KR20220058133A - Apparatus for generating routes of drone using river and method thereof - Google Patents

Abstract

The present invention relates to a drone path setting apparatus using a river and a method thereof. According to the present invention, the drone path setting apparatus comprises: a communication unit acquiring location information of a starting point and a destination of a drone from a user terminal; a memory storing river network data in a drone flight area; and a processor setting a moving path between the starting point and the destination based on the river network data to allow the drone to move in a section along a river. Accordingly, the drone moves along a river section to minimize human life or property damage in a dangerous situation in which the drone or a loaded article falls and reduce damage to the drone.

Description

Drone route setting device and method using rivers {APPARATUS FOR GENERATING ROUTES OF DRONE USING RIVER AND METHOD THEREOF}

The present invention relates to an apparatus and method for setting a drone route, and more particularly, to an apparatus and method for setting a route through which a drone flies to perform a predetermined mission.

Drones are air vehicles that can be controlled remotely without a person on board or fly according to a pre-entered program, and are widely used for military and public purposes, such as reconnaissance, search for survivors, forest fire monitoring, and traffic violation control. The scope of its use is also gradually expanding. Recently, logistics carriers such as Amazon, DHL, and UPS have shown great interest in drone delivery services and are conducting pilot operations and tests.

As the field of use of drones is expanding, there are concerns about safety issues due to drone crashes or crashes in flight. In particular, there is a high risk if a fall or collision occurs while the drone is loaded with goods, such as during logistics delivery.

Looking at the prior art of setting the flight path of a drone, although the route is set by avoiding the flight restriction area or obstacles, it is passed over residential areas, population flow areas, and major facilities, so the drones or items loaded on the drone are still The risk of damage to assets cannot be excluded. On the other hand, there are many cases where the repair cost is high due to the damage of the drone aircraft during a fall or collision, or in severe cases, the expensive drone must be discarded because it is damaged to the extent that it cannot be repaired.

Accordingly, there is a need for a method for setting a drone flight path so as to minimize damage caused by the drone in case of an accident and reduce damage to the drone at the same time.

Republic of Korea Patent No. 10-1183659 (2012.09.11)

The present invention has been devised to solve the problems of the prior art as described above, and it is possible to minimize damage to human life or property and reduce the degree of damage to the drone in a situation where the drone falls or collides with other objects. An object of the present invention is to provide an apparatus and method for setting a flight path.

The above object is a communication unit for acquiring the location information of the origin and destination of the drone from the user terminal according to an aspect of the present invention; a memory for storing river network data within the drone flight area; and a processor for setting a movement path between the departure point and the destination based on the river network data so that the drone moves at least a partial section along a river.

Here, the memory stores a numerical surface model for the drone flight area, and the processor, based on the flow direction of the flowing water for each grid cell constituting the numerical surface model, an entry position at which the drone enters the river; Alternatively, the drone may determine an advancing position from the river.

Meanwhile, the river network data may include data regarding the depth and width of a river, and the processor may set the movement path to move along a river having a depth or width greater than or equal to a predetermined standard.

In addition, the memory stores information on the population density or the official land price of the drone flight area, and the processor applies the population density or the official land price as a constraint to a predetermined population density or an area that exceeds the official land price. You can set it to be excluded from the path.

And, the memory stores information about the current rainfall intensity or the predicted rainfall intensity of the drone flight area, and the processor, at the time of movement of the drone, the current rainfall intensity or the predicted rainfall intensity exceeds a predetermined criterion. may be set to be excluded from the movement path.

In addition, the memory may store information about the wind speed of the drone flight area, and the processor may set an area where the wind speed exceeds a predetermined criterion at the time of movement of the drone to be excluded from the movement path.

On the other hand, the processor sets a plurality of nodes in the drone flight area, calculates a cost according to a predetermined cost calculation criterion according to a physical distance, wind speed, and altitude for each link connecting the nodes, and each A movement path may be established by connecting the nodes so that the total cost of the link is minimized.

In this case, for the same physical distance, the processor may give a higher cost to a link corresponding to a non-river section than to a river section.

In addition, the above object is a drone route setting method according to another aspect of the present invention, the method comprising: storing river network data in the drone flight area; obtaining location information of the origin and destination of the drone from the user terminal; setting a movement route between the departure point and the destination based on the river network data so that the drone moves at least a partial section along a river; and providing the set movement route to the user terminal.

As described above, according to the present invention, by allowing the drone to move along the river section, it is possible to minimize damage to human life or property and reduce the degree of damage to the drone in a situation in which the drone or the loaded article is in danger of falling. there is

1 is a configuration diagram showing a schematic configuration of a drone route setting system including a drone route setting apparatus according to an embodiment of the present invention;
2 is a block diagram showing the configuration of a drone route setting apparatus according to an embodiment of the present invention;
3 is a reference diagram for explaining a first embodiment in which the drone route setting apparatus according to an embodiment of the present invention sets a route to enter from a non-river section to a river section;
4 is a reference diagram for explaining a second embodiment in which the drone route setting apparatus according to an embodiment of the present invention sets a route to enter from a non-river section to a river section;
5 is a reference diagram for explaining an example in which the drone route setting apparatus determines an entry position at which a drone enters a river according to an embodiment of the present invention;
6 is a reference diagram for explaining an example in which the drone route setting apparatus according to an embodiment of the present invention sets a movement route of a drone by reflecting wind speed; and
7 is a flowchart illustrating a drone route setting method according to an embodiment of the present invention.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, detailed descriptions of well-known functions or configurations that may obscure the gist of the present invention in the following description and accompanying drawings will be omitted. Also, it should be noted that, throughout the drawings, the same components are denoted by the same reference numerals as much as possible.

1 is a block diagram showing a schematic configuration of a drone route setting system including a drone route setting apparatus according to an embodiment of the present invention. Referring to FIG. 1 , a drone route setting system 1 according to an embodiment of the present invention includes a user terminal T and a drone route setting apparatus 100 .

The user terminal (T) is a terminal device used by a user who wants to set the flight route of the drone through the drone route setup system, and the drone route setup device 100 through various known wired and wireless communication networks such as WI-FI, LTE, 5G, etc. ) is connected to The user terminal (T) includes location information of the destination where the drone temporarily suspends or terminates flight, including the departure point where the drone starts flying and the waypoints in the middle, and the location information that the user wants to adopt or limit when setting the drone route. Various types of information required in the process of setting the flight path of the drone, such as a path setting option, are received from the user and transmitted to the drone path setting apparatus 100 . As described above, the user terminal T is a terminal that receives necessary information from a user and provides a UI (User Interface) for displaying various information and a communication function for transmitting and receiving information, such as a smartphone, tablet PC, notebook, desktop, etc. This can be applied.

The drone route setting device 100 provides information on the drone flight area stored in advance such as river network data, population density and official land price information in the drone flight area, wind direction/wind speed, and weather information of the drone flight area such as current and predicted rainfall intensity information, etc. Set the flight path of the drone based on it. For reference, the drone flight area encompasses an area that can be included as a movement path as an area where the drone can fly.

2 is a block diagram showing the configuration of the drone route setting apparatus 100 according to an embodiment of the present invention. Hereinafter, a detailed configuration of the drone route setting apparatus 100 will be described with reference to FIG. 2 .

Referring to FIG. 2 , the drone route setting apparatus 100 includes a communication unit 10 , a memory 20 , and a processor 30 .

The communication unit 10 communicates with a user terminal T and a weather server (not shown) that generates weather information such as rain or wind, etc., for transmitting and receiving various information necessary for setting a drone route, WI-FI, It can be implemented by including a communication module that provides various known wired and wireless communication methods such as Ethernet, LTE, and 5G.

The memory 20 is implemented with memory devices such as RAM, ROM, EEPROM, and flash memory, and can store various operating systems (OS), middleware, platforms, and various applications of the drone route setting apparatus 100, and drone route setting program code, drone flight area map, river network data, population density, official land price, area information that restricts or prohibits drone flight, rainfall and wind information received from the weather server, digital surface model (DSM) It stores all information necessary to set the drone route, such as

Here, the river network data is data indicating the location of a river, and may be expressed as, for example, a vertex array of longitude and latitude in an OGC standard linestring format. In addition, as river network data, it may include not only the location of the river, but also data on water depth and width, and whether it is a water source protection area. In this way, the river network data may be stored as a record including geometry information indicating the location of the river for each predetermined section, the width of the river, the water depth, and whether or not a water source protection zone exists.

On the other hand, population density and public market price data may be stored in various formats. For example, the drone flight area may be divided into a predetermined grid cell unit and stored in a raster format in which a population density value or an official land price is stored as each cell value, where the population density is a static sphere living in the corresponding area. Or it may be a floating population. For reference, the National Geographic Information Institute in Korea provides information on the population density and official land price of the country in a 500m unit grid format, which can be applied or processed and utilized.

In addition, the rainfall intensity data may be time-series received every predetermined period from a server (not shown) of a related institution, and may include current rainfall intensity or predicted rainfall intensity data. Rainfall intensity data may also be stored in various data formats. For example, similarly to population density and official land price data, the drone flight area is divided into a predetermined grid cell unit, and the rainfall intensity value (mm / h) can be stored in the stored raster format.

Wind direction/wind speed data may also be received time-series from the server of the relevant institution at every predetermined period and may be stored in various data formats. Wind direction and wind speed values (m/s) at the corresponding location may be stored in a stored raster format.

On the other hand, the numerical surface model refers to a model in which the land is divided into a plurality of grid cells, and the elevation of the area corresponding to each grid cell is recorded in numerical form to express the undulations of the ground and surface cover. Such a numerical surface model can be created using the contour lines of a topographic map or based on the elevation determined through aerial photographic surveying, LIDAR surveying, etc. there is.

The processor 30 is based on the information received through the user terminal T, the data stored in the memory 20, that is, river network data, numerical surface model, wind direction/wind speed data, rainfall intensity data, population density, official price data, etc. to set the drone's flight path. Hereinafter, a description will be given of an embodiment in which the processor 30 sets the flight path of the drone.

The processor 30 basically sets a movement path between the origin and the destination input from the user terminal T, but sets the movement path so that the drone moves at least some flight section along the river. The processor 30 minimizes the movement of people living or passing, or moving to a place where buildings are dense, in order to lower the risk when a drone or a loaded object falls, and sets a route to fly mainly on the river network.

However, when setting the flight route of the drone to move along the river network, it is practically impossible to configure all movement routes from the origin to the destination with only rivers, so it is inevitable for some flight sections to pass through routes other than rivers.

In this way, when setting a movement path including a path other than a river, the processor 30 may configure the movement path so that the non-stream movement section is included as little as possible based on the physical distance between the river and the non-river section.

FIG. 3 is a reference diagram for explaining the first embodiment in which the processor 30 sets a path to enter from a non-river section to a river section according to an embodiment of the present invention. Referring to FIG. 3 , when the processor 30 enters the river section R1 from the predetermined point p1 of the non-stream section S1, the By setting the shortest path d1 as the moving path of the drone, the moving section in the non-river section S1 can be minimized. For reference, although the case of entering from the non-river section to the river section is illustrated in FIG. 3 , on the contrary, the shortest path may be followed even when advancing from the river section to a predetermined point of the non-river section.

4 is a reference diagram for explaining a second embodiment in which the processor 30 sets a path for entering a river section from a non-river section according to an embodiment of the present invention.

4 is assuming a case in which the area (X) having a high population density or a high official land price on the shortest path of the non-stream section (S2) and the river section (R2) is included. In this case, the processor 30 may set a movement path d2 that bypasses the corresponding area without following the shortest path. In this case, the reference value of the population density or the official land price serving as the detour standard may be directly input from the user through the user terminal T or may be based on a preset internal standard. However, even when bypassing some areas, the route can be set to travel the shortest distance by default.

In this way, the processor 30 follows the shortest path when entering the non-river section or entering the non-river section from the river section, but applies the population density and the official land price as constraints to set the movement path of the drone. However, it goes without saying that the population density and official land price may not be applied as constraints depending on the user's choice. In addition, as for the population density, not only a static population but also a floating population value can be applied. At this time, the memory 20 stores the floating population density by time, and the floating population density corresponding to the time when the drone is expected to move the corresponding area. It can be applied to determine whether to bypass or pass through the area.

On the other hand, as another constraint condition for setting the movement path, the water depth and width of the river, rainfall intensity, and wind speed may be applied. First, the application of the river depth and width as a constraint will be described. The processor 30 has a water depth or width greater than or equal to a predetermined standard based on the river depth and width data among the river network data stored in the memory 20 . You can set a movement path to move along a river. At this time, since the data on the depth or width of the river is a value that can be changed according to the occurrence of rainfall or flood, the changed data is received every time the data on the river depth or width is updated from the server of the relevant institution to check whether the conditions are met. will be able to judge

The processor 30 may apply the water source protection zone among the river network data as a constraint according to a user's selection or an internal standard. For example, if the user selects to apply the water source protection area as a constraint, the area classified as the water source protection area may be set to be excluded from the movement route. Alternatively, in response to the type of goods transported by drones, it is established as an internal standard whether or not the water source protection zone is excluded. You can set a movement path.

Also, based on the data stored in the memory 20, the processor 30 may set an area in which the current or predicted rainfall intensity of the corresponding area exceeds a predetermined reference value at the time of movement of the drone to be excluded from the movement path of the drone. Here, the moving time of the drone is the time at which the drone is predicted to move in the corresponding area, and it can be predicted based on the departure time of the drone input from the user terminal (T), distance information from the drone’s departure point, the average speed of the drone, etc. there is.

As another constraint, the processor 30 may apply the wind speed data stored in the memory 20 so that an area where the wind speed exceeds a predetermined reference value at the time of movement of the drone is excluded from the movement path of the drone. This is to prevent the drone from falling or overturning due to strong winds.

The user can directly select whether to set the aforementioned river depth and width, rainfall intensity, and wind speed as a constraint through the user terminal T, and when applying the constraint, the reference value is directly input from the user through the user terminal T received or according to preset internal standards. For reference, the data on the rainfall intensity and wind direction/wind speed can be stored in a raster format in which the space for the drone flight area is divided into grid cells and the rainfall intensity and wind direction/wind speed values corresponding to the grid cell positions are stored. like a bar

Meanwhile, the processor 30 may determine an entry position at which the drone enters a river or an exit position at which the drone departs from the river based on the numerical surface model of the drone flight area stored in the memory 20 .

To elaborate on this, a runoff system having a certain flow path is classified as a river, but various tributaries or tributaries flow into the river from this river. The processor 30 determines the entry position where the drone enters the river or the exit position where the drone enters the river by identifying the flow of flowing water, such as a tributary, which is not classified as a river in the river network data. At this time, the processor 30 is equipped with a variety of known algorithms for calculating the flow direction for each grid constituting the numerical surface model, including the 'D-8' algorithm that utilizes eight flow direction grids, , it is possible to determine the entry position or exit position to the river based on this. For reference, an algorithm for analyzing the flow direction of flowing water based on the lattice cell value of the numerical surface model is known, and detailed description will be omitted for simplicity of explanation.

5 is a reference diagram for explaining an example in which the processor 30 determines an entry position at which a drone enters a river based on a numerical surface model according to an embodiment of the present invention.

Referring to FIG. 5, the result code of analyzing the flow of flowing water using the 'D-8' algorithm based on the numerical surface model is shown in (a), and (b) is a visualization of the above result code. The flow direction code is predefined in ESRI and the like. For example, according to the ESRI, the flow analysis code '1' means a rightward flow. In (b), the arrow inside the grid cell indicates the direction of flow at the corresponding grid cell position. The processor 30 may determine the movement path of the drone to follow the flow area of the flowing water. That is, when the flow direction of running water is analyzed as shown in (b) of FIG. 5 , the processor 30 enters or advances to enter or out of the river past the position of the grid cells with bold borders in (b). location can be determined.

In this way, by reflecting the flow analysis results other than rivers in the setting of the movement path of the drone, it is possible to obtain the effect of avoiding densely populated areas even if the water depth is not sufficient. This is because the location where the running water flows is an area where the flow of the population is practically impossible or there is little flow.

The processor 30 sets a plurality of nodes to which the drone can move according to a predetermined criterion and interval within the drone flight area, calculates a cost for each link connecting the nodes, and the total cost of each link is Set the drone's movement path by connecting nodes to minimize it. In this way, each link connecting a node and a node corresponds to a unit constituting a movement path of the drone. Here, the cost given to each link may be based on a cost calculation standard determined in advance according to the physical distance, wind speed, and altitude.

In the above-described cost calculation criteria item, the physical distance refers to the physical distance between nodes and corresponds to a fixed value, and can be identified based on map data of the drone flight area. The altitude may be determined based on the numerical surface model, and the cost according to the altitude may be calculated based on the altitude profile obtained from the numerical surface model. A cost value corresponding to the fixed item may be preset for each link.

The processor 30 may increase the cost more if the physical distance is relatively long, but may calculate the cost separately for the physical distance in the river section and the physical distance in the non-stream section. For example, assuming the same physical distance, by giving a higher cost to a link corresponding to a non-river section than to a link corresponding to a river section, the river section may be preferentially applied. For reference, whether a corresponding link corresponds to a river section may be determined based on river network data. And, as described above, even if it is not an area classified as a river, a section corresponding to the flow direction of flowing water through flow analysis can be provided with a relatively low cost compared to a non-stream section that does not correspond to the flow direction of the flowing water. there is.

In addition, the cost according to the altitude is calculated by adding up the cost according to the altitude difference for each predetermined unit distance determined in advance using the altitude profile, rather than the simple difference in altitude between the starting point and the end point of the section. In this case, the cost corresponding to the height difference may be calculated by applying the physical distance as a reference and converting it into a cost corresponding to the physical distance. For example, if the altitude difference is +10m, the drone consumes energy and travels to increase the altitude, so it can be converted into a cost corresponding to +15m increasing the horizontal distance by 15m. It can be converted into a cost of +2m in which the horizontal distance is increased by 2m considering the energy consumption and the length of the movement path to descend. For reference, the sign in front of the altitude value is expressed as '+' when the altitude increases relative to the direction in which the drone is traveling, and '-' when it decreases. In this way, the processor 30 may prepare and store a cost conversion standard for converting the cost according to the elevation increase/decrease into the cost according to the horizontal distance.

On the other hand, the wind speed among the cost calculation criteria is the speed of the wind per unit time, and as the value changes with time, the cost corresponding to the wind speed also changes. For reference, the wind speed may be expressed as a vector as a concept including the speed and not the wind speed.

6 is a reference diagram for explaining an example in which the processor 30 sets the movement path of the drone by reflecting the wind speed according to an embodiment of the present invention.

Referring to FIG. 6 , wind may be decomposed into a vertical component and a horizontal component with respect to the moving direction of the drone. Here, the vertical component acts as an element that helps or hinders the movement of the drone depending on the direction. That is, a vertical component in the same direction as the moving direction of the drone helps the drone to move, and a vertical component in the opposite direction to the moving direction of the drone prevents the drone from moving. On the other hand, the horizontal component always acts as an obstacle to the movement of the drone, and the larger the size of the component, the greater the degree of obstruction. The processor 30 may increase or decrease the cost by considering the direction of movement of the drone, the direction of the vertical component of the wind, and the direction of the horizontal component in each link when the drone is directed from the origin to the destination by using such a relationship. . For example, if there is a vertical component identical to the moving direction of the drone, the cost may be reduced, and if there is an opposite vertical component, the cost may be increased. At this time, the amount of increase or decrease of the cost varies according to the size of the specific component. In addition, when a horizontal component exists, the cost is increased, and the amount of increase may vary depending on the size of the component.

In this way, the processor 30 calculates a cost corresponding to each link by summing the first cost fixed according to the physical distance, the second cost fixed according to the altitude, and the third cost according to the wind speed, The drone's movement path is set by connecting nodes between the source and destination so that the total cost is minimized. The drone flies from the origin to the destination inputted from the user terminal T by moving the section corresponding to the connected node and link in this way. In this case, as described above, wind speed, official land price, population density, water source protection zone availability, current or predicted rainfall intensity, river depth and width, etc. may be applied as constraints. For example, a section according to the constraint is excluded from the movement route even if the cost is low.

The processor 30 may utilize a well-known Dijkstra algorithm when analyzing the cost of a network composed of a plurality of links in this way and searching for a route having the minimum cost from the source to the destination.

On the other hand, the specific flight shape of the drone in the node and the link between the nodes may be a straight line, but may also take a curved shape. Here, straight flight means that the drone flies while drawing a straight line, and curved flight means that the drone flies while drawing a curve. For example, a convolution, a cubic parabola, or a form of a convolution.

The processor 30 includes at least one of a movement section from a predetermined position in the non-stream area to entering a river, a movement section out of the river to a predetermined position in the non-river area, a movement section in a river, or a movement section in a non-river It is possible to determine the specific flight form of the drone during a straight flight or a curved flight for one movement section. At this time. The processor 30 may determine by reflecting the direction of the wind. For example, when the polar angle formed by the wind direction with the horizontal axis is 45 degrees, the flight form may be determined to draw the shortest closing curve among the above three relaxation curves. As such, the processor 30 may determine the flight form in consideration of the moving distance of the drone according to the wind direction in the corresponding section.

The movement path of the drone determined by the processor 30 is transmitted to the user terminal T. The processor 30 may provide the calculated moving path of the drone by overlapping it on the map, and may be implemented to provide a plurality of moving path candidates so that the user selects one of them.

7 is a flowchart illustrating a drone route setting method according to an embodiment of the present invention. The description overlapping with the above-described embodiment will be omitted for the sake of simplicity.

Referring to FIG. 7 , all data used for the drone route setting apparatus 100 to set the movement route of the drone, for example, a numerical surface model of a drone flight area, river network data, wind direction/wind speed data, rainfall intensity data, map data , it is premised on receiving and storing the population density and official land data (S10). Here, the numerical surface model or map data is data that can be continuously applied as long as there is no significant change, and the data on the river depth and width of the wind direction/wind speed data, rainfall intensity data, and river network data are data that change with time. It is required to be updated on a periodic basis.

Subsequently, the drone route setting apparatus 100 acquires location information of the origin and destination of the drone from the user terminal T (S20). At this time, whether or not to set the river depth and width, water source protection zone, rainfall intensity, wind speed, population density, official land price, etc. as constraints from the user terminal T, and the reference value when applying the constraints may be input together.

The drone route setting apparatus 100 sets a movement route between the departure point and the destination so that the drone moves at least a partial section along the river based on the data stored in step S10 ( S30 ). The drone route setting apparatus 100 analyzes the flow direction of flowing water for each grid cell based on the numerical surface model, and based on this, an entry position at which the drone enters a river or an exit position at which the drone departs from the river can be determined.

The drone route setting apparatus 100 sets a plurality of nodes in the drone flight area in advance, calculates costs according to predetermined cost calculation criteria according to physical distance, wind speed, and altitude for each link connecting the nodes, and each As described above, a movement path can be set by connecting nodes so that the total sum of the link costs is minimized.

At this time, the drone route setting device 100 is constrained by applying the river depth and width, water source protection zone, rainfall intensity, wind speed, population density, official land price, etc. as constraints according to the selection of the user terminal T or a preset internal standard. The section corresponding to the condition can be set to be excluded from the moving route.

The moving path set by the drone path setting apparatus 100 is provided to the user terminal T and used to control the flight of the drone based on the moving path (S40).

As described above, according to the drone route setting apparatus 100 and the method according to the present invention, by allowing the drone to move along a river section, damage to life or property is minimized in a situation in which a drone or a loaded article is in danger of falling, and at the same time It has the effect of reducing the damage of the drone.

In the above, even though it has been described that all components constituting the embodiment of the present invention operate by being combined or combined into one, the present invention is not necessarily limited to this embodiment. That is, within the scope of the object of the present invention, all the components may operate by selectively combining one or more. In addition, although all the components may be implemented as one independent hardware, some or all of the components are selectively combined to perform some or all of the functions of the combined hardware in one or a plurality of hardware program modules It may be implemented as a computer program having Codes and code segments constituting the computer program can be easily inferred by those skilled in the art of the present invention. Such a computer program is stored in a computer readable storage medium (Computer Readable Media), read and executed by the computer, thereby implementing the embodiment of the present invention. The storage medium of the computer program may include a magnetic recording medium, an optical recording medium, and the like.

In addition, terms such as "comprises", "comprises" or "have" described above mean that the corresponding component may be inherent, unless otherwise specified, excluding other components. Rather, it should be construed as being able to further include other components. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless otherwise defined. Terms commonly used, such as those defined in the dictionary, should be construed as being consistent with the contextual meaning of the related art, and should not be construed in an ideal or excessively formal sense unless explicitly defined in the present invention.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: drone route setting device 10: communication unit
20: memory 30: processor

Claims (9)

a communication unit for obtaining location information of the origin and destination of the drone from the user terminal;
a memory for storing river network data within the drone flight area; and
and a processor configured to set a movement path between the departure point and the destination based on the river network data so that the drone moves at least a partial section along a river.
The method of claim 1,
The memory stores a numerical surface model for the drone flight area,
The processor, based on the flow direction of the flowing water for each grid cell constituting the numerical surface model, determines an entry position at which the drone enters a river or an exit position at which the drone departs from the river. setting device.
The method of claim 1,
The river network data includes data about the depth and width of the river,
The processor, drone route setting apparatus, characterized in that for setting the movement path to move along a river having a depth or width greater than or equal to a predetermined reference.
The method of claim 1,
The memory stores information about the population density or official land price of the drone flight area,
The processor, by applying the population density or the official land price as a constraint condition, a drone route setting device, characterized in that set to exclude a predetermined population density or an area exceeding a standard for the official land price from the movement route.
The method of claim 1,
The memory stores information about the current rainfall intensity or predicted rainfall intensity of the drone flight area,
The processor is configured to set an area where the current rainfall intensity or the predicted rainfall intensity exceeds a predetermined criterion at the time of movement of the drone to be excluded from the movement route.
The method of claim 1,
The memory stores information about the wind speed of the drone flight area,
The processor is configured to set an area where the wind speed exceeds a predetermined criterion at the time of movement of the drone to be excluded from the movement route.
The method of claim 1,
The processor sets a plurality of nodes in the drone flight area, calculates a cost according to a predetermined cost calculation criterion according to a physical distance, wind speed, and altitude for each link connecting the nodes, Drone route setting device, characterized in that the movement path is set by connecting the nodes so that the total cost is minimized.
8. The method of claim 7,
The processor is a drone route setting apparatus, characterized in that for the same physical distance to give a higher cost to the link corresponding to the non-river section than the river section.
In the drone route setting method in which each step is performed by a drone route setting device that sets a movement route of the drone,
Storing river network data in the drone flight area;
obtaining location information of the origin and destination of the drone from the user terminal;
setting a movement path between the departure point and the destination based on the river network data so that the drone moves at least a partial section along a river; and
Drone route setting method comprising the step of providing the set movement route to the user terminal.

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