KR20190009069A - System and method for flight path control - Google Patents

Abstract

A system for flight path control and a method thereof are disclosed. The system includes: a plurality of control stations for dividing and managing a three-dimensional control region into a plurality of three-dimensional cell regions; an unmanned airplane that moves in accordance with flight path information received from the control stations and requests next stopover point information to a control center that controls its current position to move from a current position to a next stopover point; and a control server that selects a next stopover point based on the current position information, the destination information, and the traffic information of the unmanned airplane in response to the next stopover information request of the unmanned airplane received through the control station, and selects the next stopover point by reflecting traffic information for each of the plurality of three-dimensional cell regions. It is possible to actively cope with an unexpected situation.

Description

TECHNICAL FIELD [0001] The present invention relates to a flight path control system,

The present invention relates to a flight path control system and method.

Unmanned aircraft, such as drone, are designed to carry out designated missions without boarding pilots. They can fly autonomously by remote control or along preset flight paths, Performs a dangerous mission to perform.

When an unmanned airplane autonomously flies along a predetermined flight path, the conventional unmanned airplane travels a straight line when the origin and destination are set.

Thus, when the UAV is moved from the departure point to the destination by a straight line distance, the UAV can not actively cope with an unexpected situation occurring on the move, thereby causing an accident such as collision of the UAV with an obstacle.

In addition, it is necessary to control the flight of the unmanned airplane as the range of application of the unmanned airplane is gradually expanded.

Korean Registered Patent No. 10-1668982 (Published on November 19, 2016)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide an air navigation system, And to provide a flight path control system and method for allowing a user to move to a destination.

According to an aspect of the present invention, there is provided a flight path control system including: a plurality of control units that divide and manage a three-dimensional control region of a three-dimensional control region, An unmanned airplane that moves in accordance with the flight path information received from the control station, and requests the next stopover point information to the control center that controls its current position to move from the current position to the next stopover point; And selecting a next waypoint based on the current location information, destination information, and traffic information of the unmanned airplane according to a next stopover information request of the unmanned airplane received through the control station, And a control server for selecting the next waypoint by reflecting the traffic information for each dimension cell region.

In one embodiment of the present invention, when receiving the next waypoint information from the control server through the control station, the unmanned airplane updates the route information using the received waypoint information, and when requesting the next waypoint information, When the control station fails to deliver the next stopover point information request of the unmanned airplane to the control server, the control station transmits the next stopover point to the control server by using the stopover point information, And transmits the estimated next waypoint information to the unmanned air vehicle.

In one embodiment of the present invention, the control server reflects the current position information, the destination information, and the current position information of the unmanned airplane when the next stop point is selected by reflecting the traffic information for each of the plurality of three- Based on traffic information for a plurality of three-dimensional cell areas under the control of the control station, a stopover point located on the flight path having the shortest travel time from the current position of the unmanned airplane to the destination among the selected stopover points is selected as the next stopover point .

In one embodiment of the present invention, the control server reflects the current position information, the destination information, and the current position information of the unmanned airplane when the next stop point is selected by reflecting the traffic information for each of the plurality of three- It is preferable to select a stopover point having the shortest movement wait time among the selected stopover next stop points as the next stopover point based on the plurality of three-dimensional cell area traffic information managed by the control station.

In one embodiment of the present invention, the control server reflects the current position information, the destination information, and the current position information of the unmanned airplane when the next stop point is selected by reflecting the traffic information for each of the plurality of three- If congestion occurs or is expected on the next stopping point based on the traffic information for each of the plurality of three-dimensional cell areas managed by the control station, the stopping point closest to the next stopping point or the furthest point It is preferable to select the intermediate point as the next intermediate point.

In one embodiment of the present invention, when the control server transmits the next waypoint information to the unmanned airplane through the control station, the control server transmits the wait time to the next waypoint and the time to arrive at the next waypoint desirable.

According to an embodiment of the present invention, the unmanned aerial vehicle moves to the next stopping point based on the stopover point information received from the control server through the control station, and when the unmanned airplane approaches the next stopover point within a predetermined distance, It is preferable to request the next stopover point information to the control station having jurisdiction over the next stopover point.

In one embodiment of the present invention, the three-dimensional cell area traffic information includes at least one of a number of unmanned airplanes currently flying by each flight path in each cell area, a number of unmanned airplanes And the like.

Meanwhile, according to an embodiment of the present invention, an unmanned airplane that moves from a departure point to a destination according to flight path information received from an administration station, requests the next stopping point information to the control center, ; The control station transmitting a request for the next waypoint information of the unmanned airplane to the control server; And the control server selects the next stopping point based on the current position information, the destination information, and the traffic information of the UAV, and selects the next stopping point by reflecting the traffic information for each of the three-dimensional cell areas managed by the control station The method comprising the steps of:

In one embodiment of the present invention, the unmanned airplane receives next waypoint information from the control station in response to the next waypoint information request; Updating the route information using the received route information; The unmanned airplane requests the next stopover point information by transmitting the stopover point information together with the departure point, destination information, and current position information of the unmanned airplane to the control station having its own current position; And when the control station fails to forward the next waypoint information request received from the unmanned airplane to the control server, the next waypoint is estimated using the waypoint information, and the estimated next waypoint information is transmitted to the unmanned airplane The method further comprising:

In one embodiment of the present invention, when the next waypoint is selected by reflecting the traffic information for each of the plurality of three-dimensional cell areas managed by the control station in the step of selecting the next waypoint, Based on the destination information and the traffic information for each of the plurality of three-dimensional cell areas managed by the control station, a stopover point located on the flight path having the shortest travel time from the current location of the unmanned airplane to the destination, It is preferable to select the next stopping point.

In one embodiment of the present invention, when the next waypoint is selected by reflecting the traffic information for each of the plurality of three-dimensional cell areas managed by the control station in the step of selecting the next waypoint, It is preferable to select a stopover point having the shortest movement wait time among the selected stopover next stop points based on the destination information and the plurality of three-dimensional cell area traffic information managed by the control station as the next stopover point.

In one embodiment of the present invention, when the next waypoint is selected by reflecting the traffic information for each of the plurality of three-dimensional cell areas managed by the control station in the step of selecting the next waypoint, When congestion occurs or is expected in the next stopping point based on the destination information and the traffic information for each of the plurality of three-dimensional cell areas managed by the control station, the stopover point closest to the next stopover point or the next stopover point It is desirable to select the stopover point located at the farthest point as the next stopover point.

The flight path control system and method according to the present invention is a system and method for a flight path control system in which when an unmanned airplane enters a jurisdiction area of an administration country, it receives optimal flight path information from a server through a control station and moves to the next stop point, As it becomes mobile, it becomes possible to actively cope with an unexpected situation occurring on the move.

FIG. 1 is a schematic view illustrating a configuration of a flight path control system according to an embodiment of the present invention. Referring to FIG.
2 is a view for explaining the operation of the flight path control system according to an embodiment of the present invention.
FIGS. 3 to 5 are views showing exemplary path information applied to the present invention. FIG.
FIG. 6 is a view showing an exemplary control area to which the control station of the present invention is subject.
FIG. 7 is a diagram for explaining a process of selecting the next waypoint according to an embodiment of the present invention.
FIG. 8 is a flowchart illustrating a method of controlling a flight path according to an exemplary embodiment of the present invention. Referring to FIG.

The following detailed description of the invention refers to the accompanying drawings, which illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with an embodiment. It is also to be understood that the position or arrangement of the individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

Hereinafter, a flight path control system and method according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a schematic view illustrating a configuration of a flight path control system according to an embodiment of the present invention. Referring to FIG.

In FIG. 1, the UAV 100 is a flight vehicle that is operated by a wireless without a user's boarding, and based on the departure information Sx, Sy, Sz and destination information Dx, Dy, Move to the destination.

The unmanned airplane 100 moves from the origin to the destination according to the flight path information received from the control station 200. The controller 200 controls the current position of the unmanned airplane 100 to move from the current position to the next stopping point, To request the next waypoint information.

That is, as shown in FIG. 2, when the UAV 100 located at the departure point (Sx, Sy, Sz = 0) wants to move to the destination, the UAV 100 has a channel Imperial # 1 requests the next waypoint information.

At this time, as shown in FIG. 3, the UAV 100 requests the next stopover point information to the administration station # 1 using the route information including the UAV identification information, the departure place and the destination information, desirable.

Then, when receiving the information (1x, 1y, 1z) about the waypoint 1 from the control station # 1 in response to the next waypoint information request, the unmanned airplane 100 updates the route information as shown in FIG. 4, (1x, 1y, 1z) based on the information (1x, 1y, 1z) about the received intermediate position 1.

When the UAV 100 starts to move to the first intermediate gear 1x, 1y, 1z and approaches the first intermediate gear 1x, 1y, 1z within a predetermined distance (for example, 100m) ) Uses the route information including the unmanned aerial vehicle identification information, the starting point information, the stopover point information, the destination information, and the current location information of the unmanned aeronautical vehicle as the control station # 1 having jurisdiction over the current position and the stopover route 1 (1x, 1y, 1z) And requests the next waypoint information.

Then, when receiving the information (2x, 2y, 2z) about the waypoint 2 from the administration station # 1 in response to the next waypoint information request, the unmanned airplane 100 updates the path information as shown in FIG. 5, (2x, 2y, 2z) on the basis of the information (2x, 2y, 2z) about the received intermediate position 2.

When the unmanned airplane 100 approaches the first and second stop positions 2x, 2y and 2z within a predetermined distance, the unmanned airplane 100 moves to the control station # 2 (2x, 2y, 2z) 2, and the UAV 100 repeats the process of requesting the control station 200 for the next waypoint information until it arrives at the last stopover point.

As described above, the UAV 100 transmits its current position information together with the current position information when requesting the next stopping point information to the control station 200, and the current position information of the UAV is (3, Dimensional coordinates, latitude and longitude can be obtained through GPS receiver, and altitude can be acquired through altimeter.

The above-mentioned unmanned air vehicle 100 can communicate with the control station 200 according to a wireless communication method.

As shown in FIG. 6, the control station 200 divides and manages the three-dimensional control region of the three-dimensional control region, which is under the control of the controller 200, into a plurality of three-dimensional cell regions, Dimensional cell area, and manages information about a waypoint existing in each three-dimensional cell area as coordinate information. As shown in Fig. 6, when the control area is divided into 27 cell areas and managed, the control station 200 stores area range information for the entire control area to which the control station 200 belongs, Identification information and area range information can be managed. In the embodiment of the present invention, the control area and the cell area are represented by hexahedral space, but this is for the sake of understanding, and the control area and the cell area are not limited to the hexahedral space.

Here, the intermediate point existing in the three-dimensional cell region may be a point located on the flight path via the UAV 100, a center point of the three-dimensional cell region, or a point designated arbitrarily have.

When the next control point information is requested from the UAV 100, the control station 200 transmits a request received from the UAV 100 to the control server 300.

At this time, if the communication state between the control station 200 and the control server 300 is not good and the control station 200 can not transmit the next waypoint information request of the unmanned airplane 100 to the control server 300, The control unit 200 may estimate the next waypoint using the waypoint information included in the route information received from the UAV 100 and may transmit the estimated next waypoint information in response to the next waypoint information request.

The control station 200 can perform communication with the control server 300 according to a wired or wireless communication scheme.

The control server 300 controls the flight of the UAV 100 and includes identification information for each of the control stations 200 and an area for the three-dimensional control area managed by each control station 200 Dimensional cell area managed by each control station 200, area range information, and traffic information for the respective three-dimensional cell areas managed by the respective control station 200.

Here, the traffic information for each three-dimensional cell region includes the number of unmanned airplanes currently flying by each flight path in each cell area, the number of unmanned airplanes waiting for entry into each cell area by each flight path, and the like.

The control server 300 receives the next waypoint information request of the UAV 100 from the control station 200 and transmits the next waypoint based on the current position information, the destination information, and the traffic information of the UAV 100 And transmits the selected stopover point information to the UAV 100 through the control station 200.

The control server 300 reflects the traffic information for each of the plurality of three-dimensional cell areas managed by the control station 200 when the next waypoint is selected based on the current position information, the destination information, and the traffic information of the UAV 100 It is preferable to select the next stopping point.

That is, the control server 300 selects the next stopover point based on the current location information, the destination information, and the three-dimensional cell area traffic information of the UAV 100, The route passing through the shortest travel time from the current location to the destination can be selected as the next stopping route.

For example, assuming that there are four flight paths that can move from the current position to the destination of the UAV 100, as shown in FIG. 7, among the four flight paths, the LMNOP- If it is determined that the shortest time is the shortest route, then the intermediate route L can be selected as the next intermediate route.

In addition, the control server 300 selects the next stopover point based on the current position information, the destination information, and the three-dimensional cell area traffic information of the UAV 100, and selects the next stopover point among the selected stopover points The stopover point can be selected as the stopover point.

For example, as shown in FIG. 7, when it is assumed that there are four flight paths capable of moving from the current position of the UAV 100 to the destination, the control server 300 transmits A, F, I, and L, and calculates the movement wait time to A, F, I, and L based on the traffic information for each three-dimensional cell area. If the calculated movement wait time is L, I, F, The control server 300 can select the intermediate point L having the shortest waiting time for moving to the next intermediate point.

In addition, the control server 300 selects the next stopover point based on the current location information, the destination information, and the three-dimensional cell area traffic information of the UAV 100, and if congestion occurs or is expected in the next stopover point, The next stopover point may be selected as the next stopover point among the next stopover points, or the next stopover point may be selected as the stopover point that is farthest from the next stopover destination among the next stopover points.

For example, as shown in FIG. 7, when it is assumed that there are four flight paths capable of moving from the current position of the UAV 100 to the destination, the control server 300 transmits A, F, I and L and congestion occurs or is expected in the selected intermediate route A based on the current position and destination information of the UAV 100, the control server 300 selects the next intermediate route F, I, L It is possible to select the next stopping point as the stopping point F closest to the stopping point A and select the stopping point L as the next stopping point that is located the farthest from the stopping point A as the next stopping point.

At this time, the control server 300 may select a stopover point located opposite to the next stopover destination among the next stopover destinations as the next stopover destination, or select the stopover point located next to the next stopover destination as the next stopover destination have.

As described above, when congestion occurs or is expected in the newly selected next stopping point, the control server 300 again selects the next stopping point in accordance with the above-mentioned condition, but does not select the previously selected stopping point again .

In addition, when the next stopping point is selected based on the current location information, the destination information, and the three-dimensional cell area traffic information of the UAV 100, the control server 300 determines, based on the three- The time required for the UAV 100 to arrive at the next stopping point, and the like.

Accordingly, when the control server 300 transmits the selected stopover point information to the UAV 100 through the control station 200, the control server 300 determines the waiting time to move to the selected stopover point and the time to arrive at the selected stopover point Can be transmitted together.

In this way, the unmanned airplane 100, which has received the movement wait time to the selected stopover point and the time to arrive at the selected stopover point, waits for the movement wait time and then moves to the next stopover point and arrives at the next stopover point The speed of flight and so on can be adjusted in consideration of time.

When the selected next stopping point is the last stopping point, the control server 300 transmits information indicating that the next stopping point is the last stopping point when the next stopping point is selected, when transmitting the selected stopping point information to the unmanned airplane 100 through the control station 200 Lt; / RTI >

Accordingly, when the unmanned air vehicle 100 approaches the last stopping point, the unmanned airplane 100 can directly move to the destination without performing an unnecessary operation to request the control station 200 for the next stopping point information.

FIG. 8 is a flowchart illustrating a method for controlling a flight path according to an embodiment of the present invention. The method for controlling a flight path according to an embodiment of the present invention is substantially the same as that of the flight path control system 1000 shown in FIG. The same components are denoted by the same reference numerals as those of the flight path control system 1000 of FIG. 1, and a repeated description thereof will be omitted.

First, the UAV 100, which moves from the origin to the destination according to the flight path information received from the control station 200, moves to the next stop via the control station 200, (10).

For example, when the UAV 100 is located at the departure place (Sx, Sy, Sz = 0) in FIG. 2, it requests the next waypoint information to the managing station # 1 () , If the unmanned aerial vehicle () is located near the stopover point 3, the next stopover point information is requested to the control station # 2 having jurisdiction over the current stopover point and the stopover point 3.

In step 10, the UAV 100 uses the path information including the identification information, the starting point information, the stopover point information, and the supplementary location information of the UAV 100 and the current position information of the UAV 100, It is desirable to request.

The control station 200 receives the next waypoint information request from the unmanned airplane 100 through the step 10, and transmits the request for the waypoint information received from the unmanned airplane 100 to the control server 300 (step 20).

If the control station 200 fails to deliver the next stopping point information request of the unmanned airplane 100 to the control server 300 because the communication state with the control server 300 is not good at the step 20, Can estimate the next waypoint using the waypoint information included in the route information received from the UAV 100, and transmit the estimated next waypoint information in response to the next waypoint information request.

In step 20, the control server 300 receiving the request for the next waypoint information of the UAV 100 through the control station 200 receives the current position information, the destination information, and the 3D cell area information of the UAV 100, The next waypoint is selected based on the star traffic information (30).

When selecting the next stopping point in the step 30, the control server 300 selects the next stopping point based on the current position information, the destination information, and the three-dimensional cell area traffic information of the UAV 100, It is possible to select a stopover point located on the flight path having the shortest travel time from the current position of the unmanned airplane 100 to the destination in the next stopover point as the next stopover point.

In addition, in step 30, the control server 300 selects a preliminary next waypoint based on the current location information, the destination information, and the three-dimensional cell area traffic information of the UAV 100, The stopover point with the shortest wait time can be selected as the next stopover point.

In addition, in step 30, the control server 300 selects the next stopover point based on the current location information, the destination information, and the three-dimensional cell area traffic information of the UAV 100, If it occurs or anticipated, it is possible to select a stopover point closest to the next stopover point among the next stopover points as a next stopover point, or to select the next stopover point as the next stopover point. Here, if congestion occurs or is expected also in the newly selected next stopping point, the control server 300 preferably selects the next stopping point according to the above-mentioned condition, but does not select the previously selected stopping point again.

When the next stopping point is selected based on the current location information, the destination information, and the three-dimensional cell area traffic information of the UAV 100 in the step 30, the control server 300 calculates the three- The control server 300 can calculate the waiting time for moving to the next stopover point, the time for the UAV 100 to arrive at the next stopover point, and the like. The control server 300 then transmits the selected stopover point information to the unmanned airplane (100), it is possible to transmit together the waiting time for moving to the selected next stopping point and the time for arriving at the selected next stopping point.

As described above, when the next stopping point is selected through the step 30, the control server 300 transmits the selected stopping point information to the control station 200 in response to the next stopping point information request (40) The controller 200 transmits a response to the request for stopover information received from the control server 300 to the UAV 100 (50).

In step 50, the unmanned airplane 100 receives the next waypoint information in response to the next waypoint information request from the control station 200, updates the path information using the received waypoint information (60) And then starts moving to the next waypoint based on the stopover information (70).

When the UAV 100 moves to the next stopping point based on the next passage information, the waiting time to move to the next stopping point in the response received through the step 50 and the time to arrive at the next stopping point The time to wait for the waiting time to move to the next stopping point based on the waiting time for moving to the next stopping point included in the response and the time to arrive at the next stopping point selected and the time to arrive at the next stopping point It is possible to move to the next stopping point by adjusting the flight speed and the like.

When the UAV 100 that has started to move to the next stopping point approaches the next stopping point within a predetermined distance (for example, 100 m) (Step 80), the UAV 100 proceeds to Step 10 The controller requests the next waypoint information using the current position information of the user and the route information including the unmanned airplane identification information, the departure point information, the stopover point information, the destination information, and the unmanned airplane 100 repeats the process of requesting the control station 200 for the next waypoint information until it reaches the last waypoint.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined in the appended claims. It will be possible.

100. Unmanned aerial vehicle,
300. Control server

Claims (13)

A plurality of control stations which divides and manages a three-dimensional control region to which the control unit belongs, into a plurality of three-dimensional cell regions;
An unmanned airplane that moves in accordance with the flight path information received from the control station, and requests the next stopover point information to the control center that controls its current position to move from the current position to the next stopover point; And
The next stop point is selected on the basis of the current location information, the destination information, and the traffic information of the unmanned airplane according to a next stopover information request of the unmanned airplane received through the control station, And a control server for reflecting the traffic information for each cell region to select the next stopping point. The method according to claim 1,
In the unmanned air vehicle,
When receiving the next waypoint information from the control server through the control station, updates the route information using the received waypoint information,
When the next stopping point information is requested, the stopping point information is transmitted along with the starting point and destination information and the current position information of the stopping point,
The competent authority shall,
Estimates a next waypoint using the waypoint information when the next stopover point information request of the unmanned airplane fails to be transmitted to the control server, and transmits the estimated waypoint information to the unmanned airplane. The method according to claim 1,
The control server,
When the next stopping point is selected by reflecting the traffic information for each of the plurality of three-dimensional cell areas managed by the control station,
The moving time from the current position to the destination of the unmanned airplane among the predetermined next stopping points is calculated based on the current position information, the destination information of the unmanned airplane, and the traffic information per a plurality of three- A flight path control system that selects a stopover point located on a short flight path as the next stopover point. The method according to claim 1,
The control server,
When the next stopping point is selected by reflecting the traffic information for each of the plurality of three-dimensional cell areas managed by the control station,
And selecting a stopover point having the shortest wait time among the predetermined stopover points based on current position information, destination information, and traffic information of a plurality of three-dimensional cell areas of the unmanned airplane, Flight path control system. The method according to claim 1,
The control server,
When the next stopping point is selected by reflecting the traffic information for each of the plurality of three-dimensional cell areas managed by the control station,
If congestion occurs or is expected on the next stopping point based on the present location information, destination information, and traffic information of a plurality of three-dimensional cell areas managed by the control station, the next stopping point And selects the nearest stopover point or the stopover point located at the farthest point from the next stopover point as the next stopover point. The method according to claim 1,
The control server,
When transmitting the next waypoint information to the unmanned airplane through the control station,
And transmits the waiting time to the next stopover point and the time to arrive at the next stopover point. The method according to claim 1,
In the unmanned air vehicle,
The control station moves to the next stopover point based on the stopover point information received from the control server through the control station, and when the stopover point approaches the next stopover point within a predetermined distance, the next stopover point information is transmitted to the control station having jurisdiction over the next stopover point Requesting, flight path control system. The method according to claim 1,
The three-dimensional cell area-
The number of unmanned aerial vehicles currently flying by each flight path in each cell area, and the number of unmanned aerial vehicles awaiting entry into each cell area by each flight path. The unmanned aerial vehicle moving from the departure point to the destination according to the flight path information received from the control station requests the next stopping point information to the control station having its own current position;
The control station transmitting a request for the next waypoint information of the unmanned airplane to the control server; And
The control server selects the next waypoint based on the current location information, the destination information, and the traffic information of the UAV, and selects the next waypoint by reflecting the traffic information for each of the 3-dimensional cell areas managed by the control station And a flight path control method. 10. The method of claim 9,
The unmanned aircraft receiving next waypoint information from the control station in response to the next waypoint information request;
Updating the route information using the received route information;
The unmanned airplane requests the next stopover point information by transmitting the stopover point information together with the departure point, destination information, and current position information of the unmanned airplane to the control station having its own current position; And
Estimating a next waypoint using the waypoint information when the control station fails to deliver the next waypoint information request received from the unmanned airplane to the control server, and transmitting the estimated waypoint information to the unmanned airplane Further comprising: < RTI ID = 0.0 > a < / RTI > 10. The method of claim 9,
In the step of selecting the next waypoint,
When the next stopping point is selected by reflecting the traffic information for each of the plurality of three-dimensional cell areas managed by the control station,
The moving time from the current position to the destination of the unmanned airplane among the predetermined next stopping points is calculated based on the current position information, the destination information of the unmanned airplane, and the traffic information per a plurality of three- A flight path control method for selecting a stopover point located on a short flight path as a next stopover point. 10. The method of claim 9,
In the step of selecting the next waypoint,
When the next stopping point is selected by reflecting the traffic information for each of the plurality of three-dimensional cell areas managed by the control station,
And selecting a stopover point having the shortest wait time among the predetermined stopover points based on current position information, destination information, and traffic information of a plurality of three-dimensional cell areas of the unmanned airplane, Flight path control method. 10. The method of claim 9,
In the step of selecting the next waypoint,
When the next stopping point is selected by reflecting the traffic information for each of the plurality of three-dimensional cell areas managed by the control station,
If congestion occurs or is expected on the next stopping point based on the present location information, destination information, and traffic information of a plurality of three-dimensional cell areas managed by the control station, the next stopping point Wherein the next stopping point is selected as the stopping point located closest to the nearest stopping point or the next stopping point.

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