KR20200002213A - Apparatus and method for constructing a 3d space map for route search for unmanned aerial vehicle - Google Patents

Abstract

The present invention relates to a device for constructing a three-dimensional spatial map for searching for a route for an unmanned aerial vehicle comprising: a data input part for receiving basic data for constructing the three-dimensional spatial map for searching for the route for the unmanned aerial vehicle; a spatial grid setting part for setting a virtual spatial grid for constructing the three-dimensional spatial map; and a control part for setting a map area for constructing the three-dimensional spatial map based on the data inputted through the basic data input part and constructing the three-dimensional spatial map by extracting a space in which the unmanned aerial vehicle can fly without overlapping an obstacle in the set map area by using the spatial grid.

Description

Apparatus and method for constructing 3D space map for path search for unmanned aerial vehicle {APPARATUS AND METHOD FOR CONSTRUCTING A 3D SPACE MAP FOR ROUTE SEARCH FOR UNMANNED AERIAL VEHICLE}

The present invention relates to an apparatus and method for constructing a three-dimensional space map for a route search for an unmanned aerial vehicle, and more particularly, to search for a three-dimensional flight route for an unmanned aerial vehicle to be used in logistics, delivery, transportation, and control using an unmanned aerial vehicle. The present invention relates to an apparatus and method for constructing a 3D space map for path search for an unmanned aerial vehicle.

Recently, the use of unmanned aerial vehicles (eg drones) is increasing in various fields (eg logistics, courier service, transportation, etc.).

As shown in FIG. 1, an unmanned aerial vehicle is manufactured in various sizes and shapes according to a purpose of use.

For example, it may be manufactured in a small size (FIG. 1 (a)) for use as a hobby and photographing, or in a medium format (FIG. 1 (b)) for use for courier purposes, or for use in transportation or riding purposes. It can be manufactured in large size (Fig. 1 (c)).

Such drones can be controlled in a variety of ways.

For example, at present, a method of directly controlling a user 1: 1 using a wireless remote controller while the user visually observes the drone is mainly used. However, this control method is more likely to cause an accident when the user is inexperienced, and the user must control the drone 1: 1. Therefore, as the prevalence of the drone increases and the flight range becomes wider, There is a limit to the direct control of the drone 1: 1. Therefore, as the popularity of drones increases, it is expected that the control system will be changed to remote control by assigning three-dimensional flight paths to each drone.

As described above, in order to designate a three-dimensional flight path (for example, a shortest path and an obstacle avoidance path) to an unmanned aerial vehicle, a three-dimensional space map is required. In particular, in order for an unmanned aerial vehicle to fly between buildings (or obstacles, such as sculptures) in urban areas at low altitudes (e.g., lower than the highest height of flying obstacles, such as buildings or sculptures), three-dimensional spatial maps of urban areas are essential.

However, there is a problem in that it is impossible to search the 3D flight path itself for an unmanned aerial vehicle because the 3D space map is not constructed at present.

Background art of the present invention is disclosed in Republic of Korea Patent Publication No. 10-2013-0002492 (2013.01.08. Publication, flight control system of the unmanned aerial vehicle).

According to an aspect of the present invention, the present invention was created to solve the above problems, three-dimensional for exploring a three-dimensional flight path for an unmanned aerial vehicle to be used in logistics, courier, transportation, and control using an unmanned aerial vehicle An object of the present invention is to provide an apparatus and method for constructing a three-dimensional space map for path search for an unmanned aerial vehicle, which enables to construct a space map.

According to an aspect of the present invention, there is provided an apparatus for constructing a 3D space map for path search for an unmanned aircraft, comprising: a data input unit configured to receive basic data for constructing a 3D space map for path search for an unmanned aircraft; A spatial grid setting unit for setting a virtual spatial grid for constructing the 3D space map; And a map area for constructing a 3D spatial map based on the data input through the basic data input unit, and using the spatial grid, the drone may fly without overlapping an obstacle in the set map area. And a controller configured to extract a space to build a 3D space map.

In the present invention, the basic data for constructing the three-dimensional space map, digitalized three-dimensional geospatial information (GIS); And obstacle information, including at least one of position, height, size, and shape information about a building, a fixed sculpture, a temporary sculpture, and a vehicle.

In the present invention, the space grid setting unit, characterized in that for adjusting the size of the virtual space grid in response to the size of the drone.

In the present invention, the spatial grid setting unit is characterized in that for adjusting the size of the spatial grid in response to the altitude from the surface of the area to build the three-dimensional spatial map.

In the present invention, the control unit generates an obstacle map in order to extract a space that can fly without overlapping the obstacle in the map area, the obstacle map, the position, height, size of the obstacle in the map area And a three-dimensional stereoscopic map including at least one of shape information, and when the range and altitude of the map area are expanded, the non-flight zone information is further included as obstacle information.

In the present invention, the control unit, after generating the altitude 2-dimensional lattice map corresponding to the map area in order to extract a space that can fly without overlapping the obstacle in the map area, based on the 3 It is characterized in that to generate a three-dimensional grid map corresponding to the space of the entire map area to build a dimensional space map.

In the present invention, the two-dimensional lattice map for each altitude is a map of only the spatial lattice formed by continuously arranging a spatial lattice of a specified size at a specified altitude in all directions, and the three-dimensional lattice map includes the two-dimensional lattice map. It is characterized by being a map of only a spatial grid composed of three-dimensionally arranged successively up and down.

In the present invention, in order to construct the three-dimensional spatial map, the control unit generates an obstacle map and a three-dimensional grid map, and then overlaps the extracted effective grid, and the network of the center of the extracted effective grid or effective grid It is characterized by building a three-dimensional space map by connecting to.

In the present invention, the effective grating is characterized in that the spatial grating does not overlap any of the obstacles constituting the obstacle map of the space grating constituting the three-dimensional grating map.

The present invention may further include a communication unit configured to communicate with an unmanned aerial vehicle or a higher server to construct and provide the 3D space map, wherein the controller is configured to construct a 3D space map from the unmanned aerial vehicle or the server through the communication unit. As at least one of the map search request information, the route search request information, the departure point information, the destination information, the flight time information, and the unmanned aerial vehicle information.

According to another aspect of the present invention, a method for constructing a 3D space map for a path search for an unmanned aerial vehicle includes: a control unit of the apparatus for constructing a 3D space map for a path search for an unmanned aircraft; Receiving at least one of the unmanned aerial vehicle origin and destination, unmanned aerial vehicle size information, and flight time information to provide a map; Setting, by the controller, a map area for constructing a 3D spatial map between the starting point and the destination; Setting, by the controller, a virtual spatial grid for constructing the 3D space map; And extracting, by the controller, a space in which the unmanned aerial vehicle can fly without overlapping an obstacle in the map area by connecting the spaces to a network to construct a three-dimensional space map by using the space grid; Characterized in that it comprises a.

In the present invention, in order to build the three-dimensional space map, the control unit, digitized three-dimensional geospatial information (GIS); And at least one or more of position, height, size, and shape information about the building, the fixed sculpture, the temporary sculpture, and the aircraft as the obstacle information, from an external information providing server.

In the present invention, in the setting of the virtual space grid, the control unit adjusts the size of the virtual space grid in response to the size of the unmanned aerial vehicle, or from the index of the area to build the three-dimensional space map The size of the spatial grid is adjusted according to the altitude.

In the present invention, in order to extract a space that can fly without overlapping the obstacle in the map area, the controller generates an obstacle map, the obstacle map, the position, height, size of the obstacle in the map area And a three-dimensional stereoscopic map including at least one of shape information, and when the range and altitude of the map area are expanded, the non-flight zone information is further included as obstacle information.

In the present invention, in order to extract a space that can fly without overlapping the obstacles in the map area, the control unit generates a two-dimensional grid map by altitude corresponding to the map region, and then the two-dimensional by altitude A three-dimensional grid map corresponding to the space of the entire map area in which the three-dimensional spatial map is to be constructed is generated based on the grid map.

In the present invention, the two-dimensional lattice map for each altitude is a map of only the spatial lattice formed by continuously arranging a spatial lattice of a specified size at a specified altitude in all directions, and the three-dimensional lattice map includes the two-dimensional lattice map. It is characterized by being a map of only a spatial grid composed of three-dimensionally arranged successively up and down.

In the present invention, in order to construct the three-dimensional spatial map, the control unit generates an obstacle map and a three-dimensional grid map, and extracts the effective grid by overlapping them, and then the network of the center of the extracted effective grid or the effective grid It is characterized by building a three-dimensional space map by connecting to.

In the present invention, the effective grating is characterized in that the spatial grating does not overlap any of the obstacles constituting the obstacle map of the space grating constituting the three-dimensional grating map.

In the present invention, in order to construct the three-dimensional space map, the control unit, at least one or more of the route search request information, the departure point information, the destination information, the flight time information, and the unmanned aerial vehicle information from the unmanned aerial vehicle or higher server It is characterized by receiving.

According to an aspect of the present invention, the present invention enables to build a three-dimensional space map for searching for a three-dimensional flight path for an unmanned aerial vehicle to be used in logistics, courier, transportation, and control using an unmanned aerial vehicle.

1 is an exemplary diagram for explaining an unmanned aerial vehicle that is generally manufactured in various sizes.
Figure 2 is an exemplary view showing a schematic configuration of a three-dimensional space map construction device for route search for an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 3 is an exemplary view for explaining the size of a spatial grid set corresponding to the size of an unmanned aerial vehicle in FIG. 2. FIG.
FIG. 4 is an exemplary diagram for explaining the size of a spatial grid set in correspondence with an altitude from an indicator of an area in which a three-dimensional spatial map is to be constructed in FIG.
5 is a flowchart illustrating a 3D space map construction method for path search for an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 6 is an exemplary diagram for explaining a method of setting a map area for constructing a 3D spatial map in FIG. 5; FIG.
FIG. 7 is an exemplary view shown to explain a three-dimensional grid map in FIG. 5. FIG.
FIG. 8 is an exemplary view showing an effective grid arrangement viewed from the side when the obstacle map and the 3D grid map overlap in FIG. 5.
FIG. 9 is an exemplary view showing an effective grid arrangement of two-dimensional grid maps for elevations viewed from the top when the obstacle map and the three-dimensional grid map overlap.

Hereinafter, with reference to the accompanying drawings will be described an embodiment of an apparatus and method for constructing a three-dimensional space map for the path search for an unmanned aerial vehicle according to the present invention.

In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described below are terms defined in consideration of functions in the present invention, which may vary according to the intention or convention of a user or an operator. Therefore, the definitions of these terms should be made based on the contents throughout the specification.

2 is an exemplary view showing a schematic configuration of an apparatus for constructing a 3D space map for path search for an unmanned aerial vehicle according to an embodiment of the present invention.

As shown in FIG. 2, the apparatus for constructing a three-dimensional space map for path search for an unmanned aerial vehicle according to the present embodiment includes a basic data input unit 110, a space grid setting unit 120, a control unit 130, and a communication unit ( 140, and the 3D space map storage 150.

The basic data input unit 110 receives basic data for generating a 3D space map.

Here, the basic data for generating the 3D spatial map includes digitized 3D geographic information system (GIS). The three-dimensional GIS information includes spatial data and attribute data, wherein the spatial data refers to the type, location, and size of the topographical elements, and the attribute data includes a map surface along with quantitative data including mathematical meanings. Refers to qualitative data needed to describe an object, such as a label or cycle. In addition, the basic data includes building information (eg, location, height, size, shape, etc.) and obstacle information by time (eg, fixed sculpture, temporary sculpture, aircraft, etc.). The basic data may be provided from an external separate server (eg, a national geographic information server, a flight control server, etc.) providing the corresponding data.

The spatial grid setting unit 120 sets a virtual spatial grid for generating a 3D space map.

In addition, the space grid setting unit 120 may adjust the size of a virtual space grid (hereinafter, referred to as a space grid) corresponding to the size of the drone (see FIG. 3).

FIG. 3 is an exemplary view for explaining the size of the spatial grid set corresponding to the size of the unmanned aerial vehicle in FIG. 2. For example, if the size of the unmanned aerial vehicle is small, the size of the spatial grid is also small. If the size of is large, the size of the spatial grid may be set to be large.

In addition, the space grid setting unit 120 may adjust the size of the space grid in response to the altitude from the surface of the area to build the three-dimensional space map (see FIG. 4).

FIG. 4 is an exemplary diagram for explaining the size of a spatial grid set in correspondence with an altitude from an indicator of an area in which a three-dimensional spatial map is to be constructed in FIG. 2, for example, the lowest altitude according to an altitude from the indicator; In other words, the altitude 1 may be set to a smaller size, and as the altitude becomes higher (ie, altitude 1 to altitude 3), the size of the spatial lattice may be set larger. Because the higher the altitude, the wider the gap between buildings and obstacles, the greater the freedom of flight for drones to fly safely.

The controller 130 sets a map area for constructing (or generating) a 3D spatial map based on the data input through the basic data input unit 110, and at a time when the unmanned aerial vehicle will fly the set map area. Create a map of obstacles (eg, buildings, fixed sculptures, temporary sculptures, vehicles, etc.) in the map area.

Here, the obstacle map is a three-dimensional stereoscopic map including the position, height, size, and shape of the obstacle in the map area. If the range and altitude of the map area for constructing the 3D spatial map are further extended, the obstacle map may further include non-flight zone information (or flight control information) as obstacle information.

In addition, the controller 130 generates a 2-dimensional lattice map for each altitude corresponding to a map area on which the 3D spatial map is to be constructed, and based on this, the controller 130 corresponds to a space of the entire map area to construct the 3D spatial map. Create a three-dimensional grid map.

Here, the elevation-based two-dimensional lattice map means a map of only the spatial lattice formed by continuously arranging the spatial lattice of the designated size at the specified altitude in all directions. The three-dimensional lattice map means a map of only a spatial lattice constructed by forming the two-dimensional lattice map in succession up and down and configured three-dimensionally (in three dimensions).

Also, the controller 130 extracts an effective grid by overlapping the obstacle map and the three-dimensional grid map, and connects the extracted effective grid (or center point of the effective grid) to a three-dimensional network (that is, a three-dimensional spatial map). Build (create)

Here, the effective grid refers to a spatial grid that does not overlap at least with any obstacle constituting the obstacle map among the spatial grids constituting the 3D grid map.

As described above, when a three-dimensional network (i.e., a three-dimensional space map) corresponding to the map area on which the three-dimensional space map is to be constructed is constructed (created), a designated unmanned aircraft (e.g., a small unmanned aerial vehicle based on the three-dimensional space map) is constructed. Dedicated three-dimensional flight paths (e.g., shortest paths, obstacle avoidance paths, etc.) for aircraft, courier medium unmanned aerial vehicles and passenger large unmanned aerial vehicles will be explored. At this time, the flight path may be limited to the flight altitude reflecting the size of the space grid (for example, a large unmanned aerial vehicle may be limited to fly below 10 floors of the building).

The 3D space map storage unit 150 stores the 3D space map constructed for each unmanned aerial vehicle.

The communication unit 140 communicates in a wireless (or wired) manner with the unmanned aerial vehicle 200 (or an upper control server or a control server, which will be described as an unmanned aerial vehicle for convenience of description) to provide a 3D space map.

The controller 130 receives map configuration information for constructing a 3D space map from the unmanned aerial vehicle 200 through the communication unit 140. The controller 130 sets a map area for constructing a 3D spatial map based on the basic data input through the basic data input unit 110 and the map configuration information received through the communication unit 140. Construct a three-dimensional space map in this map area.

Here, the map configuration information for constructing the 3D space map includes route search request information, departure point information, destination information, flight time information, and unmanned aerial vehicle information (eg, size, use, etc.).

In this case, the controller 130 controls the components 110, 120, 140, and 150 to construct a three-dimensional space map for path search for each unmanned aerial vehicle. Hereinafter, the specific method is demonstrated.

5 is a flowchart illustrating a 3D space map construction method for path search for an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 5, the control unit 130 of the 3D space map construction apparatus for path search for an unmanned aerial vehicle is any unmanned aerial vehicle 200 (or an upper control server or a control server, for convenience of description below). When receiving a 3D path (that is, flight path) search request (or 3D space map request) signal from the (S101), the controller 130 is a path that is requested to search from the unmanned aerial vehicle 200 (I.e., the route to be searched) further receives the starting point and the destination, the size information of the drone, and the flight time information (that is, the time to fly the route) (S102).

Accordingly, the controller 130 sets a map area (that is, a map area for constructing a 3D spatial map) between the starting point and the destination (S103) (see FIG. 6).

FIG. 6 is an exemplary diagram for describing a method of setting a map area for constructing a 3D spatial map in FIG. 5. For example, the map area may be set to a range that may include at least the starting point and the destination. This range may be set in a predetermined form (eg, square, polygon, round, oval, etc.) according to a predetermined method based on the starting point and the destination.

In addition, the control unit 130 generates an obstacle map of the time zone for the unmanned aerial vehicle 200 to fly (S104).

That is, the controller 130 generates a map of obstacles (eg, buildings, fixed sculptures, temporary sculptures, vehicles, etc.) in the map region at the time when the unmanned aerial vehicle 200 will fly the set map region.

Here, the obstacle map means a three-dimensional three-dimensional map including the position, height, size, and shape of the obstacle in the map area, and if the range and altitude of the map area to build the three-dimensional spatial map are further expanded In this case, the obstacle map may further include flight prohibited area information (or flight control information) as obstacle information.

In addition, the controller 130 sets a virtual spatial grid (hereinafter, referred to as a spatial grid) corresponding to the size and altitude of the unmanned aerial vehicle 130 (S105) (see FIGS. 3 and 4).

For example, the control unit 130 sets the size of the space grid in response to the size of the drone through the space grid setting unit 120, or in response to the altitude from the surface of the area to build a three-dimensional space map You can set the size.

In addition, the controller 130 generates a 2-dimensional lattice map for each altitude corresponding to a map area on which the 3D spatial map is to be constructed, and based on this, the controller 130 corresponds to a space of the entire map area to construct the 3D spatial map. A three-dimensional grid map is generated (S106) (see FIG. 7).

FIG. 7 is an exemplary view shown to explain a three-dimensional grid map in FIG. 5, wherein the elevation-specific two-dimensional grid map is a spatial grid configured by continuously arranging spatial grids of a specified size at a specified altitude in all directions. As shown in Fig. 7, the three-dimensional grid map means a map of only a spatial grid composed of three-dimensional (three-dimensional) arrays of the two-dimensional grid maps arranged in succession up and down. .

In addition, the controller 130 extracts an effective grid (or a center point of the effective grid) by overlapping the obstacle map and the 3D grid map (S107) (see FIGS. 8 and 9).

8 and 9 are exemplary diagrams for explaining a method of overlapping an obstacle map and a 3D grid map in FIG. 5, and FIG. 8 is an effective view viewed from the side when the obstacle map and the 3D grid map overlap. 9 is an exemplary diagram showing a lattice arrangement, and FIG. 9 is an exemplary diagram showing an effective lattice arrangement among two-dimensional lattice maps of elevations viewed from the top when the obstacle map and the three-dimensional lattice map overlap.

When the effective grating is extracted in the three-dimensional space as described above, the controller 130 connects the extracted effective grating (or the center point of the effective grating) in all directions and up and down to form a three-dimensional network (that is, a three-dimensional space map). To construct (generate) (S108).

Here, the effective grid refers to a spatial grid that does not overlap at least one obstacle constituting the obstacle map among the spatial grids constituting the three-dimensional grid map, wherein the effective grid (or the center point of the effective grid) is In the connected three-dimensional network (that is, three-dimensional space map) it is possible to safely fly by searching the corresponding flight path for each drone 200.

Although the present invention has been described with reference to the embodiments illustrated in the drawings, this is merely exemplary, and various modifications and equivalent other embodiments are possible for those skilled in the art to which the art pertains. I will understand the point. Therefore, the technical protection scope of the present invention will be defined by the claims below.

110: basic data input unit
120: space grid setting unit
130: control unit
140: communication unit
150: 3D space map storage unit
200: drone

Claims (19)

A data input unit for receiving basic data for constructing a 3D space map for path searching for an unmanned aerial vehicle;
A spatial grid setting unit for setting a virtual spatial grid for constructing the 3D space map; And
A map area for constructing a 3D space map may be set based on data input through the basic data input unit, and the drone may fly without overlapping an obstacle in the set map area by using the space grid. And a control unit for constructing a three-dimensional space map by extracting a space therein.
The method of claim 1, wherein the basic data for constructing the three-dimensional space map,
Digitized three-dimensional geospatial information (GIS); And
The obstacle information, at least one of the position, height, size, and shape information for the building, the fixed sculpture, the temporary sculpture, and the aircraft, three-dimensional space map construction device for a route search for an unmanned aerial vehicle.
The method of claim 1, wherein the spatial grid setting unit,
3D space map construction device for the path search for the drone, characterized in that for adjusting the size of the virtual space grid in response to the size of the drone.
The method of claim 1, wherein the spatial grid setting unit,
And a size of the space grid in response to an altitude from the surface of the area to which the 3D space map is to be constructed.
The method of claim 1, wherein the control unit,
Generating an obstacle map in order to extract a space that can fly without overlapping an obstacle in the map area;
The obstacle map,
A three-dimensional stereoscopic map including at least one of position, height, size, and shape information of an obstacle in the map area;
3. The apparatus for constructing a three-dimensional space map for a route search for an unmanned aerial vehicle, wherein when the range and altitude of the map area are expanded, flight prohibited area information is further included as obstacle information.
The method of claim 1, wherein the control unit,
In order to extract a space that can fly without overlapping the obstacles in the map area,
After generating a two-dimensional grid map for each height corresponding to the map area, and generates a three-dimensional grid map corresponding to the space of the entire map area to build the three-dimensional space map based on this 3D space map construction device for path search.
The method of claim 6,
The height-specific two-dimensional grid map,
A map of only the spatial grid constructed by successively arranging spatial grids of a specified size at a given altitude,
The three-dimensional grid map,
3D spatial map construction apparatus for route search for an unmanned aerial vehicle, characterized in that the map of the spatial grid consisting of a three-dimensional grid map arranged in succession vertically.
The method of claim 1, wherein the control unit,
In order to build the 3D space map,
After generating an obstacle map and a three-dimensional grid map, the effective grid is extracted by overlapping the map, and the center of the extracted effective grid or the effective grid is connected to a network to construct a three-dimensional spatial map. 3D space map construction device for the.
The method of claim 8, wherein the effective grating,
An apparatus for constructing a 3D space map for a route search for an unmanned aerial vehicle, characterized in that the space grid does not overlap with any one of the obstacles constituting the obstacle map among the space grids constituting the 3D grid map.
The apparatus of claim 1, further comprising: a communication unit configured to communicate with an unmanned aerial vehicle or a higher server to construct and provide the 3D space map.
The control unit,
Receiving at least one or more of the route search request information, the departure point information, the destination information, the flight time information, and the unmanned aerial vehicle information as the map configuration information for the 3D spatial map construction from the unmanned aerial vehicle or the server through the communication unit; 3D space map construction device for path search for an unmanned aerial vehicle.
In order to provide a three-dimensional space map for a three-dimensional path search for each unmanned aircraft, the control unit of the three-dimensional space map construction device for the path search for an unmanned aerial vehicle, the information and the flight time of the unmanned aircraft origin and the size of the unmanned aerial vehicle Receiving at least one of the information;
Setting, by the controller, a map area for constructing a 3D spatial map between the starting point and the destination;
Setting, by the controller, a virtual spatial grid for constructing the 3D space map; And
Extracting, by the controller, a space in which the unmanned aerial vehicle can fly without overlapping an obstacle in the map area by connecting the spaces to a network to construct a 3D space map; 3D space map construction method for path search for an unmanned aerial vehicle comprising a.
12. The method of claim 11, wherein
The control unit,
Digitized three-dimensional geospatial information (GIS); And
3 for the path search for an unmanned aerial vehicle, which receives at least one or more of position, height, size, and shape information about a building, a fixed sculpture, a temporary sculpture, and a vehicle as obstacle information from an external information providing server. How to build a 3D space map.
12. The method of claim 11, wherein in setting the virtual spatial grid:
The control unit,
Resize the virtual space grid in response to the size of the drone,
3. The method of claim 3, wherein the size of the space grid is adjusted according to the altitude from the surface of the region to which the 3D space map is to be constructed.
12. The method of claim 11, in order to extract a space that can fly without overlapping obstacles in the map area,
The controller generates an obstacle map,
The obstacle map,
A three-dimensional stereoscopic map including at least one of position, height, size, and shape information of an obstacle in the map area;
3. The method for constructing a 3D space map for path search for an unmanned aerial vehicle, wherein when the range and altitude of the map area are expanded, the flight prohibited area information is further included as obstacle information.
The method of claim 11, wherein in order to extract a space in the map area that can fly without overlapping the obstacle,
The control unit,
After generating the altitude 2-dimensional grid map corresponding to the map area,
3D spatial map construction method for route search for an unmanned aerial vehicle, characterized in that for generating a three-dimensional grid map corresponding to the space of the entire map area to build the three-dimensional space map based on the two-dimensional grid map by altitude .
The method of claim 15,
The height-specific two-dimensional grid map,
A map of only the spatial grid constructed by successively arranging spatial grids of a specified size at a given altitude,
The three-dimensional grid map,
3D spatial map construction method for a route search for an unmanned aircraft, characterized in that the map of the spatial grid consisting of a three-dimensional grid map arranged in succession up and down.
The method of claim 11, wherein in order to construct the three-dimensional spatial map,
The control unit,
After generating an obstacle map and a three-dimensional grid map, the effective grid is extracted by overlapping them, and then a path search for an unmanned aerial vehicle is constructed by connecting a center point of the extracted effective grid or the effective grid to a network. 3D space map construction method.
The method of claim 17, wherein the effective grating,
3. The method of claim 3, wherein the 3D grid map is a spatial grid that does not overlap at least one obstacle that constitutes the obstacle map.
12. The method of claim 11, wherein
The control unit,
3D spatial map construction for unmanned aerial vehicle route searching comprising receiving at least one or more of route search request information, starting point information, destination information, flight time information, and unmanned aerial vehicle information from an unmanned aerial vehicle or a higher server Way.

Images