KR20220165959A - Method and system for setting flight path of survey flight object - Google Patents

Abstract

Provided are a flight path setting method and system of surveying aircraft, which control the survey flight of an aircraft by automatically setting an optimal flight path, in surveying activities using the aircraft such as drones. The flight path setting method of a surveying aircraft may set a flight area from a survey area set in an aerial photograph containing the survey area, and set a flight path for surveying flight by extracting a plurality of waypoints that the surveying aircraft must pass through in the set flight area.

Description

Method and system for setting flight path of survey flight object}

The present invention is a method for setting a flight path of a surveying vehicle, in particular, a method for setting a flight path of a surveying vehicle that can control the surveying flight of an air vehicle by automatically setting an optimal flight path in surveying activities using an air vehicle such as a drone, and the same. It is about a flight path setting system for

Cadastral survey is a survey to identify the limits (location, size, shape, boundary, etc.) of the real right to land by registering the land by parcel unit, and contains only the 2-dimensional (x, y) location.

Here, surveying is a term that refers to various activities of determining the mutual positions of points by measuring horizontal distances, height differences, and directions, displaying them in drawings or figures, and stakeout in the field. The results of surveying are various civil engineering design or construction It is the basis for design and construction.

Ordinary surveying is carried out by a person. For example, it is divided into two people, one person surveys with a surveying instrument, and the other person carries a rod-shaped pole and is located at the place to be surveyed, that is, at the surveying point, and measures the width vertically. It was built up so that the surveyor could measure the distance or height difference.

Recently, drones, etc., which are small unmanned aerial vehicles, have been developed, and various studies are being conducted on how to utilize them. The application fields are endless, ranging from military reconnaissance drones to unmanned camera and unmanned delivery service. In particular, with the development of technology, the weight of the unmanned aerial vehicle itself has become lighter, the operation time has increased, and various sensors have been installed. Through this, the role of the unmanned aerial vehicle is becoming more diversified.

Accordingly, an aerial survey method for an unmanned aerial vehicle that performs cadastral surveying based on an image taken of an area to be surveyed by adding a surveying means such as a camera to an unmanned aerial vehicle such as a drone, instead of performing cadastral survey through an existing person, has been developed. It is becoming.

Such an aerial survey method of an unmanned aerial vehicle requires setting of a flight area for surveying flight of the air vehicle and setting of coordinates through which the air vehicle must pass within the flight area. That is, the unmanned aerial vehicle performs aerial surveying while flying over the surveying area based on the set flight area and transit coordinates.

However, in the conventional aerial surveying method, the setting of the flight area and transit coordinates is manually performed by a person. Accordingly, when the setting of transit coordinates is not made accurately due to negligence or the like, the stability of the surveying flight of the unmanned aerial vehicle is greatly deteriorated, and as a result, the accuracy and efficiency of aerial surveying are degraded.

The present invention is to provide a method for setting a flight path of a surveying vehicle that can control the surveying flight of an air vehicle by automatically setting an optimal flight path in surveying activities using a vehicle such as a drone, and a flight path setting system for the same. there is.

A method for setting a flight path of a survey vehicle according to an embodiment of the present invention includes the steps of setting a survey area in an aerial photograph; extracting a plurality of reference coordinates from among a plurality of coordinates constituting the periphery of the measurement area; Setting a flight area of the survey vehicle from the plurality of reference coordinates; extracting a plurality of waypoints facing each other in the flight area; and setting a flight path for the survey flight of the survey vehicle based on the plurality of waypoints.

A flight path setting system of a surveying aircraft according to an embodiment of the present invention includes a measurement area setting unit for setting a measurement area in an aerial photograph; a coordinate extraction unit for extracting a plurality of reference coordinates from among a plurality of coordinates constituting the periphery of the measurement area; a flight area setting unit for setting a flight area of the survey vehicle from the plurality of reference coordinates; a waypoint extraction unit for extracting a plurality of waypoints facing each other in the flight area; And a route setting unit for setting a flight path for the survey flight of the survey vehicle based on the plurality of waypoints.

The method for setting the flight path of the surveying aircraft according to the present invention sets the flight area from the surveying area set in the aerial photograph that includes the surveying area, and extracts a number of waypoints to be passed by the surveying aircraft in the set flight area. You can set the flight path for flight.

Therefore, the present invention can automatically set the flight path in the aerial photograph of the survey area, thereby preventing malfunction during the survey flight of the survey vehicle to increase stability, and improve the accuracy and efficiency of aerial survey.

1 is a diagram showing a flight path setting system of a surveying vehicle according to an embodiment of the present invention.
2 is a diagram showing a method for setting a flight path of a survey vehicle according to an embodiment of the present invention.
3a to 3f are diagrams showing an embodiment of the flight path setting method of the present invention.

Terms used in this specification and claims are general terms in consideration of functions in various embodiments of the present invention. However, these terms may vary depending on the intention of a technician working in the field, legal or technical interpretation, and the emergence of new technologies. Also, some terms may be terms arbitrarily selected by the applicant. These terms may be interpreted as the meanings defined in this specification, and if there is no specific term definition, they may be interpreted based on the overall content of this specification and common technical knowledge in the art.

In addition, the same reference numerals or numerals in each drawing attached to this specification indicate parts or components that perform substantially the same function. For convenience of explanation and understanding, the same reference numerals or symbols will be used in different embodiments. That is, even if all components having the same reference numerals are shown in a plurality of drawings, the plurality of drawings do not mean one embodiment.

Also, in the present specification and claims, terms including ordinal numbers such as 'first' and 'second' may be used to distinguish between elements. These ordinal numbers are used to distinguish the same or similar components from each other, and the meaning of the term should not be limitedly interpreted due to the use of these ordinal numbers. For example, elements combined with such ordinal numbers should not be construed as limiting the use order or arrangement order by the number. If necessary, each ordinal number may be used interchangeably.

In this specification, singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as 'comprise' or 'comprise' are intended to designate that there is a characteristic, number, step, operation, component, part, or combination thereof described in the specification, but one or more other It should be understood that it does not preclude the possibility of the presence or addition of features, numbers, steps, operations, components, parts, or combinations thereof.

Also, in an embodiment of the present invention, when a part is said to be connected to another part, this includes not only a direct connection but also an indirect connection through another medium. In addition, the meaning that a certain part includes a certain component means that it may further include other components rather than excluding other components unless otherwise specified.

1 is a diagram showing a flight path setting system of a surveying vehicle according to an embodiment of the present invention.

Referring to the drawings, the flight route setting system of this embodiment can control the survey vehicle 200 by setting a flight path for survey activities of the survey vehicle 200, such as a drone capable of surveying a specific area in the air. A flight path setting device 100 may be included.

The flight path setting device 100 sets the flight area of the survey vehicle 200 from the aerial photograph showing the area to be surveyed, and sets the optimal flight path for surveying activities of the survey vehicle 200 based on the set flight area. can be set. And, by transmitting the set flight path to the surveying vehicle 200 using a wireless communication method or the like, it is possible to control the flight of the surveying vehicle 200.

The flight route setting device 100 includes a survey area setting unit 110, a coordinate extraction unit 120, a flight area setting unit 130, a waypoint extraction unit 140, a route setting unit 150, and flight information storage. may include section 160 .

The measurement area setting unit 110 may set a measurement area from an aerial photograph including an area to be surveyed. The survey area can be set by extracting the outer boundary of the area to be surveyed.

The coordinate extraction unit 120 may extract a plurality of reference coordinates for setting the flight area in the set measurement area. A plurality of reference coordinates may be extracted from the coordinates of a specific position among a plurality of coordinates constituting the boundary of the measurement area.

For example, the coordinate extraction unit 120 may extract, as a reference point, one coordinate closest to the reference point, that is, the take-off coordinates corresponding to the take-off position of the survey vehicle 200, among a plurality of coordinates of the survey area. In addition, coordinates at a specific position among a plurality of coordinates of the measurement area centered on the reference point may be extracted as a plurality of reference coordinates together with the reference point.

Each of these plurality of reference coordinates may be spaced apart at set intervals along the boundary of the measurement area. At this time, the setting interval of each reference coordinate may have a value of 1 m to 1 km.

The flight area setting unit 130 may set a flight area for the measurement flight of the surveying vehicle 200 based on a plurality of reference coordinates. The flight area may include a preset measurement area.

The flight area setting unit 130 may set a flight area having a polygonal shape such as a square from a plurality of reference coordinates based on the reference azimuth or extended azimuth.

Here, the reference azimuth may be an azimuth indicating four azimuths of east/west/south/north of the survey area, and the extended azimuth may be an azimuth extended to indicate 16 or 32 azimuths from the reference azimuth.

The flight area setting unit 130 may extract at least four reference coordinates corresponding to the outermost part of the survey area as area coordinates from among a plurality of reference coordinates based on the above-described reference azimuth or extended azimuth.

The flight area setting unit 130 may virtually form vertical or horizontal extension lines at each of the four area coordinates, and set a figure having a point where each extension line meets as a vertex, for example, a rectangle, as the flight area. This flight area may include a measurement area therein.

The waypoint extraction unit 140 may extract a plurality of waypoints, that is, waypoints through which the surveying aircraft 200 should pass through in the flight area. A plurality of waypoints may be extracted from among a plurality of coordinates constituting two opposite corners of the flight area. Each of the plurality of waypoints may be spaced apart at predetermined intervals.

For example, when the flight area is set in the form of a rectangle, a plurality of waypoints may be extracted from each of the first and second edges facing each other of the flight area. A plurality of waypoints extracted from the first edge may be spaced apart from each other at predetermined intervals. A plurality of waypoints extracted from the second edge may also be spaced apart from each other at predetermined intervals. In addition, each of the plurality of waypoints of the first edge may be arranged on the same line to correspond to each of the plurality of waypoints of the second edge.

The route setting unit 150 may set a flight route for the survey flight of the survey vehicle 200 based on a plurality of waypoints extracted from the flight area. The route setting unit 150 may set a flight route so that the survey vehicle 200 repeatedly flies between a plurality of waypoints in a zigzag form within a flight area. This flight path is transmitted to the survey vehicle 200 can control the survey flight of the survey vehicle 200.

On the other hand, the route setting unit 150 may set a plurality of flight routes according to the type of the survey vehicle (200).

For example, in the case where the surveying vehicle 200 is an air vehicle such as a rotary wing drone that can vertically reach a set altitude from the take-off coordinates, that is, an altitude at which a surveying flight can be performed, the route setting unit 150 is a surveying vehicle ( 200), it is possible to set the flight path of the survey vehicle 200 from the waypoint of the flight area closest to the take-off coordinates.

In addition, in the case where the survey vehicle 200 is an air vehicle such as a fixed-wing drone requiring a predetermined distance from the take-off coordinates to the set altitude, the route setting unit 150 is spaced apart by a predetermined distance from the take-off coordinates of the survey vehicle 200 It is possible to set the flight path of the survey vehicle 200 from the waypoint of the closest flight area in Reuters coordinates. Here, the Reuters coordinates may refer to a position where the survey vehicle 200 takes off from the take-off coordinates and enters the set altitude.

The flight information storage unit 160 includes various information for setting the flight path of the surveying vehicle 200, for example, specification information such as the type of the surveying vehicle 200 or location information such as take-off coordinates or Reuters coordinates of the surveying vehicle 200 can be stored. In addition, the flight information storage unit 160 may store weather information of the surveying area collected during aerial surveying of the aerial photograph or surveying aircraft 200 for the area to be surveyed by the surveying aircraft 200 .

The surveying vehicle 200 may perform aerial surveying of the surveying area while flying over the surveying area according to the flight path transmitted from the flight path setting device 100 . The surveying vehicle 200 is equipped with a plurality of cameras (not shown) through which it is possible to perform aerial surveying by taking a plurality of images of the surveying area during the surveying flight. In addition, the surveying vehicle 200 is provided with a plurality of sensors (not shown) can collect weather information of the surveying area during the surveying flight.

Surveying images or collected weather information taken from the surveying vehicle 200 may be transmitted to the user terminal 300 or the surveying server 400 through a wireless communication method.

The user terminal 300 may control the survey flight of the survey vehicle 200 based on the flight path of the survey vehicle 200 provided by the flight path setting device 100 . In addition, the user terminal 300 may receive surveying images or weather information from the surveying vehicle 200 and display them to the user through a display unit (not shown).

As described above, the flight path setting system according to the present embodiment sets a flight area from a measurement area set in an aerial photograph that includes a measurement area, and sets a number of points that the survey vehicle 200 should pass through in the set flight area. It is possible to set a flight path for the survey flight of the survey vehicle 200 by extracting waypoints.

Accordingly, the flight path setting system of the present invention can automatically set the flight path from the aerial photograph of the surveying area, thereby preventing malfunction during the surveying flight of the surveying vehicle 200, thereby increasing stability, and improving the accuracy and efficiency of aerial surveying. can be raised

2 is a view showing a method for setting a flight path of a surveying vehicle according to an embodiment of the present invention, and FIGS. 3A to 3F are views showing an embodiment of a method for setting a flight path of the present invention.

Referring to the drawing, the measurement area setting unit 110 of the flight path setting device 100 may set the measurement area SA in the aerial photograph AP showing the area to be surveyed (S10).

The measurement area setting unit 110 may receive an aerial photograph (AP) stored in the flight information storage unit 160 or an aerial photograph (AP) from an external server (not shown). As shown in FIG. 3A , the survey area setting unit 110 may extract and set the survey area SA along the outer boundary of the survey area from the aerial photograph AP.

Next, the coordinate extraction unit 120 extracts a plurality of coordinates constituting the periphery of the survey area SA (S20), and among them, a plurality of coordinates at a specific location may be extracted as reference coordinates P1 ( S30).

As shown in FIG. 3B , the coordinate extraction unit 120 may set one coordinate among a plurality of coordinates constituting the periphery of the measurement area SA as a reference point, for example, a first reference coordinate Pa.

Here, the first reference coordinates (Pa) may be set to one coordinate located closest to the take-off coordinates (SP) of the surveying vehicle 200 among a plurality of coordinates of the surveying area (SA).

The coordinate extraction unit 120 may extract a plurality of coordinates spaced apart from each other at predetermined intervals along the outer edge of the measurement area SA based on the first reference coordinate Pa as the second reference coordinate Pb. . In addition, the first reference coordinates Pa and the second reference coordinates Pb may be extracted as a plurality of reference coordinates P1 of the measurement area SA.

Here, each of the plurality of reference coordinates P1 may be spaced apart at a set interval, for example, an interval of 1m to 1km.

Next, the flight area setting unit 130 may set the flight area (FA) of the survey vehicle 200 from a plurality of reference coordinates (P1) (S40).

As shown in FIG. 3C, the flight area setting unit 130 may extract at least four area coordinates P2 from among a plurality of reference coordinates P1. The area coordinates P2 are coordinates forming the outermost part of the survey area SA among the plurality of reference coordinates P1, and may be extracted based on the reference azimuth or extended azimuth.

In addition, as shown in FIG. 3D, the flight area setting unit 130 may form a virtual extension line extending in a vertical or horizontal direction from each of the extracted four area coordinates P2. Then, it is possible to set a flight area (FA) in the form of a rectangle having a point where these extension lines meet each other as a vertex. This flight area FA may be set to include a preset measurement area SA.

Subsequently, the waypoint extraction unit 140 may extract a plurality of waypoints to be passed through during the surveying flight of the surveying aircraft 200 in the flight area (FA) (S50).

As shown in FIG. 3E, the waypoint extraction unit 140 has a plurality of waypoints, for example, a plurality of first waypoints, at each of two opposite edges, that is, a first edge and a second edge, in the flight area FA. Coordinates P3a and a plurality of second waypoint coordinates P3b may be extracted.

Each of the plurality of first via coordinates P3a may be spaced apart from each other at a predetermined interval along the first edge. Each of the plurality of second via coordinates P3b may be spaced apart from each other at a predetermined interval along the second edge.

Here, the separation interval between the first via coordinates P3a and the separation interval between the second via coordinates P3b may be the same. Accordingly, each of the plurality of first via coordinates P3a and each of the plurality of second via coordinates P3b may be disposed to face each other on the same line.

On the other hand, the waypoint extraction unit 140 is based on the specification information of the surveying aircraft 200 stored in the flight information storage unit 160, each interval of a plurality of first waypoint coordinates (P3a) or a plurality of second waypoint coordinates ( P3b) Each interval can be set differently.

For example, when the specification information of the surveying aircraft 200 is an air vehicle such as a rotary wing drone, the waypoint extraction unit 140 is a plurality of first waypoint coordinates (P3a), each interval or a plurality of second waypoint coordinates (P3b) Each interval may be set as a first distance. In addition, when the specification information of the survey vehicle 200 is an air vehicle such as a fixed-wing drone, the waypoint extraction unit 140 is a plurality of first waypoint coordinates (P3a), each interval or a plurality of second waypoint coordinates (P3b) Each interval may be set as a second distance. Here, the second distance may have a greater value than the first distance.

Next, the route setting unit 150 may set the flight route of the survey vehicle 200 based on the plurality of waypoints extracted from the flight area FA. And, it is possible to control the surveying flight of the surveying vehicle 200 by transmitting the set flight path to the surveying vehicle 200 (S60).

The route setting unit 150 may set a plurality of flight routes based on the type of the survey vehicle 200, that is, the specification information of the survey vehicle 200 stored in the flight information storage unit 160.

For example, as shown in FIG. 3E, when the survey vehicle 200 is an air vehicle such as a rotary wing drone, the route setting unit 150 is the most suitable for the take-off coordinates (SP) of the survey vehicle 200 among a plurality of waypoints. It is possible to set a first flight path FP1 having one close waypoint, for example, one first waypoint coordinates P3a as a starting point.

The first flight path FP1 is a second transit coordinate P3b opposite to the first transit coordinate P3a adjacent to the take-off coordinates SP, and adjacent to the one second transit coordinate P3b. It may be composed of a path connecting another second via coordinate P3b and a first via coordinate P3a opposite to the other second via coordinate P3b.

Thus, the surveying aircraft 200 may perform aerial surveying for the surveying area SA by performing a surveying flight in a zigzag form within the flight area FA based on the first flight path FP1.

In addition, as shown in FIG. 3F, when the specification information of the survey vehicle 200 is an air vehicle such as a fixed-wing drone, the route setting unit 150 includes the take-off coordinates (SP) of the survey vehicle 200 among a plurality of waypoints. It is possible to set a second flight path FP2 having one waypoint closest to the Reuters coordinates LP spaced apart from ) as a starting point, for example, one second waypoint coordinates P3b. Reuters coordinates (LP) may mean the coordinates at which the surveying aircraft 200 takes off from the take-off coordinates (SP) and enters the set altitude.

The second flight path FP2 includes one first waypoint coordinate P3a opposite to Reuters coordinates LP from takeoff coordinates SP and second waypoint coordinates P3b adjacent to the Reuters coordinates LP; A path connecting another first via coordinate P3a adjacent to the one first via coordinate P3a and a second via coordinate P3b opposite to the other first via coordinate P3a. can be configured.

Thus, the surveying aircraft 200 may perform aerial surveying of the surveying area SA by performing a surveying flight in a zigzag form within the flight area FA based on the second flight path FP2.

Then, the survey vehicle 200 performs the aerial survey for the survey area (SA) according to the set first flight path (FP1) or the second flight path (FP2), and the survey server 400 or the user terminal (300).

As described above, in the method of setting the route of the surveying aircraft according to this embodiment, the flight area is set from the surveying area set in the aerial photograph including the surveying area, and the surveying vehicle 200 must pass through the set flight area. It is possible to set a flight path for the survey flight of the survey vehicle 200 by extracting a plurality of waypoints.

Accordingly, the present invention can automatically set a flight path in the aerial photograph of the survey area, thereby preventing malfunction of the survey vehicle 200 during the survey flight, thereby increasing stability, and increasing the accuracy and efficiency of air survey.

In the above, one embodiment of the present invention has been described, but those skilled in the art can add, change, delete, or add components within the scope not departing from the spirit of the present invention described in the claims. The present invention can be variously modified and changed by the like, and this will also be said to be included within the scope of the present invention.

In addition, the above-mentioned terms are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

100: flight path setting device 110: survey area setting unit
120: coordinate extraction unit 130: flight area setting unit
140: waypoint extraction unit 150: route setting unit
160: flight information storage unit 200: surveying aircraft
300: user terminal 400: survey server

Claims (10)

Setting a measurement area in an aerial photograph;
extracting a plurality of reference coordinates from among a plurality of coordinates constituting the periphery of the measurement area;
Setting a flight area of the survey vehicle from the plurality of reference coordinates;
extracting a plurality of waypoints facing each other in the flight area; and
A flight path setting method of a surveying vehicle comprising the step of setting a flight path for the surveying flight of the surveying vehicle based on the plurality of waypoints. According to claim 1,
The step of extracting the plurality of reference coordinates,
extracting one of the first coordinates closest to the take-off coordinates of the survey vehicle from among the plurality of coordinates;
extracting a plurality of second coordinates from among the plurality of coordinates based on the first coordinate; and
Extracting the plurality of reference coordinates including the first coordinate and the second coordinate,
Each of the plurality of reference coordinates is a method of setting a flight path of a surveying vehicle, characterized in that arranged spaced apart at a set interval. According to claim 1,
The step of setting the flight area,
extracting, among the plurality of reference coordinates, four coordinates located at the outermost part of the survey area as area coordinates; and
Forming a virtual extension line at each of the area coordinates, and setting the flight area using a point where the extension line meets as a vertex. According to claim 1,
The step of extracting the plurality of waypoints,
Extracting the plurality of waypoints from each of the first and second edges facing each other in the flight area;
Each of the waypoints of the first edge and the waypoints of the second edge are arranged to face each other on the same line. According to claim 4,
Each of the plurality of waypoints at each corner is spaced apart at regular intervals,
The step of extracting the plurality of waypoints,
The flight path setting method of the survey vehicle, characterized in that it further comprises the step of setting the interval differently based on the specification information of the survey vehicle. According to claim 1,
The step of setting the flight path,
Set a path connecting the plurality of waypoints in a zigzag manner with the waypoint closest to one of the take-off coordinates and Reuters coordinates of the surveying vehicle among the plurality of waypoints based on the specification information of the surveying vehicle as a starting point Flight path setting method of the survey vehicle, characterized in that the step of doing. According to claim 6,
If the specification information of the survey vehicle is a rotorcraft,
The step of setting the flight path,
The step of setting a flight path connecting the plurality of waypoints in a zigzag manner with one waypoint closest to the take-off coordinates of the surveying vehicle as a starting point among the plurality of waypoints. How to set. According to claim 6,
If the specification information of the surveying aircraft is a fixed-wing aircraft,
The step of setting the flight path,
It is characterized in that the step of setting a flight path connecting the plurality of waypoints in zigzag with one waypoint closest to the loiter coordinates of the surveying vehicle as a starting point among the plurality of waypoints. Flight path of the surveying vehicle, characterized in that How to set. According to claim 1,
The flight path setting method of the surveying vehicle, characterized in that it further comprises the step of transmitting the set flight path to the surveying vehicle to control the surveying flight for the surveying area of the surveying vehicle. As a flight path setting system for the flight path setting method of any one of claims 1 to 9,
The flight path setting system,
A measurement area setting unit for setting a measurement area in an aerial photograph;
a coordinate extraction unit for extracting a plurality of reference coordinates from among a plurality of coordinates constituting the periphery of the measurement area;
a flight area setting unit for setting a flight area of the survey vehicle from the plurality of reference coordinates;
a waypoint extraction unit for extracting a plurality of waypoints facing each other in the flight area; and
A flight route setting system comprising a route setting unit for setting a flight route for the surveying flight of the surveying vehicle based on the plurality of waypoints.

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