring on a region of interest where the region of interest can be in various forms for monitoring at least one structure (e.g., small, medium, large, etc.) . Further, the wide area drones operating system can be implemented in such a manner that a plurality of GCS agents control the same drones.

Referring to FIG. 9, the area of interest 910 may be a narrow and long area for monitoring a plurality of telephone poles. The wide-area drones operating system 900 can acquire images photographed by the drones 911 on telephone poles and analyze the failure, damage, and replacement of telephone poles based on the acquired images. The GCS agent 902 and the GCS agent 903 may control the drones 911 and the drones 911 may control the at least one of the GCS agents 902 , Take a picture of the telephone poles in the area of interest 910 while flying, and land on the GCS agent 903. In this case, the GCS 901 may deliver a command related to take-off of the drones 911 to the GCS agent 902 and deliver a command related to the landing of the drones 911 to the GCS agent 903. The GCS agents 902 and 903 can cooperate with each other to control the same drones 911. [ A wide-area drones operating system can operate a small number of drones in the long term using a plurality of GCS agents that control the same drones.

10 is a flowchart illustrating a method for operating a wide-area drone according to an embodiment.

Referring to FIG. 10, an apparatus for wide-area drone operation may transmit a drone operation plan to GCS agents that respectively control drone groups-drones groups each of interest regions (1001). The device for wide area drone operation may receive at least one of dron collection information, drone status information, information collection related metadata, GCS agent status information, and environment information corresponding to interest areas from GCS agents (1002). A device for wide area drone operation may generate a second drone operation plan based on information received from the GCS agents (1003). Here, the apparatus for wide-area drone operation may be the GCS described above, and a description of the overlapping contents will be omitted.

11 is a flowchart illustrating a method for operating a wideband drone according to an embodiment.

Referring to FIG. 11, a device for wide-area drone operation may control a group of drones that govern the region of interest (1101). A device for wide area dron operation may receive a drone operation plan from the GCS (1102). The device for wide area dron operation can transmit a dron operation command to the drones group based on the dron operation plan (1103). The apparatus for wide area dron operation may receive at least one of the dron collection information, the dron state information, and the information collection related metadata from the drones group flying according to the dron operation command (1104). The apparatus for wide area dron operation may obtain at least one of the GCS agent status information and the environment information corresponding to the area of interest (1105). The apparatus for wide area dron operation may transmit at least one of the received information and the acquired information to the GCS (1106). Here, the apparatus for wide-area drone operation may be the GCS agent described above, and a description of the overlapping contents will be omitted.

12 is an exemplary view of the configuration of an apparatus according to an embodiment.

Referring to FIG. 12, an apparatus 1201 includes a memory 1203 and a processor 1202. The memory 1203 may store an application, program, or software for processing commands associated with wide area drone operation and may record instructions for executing the operations described with reference to Figs. 1-11. Apparatus 1201 may be any of the above described systems, GCS, GCS agent, and drones collection information analysis server, or a combination thereof. The processor 1202 can execute the program and control the apparatus 1201. [ The code of the program executed by the processor 1202 may be stored in the memory 1203. [ The device 1201 is connected to an external device (e.g., a personal computer or a network) through an input / output device (not shown) and can exchange data. The processor 1202 can load and execute the program recorded in the memory 1203. [ Here, since the operations of the processor 1202 are applied to the embodiments described above, the description of the redundant contents is omitted.

The embodiments described above may be implemented in hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, such as an array, a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.

Although the embodiments have been described with reference to the drawings, various technical modifications and variations may be applied to those skilled in the art. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

100: Wide area drone operation system

Claims (23)

A GCS agent (Ground Control Station Agents) for controlling each of the drones groups - each of the drones belonging to the respective regions of interest; And
A GCS (Ground Control Station) for transmitting a drone operation plan to the GCS agents,
Lt; / RTI >
The GCS agents send the drone operation commands to the drones groups based on the drone operation plan,
At least one of dron collection information, dron status information, and information collection related metadata from drones groups flying according to the drones;
Obtaining at least one of GCS agent state information and environment information corresponding to the ROIs,
And transmitting at least one of the received information and the obtained information to the GCS,
Wherein the GCS generates a second drill operation plan based on information received from the GCS agents,
Wide area drone operation system.
The method according to claim 1,
The drone state information includes at least one of battery performance information and drone performance information,
The GCS
Identify the first drones that have failed from the first drones population that governs the first region of interest based on the dronation state information,
Identifying a first GCS agent that controls the first droned population,
Generating a second drill operation plan for at least one GCS agent including the first GCS agent based on the identification result,
Wide area drone operation system.
3. The method of claim 2,
The GCS
Generating a second drones operation plan that excludes the first drones from the first drones population,
Wide area drone operation system.
3. The method of claim 2,
The GCS
The method of claim 1, wherein the first doron population comprises at least one of a first interest region, a first doron population, a first doron population, a first doron population, Generating a second dron operation plan that controls at least one of a traffic line, a type of information to be collected, an information collection time, an information collection period, a charging time, a charging period, a take-
Wide area drone operation system.
3. The method of claim 2,
The GCS
Excluding the second drones from a second group of drones that govern the second region of interest,
Generating a second drones operation plan that performs at least one of the operations of causing the second dron to photograph at least a portion of the first region of interest and incorporating the second drones into the first group of drones,
Wherein an object of the generated second drones operation plan includes a second GCS agent that controls the second drones group,
Wide area drone operation system.
The method according to claim 1,
The GCS agent status information includes at least one of network connection status information, power information, internal temperature and humidity information, and drone landing capacity information of the GCS agent,
The GCS
Identify a first GCS agent in which a failure has occurred based on the GCS agent state information,
Identify a first dron group to be controlled by the first GCS agent,
Generating a second drill operation plan for at least one GCS agent including the first GCS agent based on the identification result,
Wide area drone operation system.
The method according to claim 6,
The GCS
Generate a second drones operation plan that causes at least one second GCS agent to control at least one first drones in the first droned group instead of the first GCS agent,
Wherein the object of the generated second drill operation plan includes the second GCS agent,
Wide area drone operation system.
The method according to claim 1,
The environmental information corresponding to the ROI includes weather information of the ROI,
The GCS
Identifying a first region of interest where the drone operational meteorological disorder occurred based on the environmental information,
Identify a first group of drones that governs the first region of interest,
Identifying a first GCS agent that controls the first droned population,
Generating a second drill operation plan for at least one GCS agent including the first GCS agent based on the identification result,
Wide area drone operation system.
9. The method of claim 8,
The GCS
The method of claim 1, wherein the first doron population, the first doron population, the first doron population, the at least one first doron in the first doron population, the sub-region of interest in the first doron population, Generating a second dron operation plan that controls at least one of a type of information, an information collection time, an information collection period, a charging time, a charging period, a take-off time,
Wide area drone operation system.
9. The method of claim 8,
The GCS
Generating a second drones operation plan that allows at least one first dronon in the first dronon group to jam over a second region of interest,
The target of the generated second drill operation plan includes a second GCS agent,
Wherein the second GCS agent controls a second group of drones over the second region of interest,
Wide area drone operation system.
The method according to claim 1,
The drone collection information includes an image taken by a drone,
The metadata related to the information collection includes the geographical information on which the image is photographed,
The GCS
Acquiring image analysis information generated based on the drone collection information and the information collection related metadata,
Generating a second drill operation plan based on the image analysis information,
Wide area drone operation system.
12. The method of claim 11,
Wherein the image analysis information includes at least one of photographing blank information, image quality abnormality information, and interest adjustment information,
The GCS
Identifying a first region of interest in which at least one of a shooting gap, an image quality abnormality, and a degree of interest adjustment occurs based on the image analysis information,
Identify a first group of drones that governs the first region of interest,
Identifying a first GCS agent that controls the first droned population,
Generating a second drill operation plan for at least one GCS agent including the first GCS agent based on the identification result,
Wide area drone operation system.
13. The method of claim 12,
The GCS
Wherein at least one first dron within the first droned population generates a second drones operation plan that causes at least a portion of the first region of interest to be re-
Wide area drone operation system.
13. The method of claim 12,
The GCS
Excluding the second drones from a second group of drones that govern the second region of interest,
Generating a second drones operation plan that performs at least one of the operations of causing the second dron to photograph at least a portion of the first region of interest and incorporating the second drones into the first group of drones,
Wherein an object of the generated second drones operation plan includes a second GCS agent that controls the second drones group,
Wide area drone operation system.
13. The method of claim 12,
The GCS
The method of claim 1, wherein the first doron population, the first doron population, the first doron population, the at least one first doron in the first doron population, the sub-region of interest in the first doron population, Generating a second dron operation plan that controls at least one of a type of information, an information collection time, an information collection period, a charging time, a charging period, a take-off time,
Wide area drone operation system.
13. The method of claim 12,
The GCS
Increasing the number of drones in the first dron group, increasing the information collection time of at least one first dron in the first dron group, and increasing the number of drones in the first dron group, Generating a second drones operation plan that performs at least one of operations to reduce the cycle,
The operation of reducing the number of drones of the second dron group, the operation of reducing the information collection time of at least one second dron within the second dron group, and the operation of collecting the information collection period of the second dron, Generating a second drones operation plan that performs at least one of an increasing operation,
Wide area drone operation system.
The method according to claim 1,
A drone collection information analysis server for generating image analysis information based on the drone collection information and the information collection related metadata,
≪ / RTI >
Wide area drone operation system.
The method according to claim 1,
The GCS agent
An automatic AWS (Automatic Weather System) system for communicating with at least one dron to control landing and landing of the at least one dron, providing a landing space for at least one dron, To acquire environmental information corresponding to a region of interest from the image data,
Wide area drone operation system.
Transmitting a drone operation plan to GCS agents (Ground Control Station Agents) that respectively control drone groups - the drone groups each control the regions of interest;
Receiving at least one of drone collection information, drone status information, information collection related metadata, GCS agent status information, and environment information corresponding to the ROIs from the GCS agents; And
Generating a second drill operation plan based on information received from the GCS agents
Containing
A method for wide area drone operation.
20. The method of claim 19,
The GCS agents
Transmitting the drone operation commands to the drones groups based on the drone operation plan,
Receiving at least one of the drones collection information, the droner status information, and the information collection related metadata from the drones groups flying according to the drones;
Obtaining at least one of the GCS agent status information and the environment information,
A method for wide area drone operation.
Controlling a group of drones that govern the region of interest;
Receiving a drones operation plan from a GCS (Ground Control Station);
Transmitting a drone operation command to the drones based on the drone operation plan;
Receiving at least one of dron collection information, dron state information, and information collection related metadata from a drones group flying according to the drones operation command;
Obtaining at least one of GCS agent status information and environment information corresponding to the area of interest; And
Transmitting at least one of the received information and the obtained information to the GCS;
Containing
A method for wide area drone operation.
22. The method of claim 21,
The GCS generates a second drill operation plan based on the received information,
A method for wide area drone operation.
22. A computer program stored in a computer-readable medium for executing the method of any one of claims 19 to 22 in combination with hardware.

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