KR20190111613A - Method for determining usable airspace for unmanned aerial vehicle operations - Google Patents

Abstract

Provided is a method for determining a region allowed to operate an unmanned aerial vehicle in airspace divided into grids of the same size. The method determines a first flight prohibited region, determines a first alpha-shape reconstructed by an alpha-shape methodology using a first sphere having a first radius and points constituting the first flight prohibited region, and determines a first region which does not include the first flight prohibited region between two regions divided by the first alpha-shape as operable airspace for an unmanned aerial vehicle.

Description

Method for determining usable airspace for unmanned aerial vehicle operations}

The present invention relates to a method for determining an unmanned air vehicle operable airspace determination method, and to determine a low altitude airspace operable by applying a topographic boundary methodology.

Airspace in urban areas is limited due to high-rise buildings and flight altitudes. Also, considering the performance of unmanned aerial vehicles, wind effects, GPS errors, and separation distances from buildings, much of the air corridor in low altitude airspace may be inadequate in terms of stability to allow flight. have. Thus, the question arises whether to efficiently determine the low-altitude flight airspace.

In a related study, the Metropolis Project, conducted by the Dutch, French and German aeronautical authorities, proposed the concept of airspace structure and method for analyzing airspace capacity, but the aircraft flew at least 90m altitude and the highest It is assumed to fly 30 meters higher than the building. In the case of dense urban areas, this would exclude much of the available low altitude airspace, which is not an effective approach given the maximum capacity of the airspace.

On the other hand, the geographical boundary (geofence) refers to the virtual perimeter (virtual perimeter) partitioned around the actual terrain and the aircraft in order to ensure the safe separation of the aircraft. Topographical boundaries are classified into two types, keep-out and keep-in, depending on their purpose. The purpose of keep-out terrain boundaries is to set the boundaries to prevent the aircraft from accessing certain areas. The purpose of the keep-in topographical boundary is to establish a boundary that includes the aircraft and its route so that it does not leave the specified area. Keep-out boundaries can reflect the safety and privacy of buildings and structures, while keep-in boundaries can reflect the collision avoidance performance, air flow tolerances, and location errors of aircraft. Essential for evaluability of operability.

In order to solve the above problem, the present invention is to provide a method for evaluating the operational airspace of the unmanned aerial vehicle using the terrain.

According to an aspect of the present invention, a method for determining an unmanned aerial vehicle operable airspace determination method, which is a method of determining an area in which an unmanned aerial vehicle is allowed to operate in an airspace divided into grids of the same size, may be provided. The method for determining an unmanned aerial vehicle operable airspace includes removing an area including 'occupants', which are grids in which occupants exist, and 'adjacent grids,' which are within a predetermined distance from the occupants. Determining a non-flying zone; Determining a first alpha-shape that is a shape reconstructed by an alpha-shape methodology using a first sphere having a first radius and points constituting the first non-flying region; And determining a first area of the two areas divided by the first alpha-shape not included in the first flight prohibited area as an operable airspace of the unmanned aerial vehicle.

At this time, the grating overlapping the boundary of the first alpha-shape of the grating may be excluded from the operable airspace.

In this case, the occupants are static obstacles, and the predetermined distance may be a keep-out distance.

In this case, the first radius may be a distance between the unmanned flying device and its own boundary range which is a boundary of an area that may be exclusively occupied by the unmanned flying device.

At this time, as the size of the first radius is larger, the operational airspace of the unmanned aerial vehicle may be reduced.

In this case, the points constituting the first flight prohibited area may be grids included in the first flight prohibited area.

According to another aspect of the present invention, it is possible to provide a method for calculating a drone operable airspace, which is a method for calculating an area in which an operation of an unmanned aerial vehicle is permitted in an airspace divided into grids of the same size.

In this case, the occupants are static obstacles, and the predetermined distance may be a keep-out distance.

In this case, the points constituting the first flight prohibited area may be grids included in the first flight prohibited area.

At this time, as the size of the first radius is larger, the operational airspace of the unmanned aerial vehicle may be reduced.

According to an aspect of the present invention, it is possible to provide an unmanned aerial vehicle operable airspace determination server including a processing unit configured to determine an area in which an unmanned aerial vehicle operation is permitted in an airspace divided into grids of the same size. The processor is configured to determine, as a first non-flying region, a region consisting of 'occupant lattice', which is a lattice in which occupants exist, and 'adjacent lattice', which is a lattice existing within a predetermined distance from the occupant. Determining a first alpha-shape that is a shape reconstructed by an alpha-shape methodology using a first sphere having a first radius and points constituting the first non-flying region, and the first The first area of the two areas divided by the alpha-shape, which does not include the first flight prohibited area, may be determined to be operable airspace of the unmanned aerial vehicle.

At this time, the grating overlapping the boundary of the first alpha-shape of the grating may be excluded from the operable airspace.

In this case, the points constituting the first flight prohibited area may be grids included in the first flight prohibited area.

According to an aspect of the present invention, a non-transitory computer-readable recording medium can be provided. In the non-transistor recording medium, a computing device configured to determine an area in which an unmanned aerial vehicle is allowed to operate in an airspace divided into grids of the same size may be referred to as a 'occupant grid,' a grid in which occupants exist. Determining a region consisting of 'adjacent lattice', which is a grid existing within a predetermined distance from the occupants, as a first non-flying region, a first sphere having a first radius, and the first sphere Determining a first alpha-shape which is a shape reconstructed by an alpha-shape methodology using points constituting the no-flying area, and the first non-flying area among two areas divided by the first alpha-shape The program code for performing the step of determining the first area not included as the operational airspace of the unmanned aerial vehicle may be recorded.

According to the present invention, it is possible to identify the airspace in which the unmanned aerial vehicle can be operated by effectively distinguishing the area where the flight is prohibited from the area where the operation is prohibited through the geographical boundary and the alpha shape methodology.

1 is a view for explaining the concept of a conventional topographical boundary to the present invention.
FIG. 2A illustrates the latticeized airspace according to an embodiment of the present invention, and FIG. 2B illustrates the latticeized airspace in three dimensions according to an embodiment of the present invention.
3 illustrates an example of setting a geographical boundary for an unmanned aerial vehicle according to an embodiment of the present invention.
Figure 4 is a view showing both the flight prohibited area and its own boundary in accordance with an embodiment of the present invention.
FIG. 5 is a view for explaining a flight prohibited area according to the size of the radius described above in FIG. 3.
6 illustrates an alpha shape made through an alpha-shape methodology according to a conventional embodiment.
FIG. 7 is a diagram for explaining the alpha-shape methodology described above with reference to FIG. 6 in the case of FIG. 5B according to one embodiment of the present invention.
8 is a flow chart illustrating a method for determining the operational airspace of the unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 9 is a diagram for explaining the alpha-shape methodology described above with reference to FIG. 6 in the case of FIG. 5A according to one embodiment of the present invention.
Figure 10 shows an example of applying the alpha-shape methodology according to an embodiment of the present invention in airspace.
Figure 11 shows an example of applying the method of operating the airspace determination of the unmanned aerial vehicle according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings an embodiment of the present invention will be described. However, the present invention is not limited to the embodiments described herein and may be implemented in various other forms. The terminology used herein is for the purpose of understanding the embodiments and is not intended to limit the scope of the invention. Also, the singular forms used below include the plural forms unless the phrases clearly indicate the opposite meanings.

1 is a view for explaining the concept of a conventional topographical boundary to the present invention.

The concept of topographical boundaries can be applied as a way to limit the access of unmanned aerial vehicles (F1) to facilities (2), such as airports, major national facilities and buildings. As shown in FIG. 1, keep-out geofences G21 and G22 may be formed to restrict access of the unmanned aerial vehicle F1. At this time, in the present invention, the terrain boundary range for restricting the access of the unmanned aerial vehicle F1 to the facility (2) may be referred to as 'no flight boundary range'.

FIG. 2A illustrates the latticeized airspace according to an embodiment of the present invention, and FIG. 2B illustrates the latticeized airspace in three dimensions according to an embodiment of the present invention.

In the case of Figure 2A, for example, a two-dimensional plane is shown for the airspace when the altitude is k meters.

A predetermined distance from the 'occupant G11' and the occupant G11, the lattice in which the occupants of the gratings G10 exist in the airspace 1 divided by the gratings G10 of the same size, The first flight prohibition area A1, which is an area composed of 'adjacent lattice G12' that is a grid existing within a keep-out distance, may be determined. At this time, the occupation may be a static obstacle such as a building.

The occupant grids G11 may correspond to grids in which a facility 2 such as a building described in FIG. 1 exists, and the adjacent grids G12 restrict access of the unmanned aerial vehicle F1 described in FIG. 1. It may correspond to the grids within the no-fly boundaries (G21, G22).

Referring to FIG. 2B, the flight prohibition boundary range K1 may be determined as a method for restricting access of the unmanned aerial vehicle to the building 2. When the airspace is divided into grids of the same size, it is possible to determine the occupants of the building (the occupied) 2. In this case, the predetermined distance described above with reference to FIG. 2A may mean a distance between the building (occupied) 2 and the no-fly boundary (K1). Accordingly, the area from the occupant grids to the no-fly boundary range K1 may be determined as the adjacent grids G12.

According to an embodiment, the first flight prohibition area A1 may be determined by assigning 1 to the grid of the first flight prohibition area A1 and 0 to other grids.

를 δ 크기의 지형적 경계범위(즉, 비행금지 경계범위, Keep-out geofence)에 의해 점유된 격자의 집합이라고 정의할 수 있다.Here, in a three-dimensional space, a grid set in which Γ is a grid set, g _ijk is a grid located at coordinates (i, j, k), ε is a grid size, and Γ _o is occupied by static obstacles (eg, buildings, features). , And

Can be defined as a set of grids occupied by a geographic boundary of size δ (ie, keep-out geofence).

At this time, the following equation may be established.

Γ = {g _ijk : 1 ≤ i ≤ N _{x '} 1 ≤ j ≤ N _y' 1 ≤ k ≤ N _Z }

At this time, the lattice Cartesian grid of size N _x * N _y * N _{Z '} is a distinct 3-D grid of a region of interest having a unit cube size of ε.

Γ _o = {g _ijk ∈ Γ: g _ijk is occupied by static obstacles}

= {g_ijk ∈ Γ : g_ijk는 파라미터 δ 크기의 지형적 경계범위에 의해 점유된다}

= (g _ijk ∈ Γ: g _ijk is occupied by the geographical boundary of the parameter δ}

3 illustrates an example of setting a geographical boundary for an unmanned aerial vehicle according to an embodiment of the present invention.

A first sphere SP having a specific radius R may be determined based on the unmanned aerial vehicle F1. In this case, the boundary range of the first sphere may be set to a 'keep-in geofence boundary' K1 which is a geographical boundary of the unmanned aerial vehicle F1. In this case, the specific radius (R) may be a distance between the unmanned flying device (F1) and its own boundary range (K1) of the unmanned flying device (F1).

Figure 4 is a view showing both the no-fly border and self-boundary range in accordance with an embodiment of the present invention.

As shown in FIG. 4, the flight prohibition boundary ranges G31 and G32 and the self boundary range K3 may be determined.

The non-flying boundary and self-boundary range may mean a boundary of an area that an unmanned aerial vehicle can occupy exclusively in consideration of wind influence and GPS error.

FIG. 5 is a view for explaining a flight prohibited area according to the size of the radius R described above with reference to FIG. 3.

FIG. 5 (a) shows the case where the radius of the sphere SP for determining the self boundary of the unmanned aerial vehicle is r1, and FIG. 5 (b) shows the sphere for determining the self boundary of the unmanned aerial vehicle. It shows the case where the radius of (SP) is r2. At this time, the radius r1 may be smaller than the radius r2.

When the radius of the sphere SP is r1, since the diameter 2 * r1 of the sphere SP is smaller than the horizontal length W1 of the grating G10, it can pass through the region (path) S. That is, the area S may be included in the flight area of the unmanned aerial vehicle.

However, when the radius of the sphere SP is r2, since the diameter 2 * r2 of the sphere SP is larger than the horizontal length W1 of the grating G10, it cannot pass through the region S. That is, the area S cannot be included in the flight area of the unmanned aerial vehicle.

Therefore, it can be understood that the operational airspace of the unmanned aerial vehicle may vary depending on the size (ie, radius) of the sphere SP formed based on the unmanned aerial vehicle.

6 illustrates an alpha-shape made through an alpha-shape methodology in accordance with a conventional embodiment.

Alpha-shape methodology is that given a set of points consisting of points and a circle with a certain radius, the perimeter of the circle 40 and any two points belonging to the set of points overlap each other while When there is no other point to belong to, it means connecting the two points in a straight line. In this case, the shape reconstructed by the alpha-shape methodology may be referred to as an alpha-shape 50. In this case, the region to which the alpha-shape methodology is applied may be divided into a region (I) to which the point set belongs and a region (II) to which a point set does not belong by the alpha-shape.

In the embodiment of FIG. 6, the alpha-shape methodology has been described with reference to a two-dimensional plane, but may be extended to three-dimensional space.

In the present invention, a sphere may be determined as a keep-in geofence boundary of the drone instead of a circle, and the sphere may be used to identify an airspace in which the drone cannot fly. .

FIG. 7 is a diagram for explaining the alpha-shape methodology described above with reference to FIG. 6 in the case of FIG. 5B according to one embodiment of the present invention.

FIG. 7A illustrates alpha-shapes 5 and 51 for the airspace described above in FIG. 5, FIG. 7B illustrates a second non-flying region, and FIG. It shows the operational airspace and the unoperable airspace of the unmanned aerial vehicle.

Referring to FIG. 7A, an alpha-shape is formed using the first sphere SP1 having the first radius r1 and the points (that is, the lattices) constituting the first flight prohibited area A1. The methodology can be applied. The first alpha-shape 5, 51 can be determined by the alpha-shape methodology.

Referring to FIG. 7B, internal grids G13 included in the first non-flying area A1 and the first alpha-shape 51 51 but not included in the first non-flying area A1 are included. ) And second non-flying areas A2 and B2 including overlapping grids G130 overlapping boundaries of the first alpha-shapes 5 and 51 among the entire grids G10 of airspace. .

That is, the unmanned flying apparatus includes a first area B1 of the two areas B1 and B2 divided by the first alpha-shapes 5 and 51 not including the first flight prohibited area A1. It can be determined by the operational airspace of the. In other words, the second area B2 including the first non-flying area A1 among the two areas B1 and B2 divided by the first alpha-shapes 5 and 51, and the grating ( An area except for one or more gratings (eg, G130) overlapping boundaries of the first alpha-shapes 5 and 51 may be determined as the operational airspace of the unmanned aerial vehicle.

When the above-described content in Figure 7 is expressed by the equation as follows.

= {g_ijk ∈ Γ : g_ijk는 반지름 r을 이용한 알파-쉐이프 방법론에 의해 차단된다}

= (g _ijk Γ Γ: g _ijk is blocked by alpha-shape methodology with radius r}

occ (g _ijk ; δ, r) =

는 r 크기의 알파-쉐이프 방법론에 의해 점유된 격자의 집합을 의미한다. 그리고 occ(g_ijk; δ, r)는 격자 g의 점유유무를 의미한다.At this time,

Denotes a set of grids occupied by the r-size alpha-shape methodology. And occ (g _ijk ; δ, r) means whether the g g is occupied.

8 is a flow chart illustrating a method for determining the operational airspace of the unmanned aerial vehicle according to an embodiment of the present invention.

A description with reference to FIG. 7 is as follows.

In step S10, in advance, the spaces of the grids G10 are occupied by 'occupation grids G11' and the occupants G11 that are occupied by the occupants in the airspace divided by the grids G10 of the same size. The first flight prohibition area A1, which is an area composed of 'adjacent lattice G12' that is a grid existing within the determined distance, may be set. For example, it can be set by assigning 1 to the grid of the first flight prohibited area A1 and 0 to the other grids. In this case, the predetermined distance may be a distance between the occupant and the keep-out geofence of the occupant.

In step S20, the first sphere SP1 having the first radius r1 and the first reconstructed by the alpha-shape methodology using the points (that is, the lattice) constituting the first non-flying area A1. One alpha-shape 5, 51 can be determined. In this case, the first radius r1 may be a distance between a central portion of the unmanned aerial vehicle F1 and a keep-in geofence K1 of the unmanned aerial vehicle F1.

In operation S30, the first region B1, which does not include the first non-flying region A1, is divided into two regions B1 and B2 divided by the first alpha-shapes 5 and 51. It can be set as the operational airspace of the flight device F1.

FIG. 9 is a diagram for explaining the alpha-shape methodology described above with reference to FIG. 6 in the case of FIG. 5A according to one embodiment of the present invention.

FIG. 9 (a) shows the second alpha-shapes 5 and 52 for the airspace described above in FIG. 5, and FIG. 9 (b) distinguishes between operable airspace and inoperable airspace of the unmanned aerial vehicle. It is shown.

The method for determining the operational airspace of the unmanned aerial vehicle of FIG. 9 is the same as the method described above with reference to FIGS. 7 and 8. However, in the case of FIG. 9, since the second radius r2 of the second sphere SP2 is smaller than the horizontal length W1 of the grating G10, it is different from the first alpha-shapes 5 and 51 in FIG. 7. The second alpha-shape 5, 52 can be determined.

Therefore, the unmanned flying apparatus operates the first area B11 of the two areas B11 and B12 divided by the second alpha-shapes 5 and 52 that does not include the first flight prohibited area A1. Can be determined by possible airspace.

Figure 10 shows an example of applying the alpha-shape methodology according to an embodiment of the present invention in airspace.

FIG. 10A illustrates an example of applying an alpha-shape methodology in a two-dimensional plane, and FIG. 10B illustrates an example of applying an alpha-shape methodology in a three-dimensional space.

Referring to FIGS. 10A and 10B, it can be seen that the boundary of the alpha-shape is changed from left to right. That is, for example, it can be understood that the radius of the sphere formed from the center of the unmanned aerial vehicle used in each drawing gradually increases from the left to the right drawing, which reduces the operational airspace of the unmanned aerial vehicle. I can understand.

Figure 11 shows an example of applying the method of operating the airspace determination of the unmanned aerial vehicle according to an embodiment of the present invention.

The area corresponding to the grid G101 represents an occupant grid occupied by a building or a feature. The area corresponding to the grid G102 represents an unoperable airspace of the unmanned aerial vehicle due to the keep-out geofence. The area corresponding to the grid G103 represents an unoperable area of the drone due to the keep-in geofence of the drone.

By using the embodiments of the present invention described above, those belonging to the technical field of the present invention will be able to easily make various changes and modifications without departing from the essential characteristics of the present invention. The content of each claim in the claims may be combined in another claim without citations within the scope of the claims.

Claims (15)

As a method of determining the area allowed for the operation of the unmanned aerial vehicle in the airspace divided into grids of the same size,
Determining, as a first non-flying region, a region consisting of 'occupant lattice', which is a lattice in which an occupant exists, and 'adjacent lattice', which is a lattice existing within a predetermined distance from the occupant;
Determining a first alpha-shape that is a shape reconstructed by an alpha-shape methodology using a first sphere having a first radius and points constituting the first non-flying region; And
Determining a first area of the two areas divided by the first alpha-shape not included in the first flight prohibited area as an operable airspace of the unmanned aerial vehicle;
Including,
How to determine unmanned air vehicle operational airspace. 2. The method of claim 1, wherein one of the gratings overlapping the boundary of the first alpha-shape is excluded from the operable airspace. The method of claim 1,
The occupancy is a static obstacle,
The predetermined distance is a keep-out distance,
How to determine unmanned air vehicle operational airspace. 2. The method of claim 1 wherein the first radius is a distance between the unmanned aerial vehicle and its own boundary range that is a boundary of an area that the unmanned aerial vehicle can occupy exclusively. 2. The method of claim 1 wherein the greater the size of the first radius is, the smaller the operational airspace of the unmanned aerial vehicle is. The method of claim 1, wherein the points constituting the first non-flying area are respective grids included in the first non-flying area. A method of calculating an area in which an unmanned aerial vehicle is allowed to operate in an airspace divided into grids of the same size,
Determining, as a first non-flying region, a region consisting of 'occupant lattice', which is a lattice in which an occupant exists, and 'adjacent lattice', which is a lattice existing within a predetermined distance from the occupant; And
Determining a first alpha-shape that is a shape reconstructed by an alpha-shape methodology using a first sphere having a first radius and points constituting the first non-flying region;
A region except for a second region including the first non-flying region among two regions divided by the first alpha-shape, and one or more grids overlapping a boundary of the first alpha-shape among the gratings Determining the operable airspace;
Including,
Method of calculating unmanned air vehicle operational airspace. The method of claim 7, wherein
The occupancy is a static obstacle,
The predetermined distance is a keep-out distance,
Method of calculating unmanned air vehicle operational airspace. The method of claim 7, wherein the points constituting the first non-flying area are each grid included in the first non-flying area. 8. The method of claim 7, wherein the larger the size of the first radius is, the smaller the operational airspace of the unmanned aerial vehicle is. A server comprising a processing unit configured to determine an area in which an operation of an unmanned aerial vehicle is permitted in an airspace divided into grids of equal size.
The processing unit,
Determining, as a first non-flying region, a region consisting of 'occupant lattice', which is a lattice in which an occupant exists, and 'adjacent lattice', which is a lattice existing within a predetermined distance from the occupant;
Determining a first alpha-shape that is a shape reconstructed by an alpha-shape methodology using a first sphere having a first radius and points constituting the first non-flying region; And
Determining a first area of the two areas divided by the first alpha-shape not included in the first flight prohibited area as an operable airspace of the unmanned aerial vehicle;
Is designed to perform
Unmanned aerial vehicle capable airspace decision server. 12. The drone operational airspace determination server according to claim 11, wherein a lattice overlapping a boundary of the first alpha-shape of the lattice is excluded from the operable airspace. The unmanned aerial vehicle operable airspace determination server according to claim 11, wherein the points constituting the first non-flying area are respective grids included in the first non-flying area. A computing device configured to determine an area in which an unmanned aerial vehicle is allowed to operate in an airspace divided into grids of equal size,
Determining, as a first non-flying region, a region consisting of 'occupant lattice', which is a lattice in which an occupant exists, and 'adjacent lattice', which is a lattice existing within a predetermined distance from the occupant;
Determining a first alpha-shape that is a shape reconstructed by an alpha-shape methodology using a first sphere having a first radius and points constituting the first non-flying region; And
Determining a first area of the two areas divided by the first alpha-shape not included in the first flight prohibited area as an operable airspace of the unmanned aerial vehicle;
The program code is written,
Computer-readable, nontransistor recording medium. 15. The non-transitory computer-readable medium of claim 14, wherein one of the gratings overlapping a boundary of the first alpha-shape is excluded from the operable airspace.

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