WO2018043820A1 - Système de guidage d'itinéraire, utilisant des informations météorologiques, d'un véhicule aérien sans pilote, procédé associé, et support d'enregistrement enregistré avec un programme informatique - Google Patents

Système de guidage d'itinéraire, utilisant des informations météorologiques, d'un véhicule aérien sans pilote, procédé associé, et support d'enregistrement enregistré avec un programme informatique Download PDF

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Publication number
WO2018043820A1
WO2018043820A1 PCT/KR2016/013299 KR2016013299W WO2018043820A1 WO 2018043820 A1 WO2018043820 A1 WO 2018043820A1 KR 2016013299 W KR2016013299 W KR 2016013299W WO 2018043820 A1 WO2018043820 A1 WO 2018043820A1
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WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
route
destination
path
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PCT/KR2016/013299
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English (en)
Korean (ko)
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장석웅
Original Assignee
에스케이테크엑스 주식회사
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Publication of WO2018043820A1 publication Critical patent/WO2018043820A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

Definitions

  • the present invention relates to a path guide system for an unmanned aerial vehicle using meteorological information, a method, and a recording medium on which a computer program is recorded. Particularly, a plurality of dense meteorological observations are performed in real time based on a base station existing between an origin and a destination of an unmanned aerial vehicle.
  • the weather information of the station is used to determine whether to operate the unmanned aerial vehicle, and when the operation of the unmanned aerial vehicle is determined, it provides an optimum shortest time path or optimal fuel consumption path for a plurality of operational routes.
  • Revisit flight routes or reroute routes Relates to an unmanned air vehicle is of a color using the weather information for route guidance system, the method and computer program recording medium.
  • Small unmanned aerial vehicles are used in various fields such as traffic control, video shooting, reconnaissance missions and fire surveillance. Advances in processors, sensors, and communication technologies have improved performance and functionality, while miniaturizing and lowering costs, and have expanded their reach in many areas and will accelerate further.
  • These small unmanned aerial vehicles determine the possibility of operation by using wide-area weather information for the flight area when calculating the shortest flight path considering the obstacle between the starting point and the destination for the flight. There is a risk of loss or fall if the battery or fuel consumption is increased during operation, the control of unmanned aerial vehicles becomes difficult or severe.
  • An object of the present invention is to determine whether to operate the unmanned aerial vehicle using the weather information of a plurality of dense weather station that is observed in real time based on the base station existing between the origin and destination of the unmanned aerial vehicle, the operation for the unmanned aerial vehicle is determined.
  • the operation for the unmanned aerial vehicle is determined.
  • Another object of the present invention is a real time observation value on the scheduled flight route during the flight exceeds a predetermined reference value for a predetermined time, a new strong wind, precipitation or lightning is observed on the scheduled flight route, continuous operation through a sensor mounted on an unmanned aerial vehicle, etc. If it is determined that this is difficult, the present invention provides a recording medium on which a route guidance system, a method and a computer program of an unmanned aerial vehicle using weather information for re-searching a navigation route or searching for a return route.
  • a method for guiding an unmanned aerial vehicle using weather information includes generating, by a GPS receiver, location information of an unmanned aerial vehicle moving along a navigation route searched from a starting point to a destination; Measuring, by a sensor unit, an observation value of an area where the unmanned aerial vehicle is located; Confirming, by a control unit, whether an emergency event occurs based on the generated position information of the unmanned aerial vehicle and the measured observation value; By the controller, when the emergency event occurs, a plurality of additional weather information for each station additionally provided from a server, location information of the generated unmanned aerial vehicle, the measured observation value, and the destination information, when the emergency event occurs Rediscovering the navigation route; And moving, by the controller, the unmanned aerial vehicle along the re-discovered flight path through at least one of attitude control and position control of the unmanned aerial vehicle.
  • the navigation route searched from the departure point to the destination includes a plurality of weather information measured by a plurality of observation stations located within a radius set based on the shortest route from the departure point to the destination provided by the communication unit.
  • Receiving a process Determining, by the controller, whether the flight is from the departure point to the destination based on the received plurality of weather information; And searching, by the controller, a flight route from a departure point to a destination based on the at least one safe route capable of navigation when there is one or more safe routes that can be operated from the departure point to the destination. Can be generated.
  • the determining of the operation may include determining, by the controller, an avoiding route from a plurality of routes from a departure point to a destination based on a plurality of weather information on a plurality of routes from the departure point to the destination. Removing process; Determining, by the controller, the one or more remaining paths as a safe path when a remaining path exists after removing an avoiding path among the plurality of paths; Determining, by the controller, a state in which an unmanned flight is possible when there is at least one safe route that can be operated from the origin to the destination; And determining, by the controller, that the unmanned aerial vehicle cannot be operated when at least one safe route capable of operating from the starting point to the destination does not exist.
  • the avoidance path corresponds to a path in which wind speeds included in weather information for each station exceeds a preset wind speed threshold value among a plurality of paths from a starting point to a destination, and corresponds to weather information in which current rainfall is observed.
  • the forecast information is included in the forecast information based on a route, a route corresponding to weather information on which a current lightning strike is observed, and a corresponding route at the time when the unmanned aerial vehicle reaches the plurality of routes according to a driving speed of the unmanned aerial vehicle.
  • the searching of the flight route from the departure point to the destination may include: calculating, by the controller, a total valid time for each route for the at least one safe route that can be operated; And selecting, by the controller, a route from the starting point corresponding to the shortest time to the destination among the calculated total valid time for each route as the final operating route.
  • the searching of the flight route from the departure point to the destination may include: calculating, by the controller, fuel consumption for each route for one or more safe routes that can be operated; And selecting, by the controller, a route from the starting point to the destination that consumes the least fuel among the calculated fuel consumption for each route as the final operating route.
  • the observation value may include humidity, temperature, wind direction, wind speed, rainfall, whether there is a lightning strike, and the remaining amount or state of a fuel storage unit or a battery provided in the unmanned aerial vehicle. It may include at least one.
  • the emergency event may include: when the wind speed included in the observation value exceeds a preset wind speed threshold value, when a rainfall occurs, when a lightning occurs, and when the measured fuel storage unit or the battery
  • the remaining amount or state may include at least one of a case where it is impossible to operate from the current position of the unmanned aerial vehicle to the destination.
  • Re-searching the flight route as an example related to the present invention when the emergency event occurs, as a result of the check, by the controller, a plurality of additional weather information for each station, location information of the unmanned aerial vehicle generated Reconfirming at least one safe route capable of navigation from the current position of the unmanned aerial vehicle to a destination based on the measured observation value and the destination information; And re-navigating, by the controller, a navigation route from the current location of the unmanned aerial vehicle to the destination based on one or more safe routes capable of navigation from the current location of the unmanned aerial vehicle to the destination.
  • the arrival of the destination is based on the current position of the unmanned aerial vehicle based on the measured observation value.
  • a computer program for performing the method according to the above-described embodiments may be stored in a recording medium on which a computer program according to an embodiment of the present invention is recorded.
  • a route guidance system for an unmanned aerial vehicle using weather information includes: a GPS receiver for generating position information of an unmanned aerial vehicle moving along a navigation route searched from a departure point to a destination; A sensor unit measuring an observation value of an area where the unmanned aerial vehicle is located; And confirming whether an emergency event occurs based on the location information of the generated unmanned aerial vehicle and the measured observation value, and when the emergency event occurs, a plurality of additional weather information for each station further provided by a server when the emergency event occurs.
  • Re-navigating the navigation route based on the generated position information of the unmanned aerial vehicle, the measured observation value and the destination information, and through the at least one of the attitude control and the position control of the unmanned aerial vehicle, the re-discovered navigation route It may include a control unit for moving the unmanned aerial vehicle along.
  • the control unit when the emergency event occurs, by the control unit, a plurality of additional weather information for each station, the location information of the unmanned aerial vehicle, the measured observation value And reconfirm one or more safe routes capable of navigating from the current position of the unmanned aerial vehicle to a destination based on destination information, and based on one or more safe routes navigable from the current position of the unmanned aerial vehicle to the destination. You can rediscover the route from your current location to your destination.
  • the station of any one or more safe routes operable from the current position of the unmanned aerial vehicle is identified with one of a station with a minimum real fuel consumption, a station with the shortest distance, and a station with a minimum transit route, and the identified station It is possible to move the unmanned vehicle along the updated return path by updating the return path to return to and through one or more of attitude control and position control of the unmanned aerial vehicle.
  • the present invention determines whether the unmanned aerial vehicle is operated by using weather information of a plurality of dense weather stations that are observed in real time based on a base station existing between the origin and destination of the unmanned aerial vehicle, and operates when the operation of the unmanned aerial vehicle is determined.
  • the real-time observation value on the scheduled flight route during the flight exceeds a predetermined reference value for a predetermined time, a new strong wind, precipitation or lightning is observed on the scheduled flight route, continuous operation through a sensor mounted on an unmanned aerial vehicle, etc. If it is determined that it is difficult, it is possible to minimize the loss of the unmanned aerial vehicle in the weather deterioration, accidental situation, emergency situation by re-exploring the navigation route or search for a return route.
  • FIG. 1 is a block diagram showing the configuration of a route guidance system for an unmanned aerial vehicle using weather information according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing the configuration of an unmanned aerial vehicle according to an embodiment of the present invention.
  • 3 and 4 are diagrams showing an example for the path search of the unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 5 is a flowchart illustrating a route guidance method for an unmanned aerial vehicle using weather information according to an exemplary embodiment of the present invention.
  • FIG. 6 is a view showing an example for the path search of the unmanned aerial vehicle according to an embodiment of the present invention.
  • first and second used in the present invention may be used to describe components, but the components should not be limited by the terms. The terms are used only to distinguish one component from another.
  • first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.
  • FIG. 1 is a block diagram showing the configuration of a route guidance system 10 of an unmanned aerial vehicle using weather information according to an embodiment of the present invention.
  • the path guidance system 10 of an unmanned aerial vehicle using weather information includes an observation station 100, a server 200, and an unmanned aerial vehicle 300. Not all components of the path guide system 10 of the unmanned aerial vehicle shown in FIG. 1 are essential components, and the path guide system 10 of the unmanned aerial vehicle is implemented by more components than those shown in FIG. The path guide system 10 of the unmanned aerial vehicle may be implemented with fewer components.
  • the unmanned aerial vehicle 300 determines whether to fly (or whether to fly) based on a plurality of weather information measured by a plurality of stations 100 located within a predetermined radius based on the shortest path from the starting point to the destination instead of the wide area weather information. do. In addition, when the operation is determined, the unmanned aerial vehicle 300 calculates the total effective time for each route and / or fuel consumption for each route, for the plurality of safety routes determined from the plurality of operation routes from the origin to the destination, and is calculated. The final route of travel is selected based on the total valid time per route and / or fuel consumption per route. Thereafter, the unmanned aerial vehicle 300 operates along the selected final navigation route.
  • the vehicle 300 While the unmanned aerial vehicle 300 moves along the final flight path, when an emergency event set in advance occurs based on a current position of the unmanned aerial vehicle 300, an observation value measured by the corresponding unmanned aerial vehicle 300, and the like, The vehicle 300 re-discovers a new navigation route based on the plurality of additional weather information newly provided from the server 300, the current position of the unmanned aerial vehicle 300, the observation value, and operates along the re-searched navigation route. do.
  • Observation station 100 may be a base station in which communication facilities are installed.
  • the station 100 includes various weather sensors (not shown) for measuring (or collecting) weather information.
  • the weather information includes information such as wind direction, wind speed, rainfall, lightning strike, and measurement time information.
  • the station 100 measures (or collects) weather information of the region where the station 100 is located.
  • the station 100 also transmits the measured (or collected) weather information to the server 200 and / or the unmanned aerial vehicle 300.
  • the weather information may further include location information (eg, including latitude, longitude, etc.) of the region where the corresponding observatory 100 is located.
  • the server 200 communicates with one or more observation stations 100, one or more unmanned aerial vehicles 300, and the like.
  • the server 200 receives a plurality of weather information transmitted from one or more stations 100, respectively. At this time, the server 200 receives the weather information transmitted from the corresponding station 100 at predetermined time intervals, or receives the weather information transmitted from the specific station 100 in response to a request for transmitting the weather information of the server 200. can do.
  • the server 200 receives unique identification information, origin information, destination information, etc. of the unmanned aerial vehicle 300 transmitted from the unmanned aerial vehicle 300.
  • the server 200 based on the received source information and destination information, a plurality of (or one or more) weather information corresponding to the corresponding source information and the destination information among the plurality of weather information for each station previously stored in the server 200.
  • a plurality of (or one or more) weather information corresponding to the corresponding source information and the destination information among the plurality of weather information for each station previously stored in the server 200.
  • the server 200 is located within a preset radius based on the shortest path from the corresponding departure point to the destination among the plurality of weather information for each station stored in the corresponding server 200 based on the received departure point information and the destination information.
  • the plurality of weather information collected from the observation station 100 is transmitted to the unmanned aerial vehicle 300.
  • the server 200 is an observation value measured during the operation of the unmanned aerial vehicle 300 transmitted from the unmanned aerial vehicle 300, position information of the unmanned aerial vehicle 300, the final navigation route (for example, origin, destination, intermediate (Including waypoints / intermediate routes).
  • the server 200 determines whether the navigation path of the unmanned aerial vehicle 300 is re-searched based on weather information updated in real time, a corresponding observation value, location information of the unmanned aerial vehicle 300, and a final navigation path.
  • the server 200 may determine whether the time when the real-time observation value exceeds the preset threshold value during the operation of the unmanned aerial vehicle 300 lasts for a predetermined time, whether the precipitation observation / expected path is included in the final flight path, and the like. Check.
  • the server 200 may update the real-time weather information, the corresponding observation value, the location information of the unmanned aerial vehicle 300, the final flight path, etc. Rediscover the final flight route as a basis.
  • the server 200 may update the real time weather information, the corresponding observation value, and the unmanned aerial vehicle ( The final navigation route is re-searched based on the location information of 300) and the final navigation route.
  • the server 200 may update weather information, corresponding observations, and the unmanned aerial vehicle 300 in real time. ) Rediscovers the final flight route based on location information and final flight route.
  • the server 200 transmits the re-discovered final flight route, weather information updated in real time, to the unmanned aerial vehicle 300.
  • the server 200 may operate the unmanned aerial vehicle 300 for each of the unmanned aerial vehicles 300 when the plurality of unmanned aerial vehicles 300 are in operation. ) Based on the current status (e.g. battery level, submerged state of unmanned aerial vehicle 300 by water measurement, difficult posture control, weather conditions of the local area) and unmanned landing area It is also possible to control such that the landing path path is updated in consideration of the accommodation margin situation information of the aircraft 300, the distance to the landing of each unmanned aerial vehicle 300, and the like.
  • the current status e.g. battery level, submerged state of unmanned aerial vehicle 300 by water measurement, difficult posture control, weather conditions of the local area
  • unmanned landing area It is also possible to control such that the landing path path is updated in consideration of the accommodation margin situation information of the aircraft 300, the distance to the landing of each unmanned aerial vehicle 300, and the like.
  • the unmanned aerial vehicle (or drone) 300 includes a communication unit 310, a GPS receiver 320, a sensor unit 330, a storage unit 340, a display unit 350, and a control unit 360. It consists of. Not all components of the unmanned aerial vehicle 300 shown in FIG. 2 are essential components, and the unmanned aerial vehicle 300 may be implemented by more components than those shown in FIG. 2, and fewer components thereof. The unmanned aerial vehicle 300 may also be implemented.
  • the communication unit 310 communicates with any component inside or any at least one terminal outside through a wired / wireless communication network.
  • any external terminal may include the observatory 100, the server 200, and the like.
  • the wireless Internet technologies include a wireless LAN (WLAN), a digital living network alliance (DLNA), a wireless broadband (Wibro), a WiMAX (World Interoperability for Microwave Access: Wimax), and an HSDPA (High Speed Downlink Packet Access). ), HSUPA (High Speed Uplink Packet Access), IEEE 802.16, Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), Wireless Mobile Broadband Service (WMBS), etc.
  • WLAN wireless LAN
  • DLNA digital living network alliance
  • Wibro wireless broadband
  • WiMAX Worldwide Interoperability for Microwave Access: Wimax
  • HSDPA High Speed Downlink Packet Access
  • HSUPA High Speed Uplink Packet Access
  • the communication unit 310 transmits and receives data according to at least one wireless Internet technology in a range including the Internet technologies not listed above.
  • short-range communication technologies may include Bluetooth, RFID, infrared communication (IrDA), UWB, Zigbee, adjacent field communication (NFC), ultrasonic communication (USC), visible light communication (VLC), Wi-Fi, Wi-Fi Direct, etc. have.
  • the wired communication technology may include power line communication (PLC), USB communication, Ethernet, serial communication, serial communication, optical / coaxial cable, and the like.
  • the communicator 310 may mutually transmit information with an arbitrary terminal through a universal serial bus (USB).
  • USB universal serial bus
  • the communication unit 310 may include technical standards or communication schemes (eg, Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (CDMA2000), and EV-) for mobile communication.
  • GSM Global System for Mobile communication
  • CDMA Code Division Multi Access
  • CDMA2000 Code Division Multi Access 2000
  • EV- Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (DO), Wideband CDMA (WCDMA), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), LTE-A ( Long Term Evolution-Advanced, etc.) to transmit and receive radio signals to the base station, the observatory 100, the server 200 and the like on a mobile communication network.
  • GSM Global System for Mobile communication
  • CDMA Code Division Multi Access
  • CDMA2000 Code Division Multi Access 2000
  • EV- Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (DO)
  • WCDMA Wideband CDMA
  • the communication unit 310 controls a plurality of weather conditions measured by the plurality of observation stations 100 located within a preset radius based on the shortest path from the starting point to the destination provided from the server 200 under the control of the control unit 360.
  • Receive information includes information such as location information (eg, latitude, longitude, etc.), wind direction, wind speed, rainfall, lightning strike, and measurement time information of the region where the corresponding observatory 100 is located.
  • the communicator 310 may receive weather information transmitted for each individual observing station 100.
  • the communication unit 310 is controlled by the control unit 360, the real-time current position information (for example, latitude information at the current position, longitude information, etc.) of the unmanned aerial vehicle 300 generated through the GPS receiver 320 And the like, various observation values measured by the sensor unit 330, final flight information generated (or searched) by the controller 360, unique identification information of the unmanned aerial vehicle 300, and the like are transmitted to the server 200. do.
  • the real-time current position information for example, latitude information at the current position, longitude information, etc.
  • the GPS receiver 320 receives a GPS signal transmitted from a satellite and generates (or generates / confirms) position data of the unmanned aerial vehicle 300 in real time based on the longitude coordinates and latitude coordinates included in the received GPS signal. .
  • the generated position data is defined as the current position (or current position data) of the unmanned aerial vehicle 300.
  • the location information may be received through Wi-Fi or Wibro as well as the GPS receiver.
  • the signal received through the GPS receiver 320 is 802.11, Bluetooth, UWB, which is a standard of a wireless network for a wireless LAN including a wireless LAN and some infrared communication proposed by the Institute of Electrical and Electronics Engineers (IEEE).
  • 802.15 the standard for wireless personal area networks (PANs) including ZigBee, ZigBee, and wireless metro area networks (MAN), including broadband wireless access (FWA), and broadband wireless access :
  • Wireless communication methods such as 802.16, which is a standard for BWA, and 802.20, which is a standard for the mobile Internet, for wireless MAN (Mobile Broadband Wireless Access (MBWA)) including Wibro, WiMAX, etc. It can also be configured to provide the location information of the terminal to the unmanned aerial vehicle 300.
  • PANs personal area networks
  • MAN wireless metro area networks
  • FWA broadband wireless access
  • Wireless communication methods such as 802.16, which is a standard for BWA, and 802.20, which is a standard for the mobile Internet, for wireless MAN
  • the sensor unit 330 includes various weather sensors (not shown) for measuring humidity, temperature, rainfall, and lightning.
  • the sensor unit 330 measures (or collects) observation values, including humidity, temperature, wind direction, wind speed, rainfall occurrence, lightning strike, and the like, in the area (or region) where the unmanned aerial vehicle 300 is located. .
  • the sensor unit 330 measures the remaining amount (or state) of the fuel storage unit (or battery) (not shown) included in the unmanned aerial vehicle 300.
  • the storage unit 340 stores data and programs necessary for operating the path guidance system 10 of the unmanned aerial vehicle.
  • the storage unit 340 stores a plurality of applications (application programs or applications) driven in the path guidance system 10 of the unmanned aerial vehicle, data for the operation of the path guidance system 10 of the unmanned aerial vehicle, and instructions. Can be. At least some of these applications may be downloaded from an external service providing apparatus through wireless communication.
  • the application is stored in the storage unit 340, is installed in the path guide system 10 of the unmanned aerial vehicle, the control unit 360 performs the operation (or function) of the path guide system 10 of the unmanned aerial vehicle. Can be driven to.
  • the storage unit 340 may include a flash memory type, a hard disk type, a multimedia card micro type, and a card type memory (eg, SD or XD memory). Etc.), magnetic memory, magnetic disk, optical disk, random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EPM), PROM It may include at least one storage medium of (Programmable Read-Only Memory).
  • the route guidance system 10 of the unmanned aerial vehicle may operate a web storage that performs a storage function of the storage unit 340 on the Internet, or may operate in connection with the web storage.
  • the storage unit 340 stores a plurality of weather information for each station received through the communication unit 310 under the control of the control unit 360.
  • the storage unit 340 stores the position information of the unmanned aerial vehicle 300 generated through the GPS receiver 320 under the control of the controller 360.
  • the storage unit 340 may control the humidity, temperature, wind direction, wind speed, rainfall of an area (or region) in which the unmanned aerial vehicle 300 is measured by the sensor unit 330 under the control of the controller 360, Stores an observation value including whether a lightning strike occurs, a residual amount (or state) of a fuel storage unit (or battery) (not shown) included in the unmanned aerial vehicle 300, and the like.
  • the display unit 350 may display various contents such as various menu screens using a user interface and / or a graphic user interface stored in the storage unit 340 under the control of the controller 360.
  • the content displayed on the display unit 350 includes various text or image data (including various information data) and a menu screen including data such as icons, list menus, combo boxes, and the like.
  • the display unit 350 may be a touch screen.
  • the display unit 350 may include a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display (LCD).
  • the display device may include at least one of a flexible display, a 3D display, an e-ink display, and a light emitting diode (LED).
  • the display unit 350 may be configured as a stereoscopic display unit for displaying a stereoscopic image.
  • the stereoscopic display unit may be a three-dimensional display method such as a stereoscopic method (glasses method), an auto stereoscopic method (glasses-free method), a projection method (holographic method).
  • the display unit 350 may include an LED for indicating an operating state of the unmanned aerial vehicle 300.
  • the display unit 350 displays an operating state, an abnormal state state, and the like of the unmanned aerial vehicle 300 under the control of the controller 360 through the LED.
  • the display unit 350 controls the humidity, temperature, wind direction, wind speed, rainfall, or the like of the area (or region) where the unmanned aerial vehicle 300 is measured by the control unit 360 under the control of the controller 360. Displays an observation value including whether a lightning strike occurs, a residual amount (or state) of a fuel storage unit (or a battery) (not shown) included in the unmanned aerial vehicle 300, and the like.
  • the controller 360 executes an overall control function of the unmanned aerial vehicle 300.
  • the controller 360 executes an overall control function of the unmanned aerial vehicle 300 by using a program and data stored in the storage 340.
  • the controller 360 may include a RAM, a ROM, a CPU, a GPU, a bus, and the RAM, a ROM, a CPU, a GPU, and the like may be connected to each other through a bus.
  • the CPU may access the storage unit 340 to perform booting using the O / S stored in the storage unit 340, and various operations using various programs, contents, data, etc. stored in the storage unit 340. Can be performed.
  • the 360 does not simply determine whether the wind speed of the station A closest to the origin exceeds the preset wind speed threshold, but on the path 1 line. Operation is determined in consideration of weather information including wind speed, wind direction, and the like of various stations present in the possible path, including station B in the vicinity, station C on the route 2, and destination station D in the detour route.
  • controller 360 may consider whether or not the wind speed exceeds the preset wind speed threshold value, or if there is a path close to the wind speed threshold value, by selecting a path that avoids it.
  • controller 360 determines whether to operate from the corresponding starting point to the destination based on the plurality of weather information received through the communication unit 310.
  • the controller 360 removes the avoiding path from the plurality of paths from the starting point to the destination based on the plurality of weather information on the plurality of paths from the starting point to the destination.
  • the avoidance path includes a path in which wind speeds included in weather information for each station exceeds a preset wind speed threshold value among a plurality of paths from a source to a destination, a path corresponding to weather information (or a station) at which current rainfall is observed.
  • the controller 360 determines the at least one remaining path as a safe path.
  • controller 360 determines that the unmanned aerial vehicle 300 can be operated when there is at least one safe path that can be operated from the starting point to the destination.
  • controller 360 determines that the unmanned aerial vehicle 300 cannot be operated when at least one safe path capable of operating from the starting point to the destination does not exist.
  • the controller 360 when determining whether a safe route exists, includes a route exceeding a previous wind speed threshold value among a plurality of routes from the starting point to the destination, a path corresponding to weather information for which current rainfall is observed, and a current lightning strike. Combines the speed of the unmanned aerial vehicle 300 with the distance of each section path and the forecast information provided for each station, as well as the path corresponding to the observed weather information (or station), to determine whether a safe path exists. You may.
  • control unit 360 is a path in which the wind speed included in the weather information for each station above the wind speed threshold value exceeds a threshold value, a path corresponding to weather information for which current rainfall is observed, and a current lightning strike, among a plurality of paths from a departure point to a destination.
  • the weather information (or station) corresponding to the weather information (or station) based on the forecast information on the corresponding path (or point) at the time when the unmanned aerial vehicle 300 reaches a plurality of paths according to the driving speed of the unmanned aerial vehicle 300.
  • Rainfall prediction information included in the forecast information is based on a path in which the wind speed included in the forecast information exceeds a corresponding wind speed threshold, and the forecast information on the path when the unmanned aerial vehicle 300 reaches the plurality of paths. It is also possible to determine whether a safe path exists by removing an avoiding path including a path exceeding a preset rainfall threshold.
  • the unmanned aerial vehicle 300 it is necessary to determine whether the unmanned aerial vehicle 300 can be operated based on the overall local representative weather (or weather information) announced by the Korea Meteorological Agency.
  • n is a natural number (for example, A 1 , A 2 , ..., A N , B 1 , B 2 , ..., B N , ...
  • the route corresponding to the weather information (or the station) where the lightning strike is observed may be removed, and it may be determined whether or not a safe route exists, thereby determining whether the vehicle can be operated.
  • the controller 360 when making such a determination, when calculating the operating speed and the distance of the path of the unmanned aerial vehicle 300, and combining and using the forecast information (or point forecast information) produced for each station, the controller 360 is unmanned. It may be determined in more detail whether the vehicle 300 is safe driving.
  • the controller 360 when it is determined that the flight is possible, the controller 360 combines weather information for each station including the wind direction and wind speed of each station and the actual physical distance, and uses logic for determining an optimal path.
  • the controller 360 controls the fuel efficiency and the actual flight speed when the station on the shortest path 1 shown in FIG. 3 blows a wind of 4 m / sec in the wind and a wind of 3 m / sec in the forward path on the path 2.
  • the control unit 360 refers to a sub-route (Sub_route), which connects the station 100 existing on each path in a straight line.
  • the subroute length Length_Sub_route
  • the wind direction / wind vector for each station expressed in m / sec
  • another vector is defined as the flight speed (or flight speed) of the unmanned aerial vehicle 300 and the direction between the stations.
  • the effective speed is And the total valid time for each route is It can be expressed as
  • the effective shortest time path, the optimal fuel consumption path, and the like may be calculated by combining the actual traveling path along the path of the unmanned aerial vehicle 300 and the wind direction and / or wind speed on the path.
  • the station includes an observation station 100 exceeding the wind speed threshold value, which is a safe operation standard, and avoids a route such as when there is a rainfall observation, it may be excluded from the path selection target. have.
  • the controller 360 searcheses for a flight route from origin to destination based on one or more safe routes that can be operated.
  • the avoidance path is a path in which the wind speed included in the weather information for each station exceeds a preset wind speed threshold value among the plurality of paths from the starting point to the destination, the path corresponding to the weather information where the current rainfall is observed, and the current lightning strike.
  • the forecast based on the forecast information on the corresponding route (or point) at the time when the unmanned aerial vehicle 300 reaches a plurality of routes according to the route corresponding to the weather information (or the station) and the speed of the unmanned aerial vehicle 300.
  • Rainfall prediction information included in the forecasting information is preliminarily based on the forecasted information on the route at which the wind speed included in the information exceeds the corresponding wind speed threshold and the path when the unmanned aerial vehicle 300 reaches the plurality of routes. Paths exceeding the set rainfall threshold, and the like.
  • control unit 360 for a plurality of safety routes (or one or more safe routes that can be operated) determined from a plurality of navigation routes from the origin to the destination, the total valid time for each route and / or each route Calculate fuel consumption.
  • controller 360 converts the route from the starting point to the destination (or a combination of the plurality of shortest times from the starting point to the destination) corresponding to the shortest time out of the calculated total valid time for each route as the final operating route. Select (or select)
  • controller 360 may determine a route from a corresponding starting point to a destination (or a combination of a plurality of minimum fuel consumptions from the starting point to the destination) that consumes the least fuel among the calculated fuel consumption for each route. Select (or select)
  • controller 360 controls the operation of the unmanned aerial vehicle 300 through the attitude control and / or the position control of the unmanned aerial vehicle 300 to control the operation of the unmanned aerial vehicle 300 at the corresponding starting point along the previously selected (or selected) final flight path.
  • the unmanned aerial vehicle 300 is moved to a destination.
  • controller 360 may dynamically update the optimal path through information updates such as real-time wind direction and wind speed on the path during the operation (or flight).
  • the controller 360 may operate the unmanned aerial vehicle 300 using the weather information by determining a flight status, predicting and selecting an optimal route, and applying a new route by updating real-time weather information during the flight.
  • controller 360 may operate to avoid the terrain, such as high buildings, forests, among the plurality of paths.
  • the aforementioned avoidance paths may further include buildings (or buildings), mountains, forests, and danger areas (for example, amusement facilities and parks that are used by people) that are higher than a predetermined altitude according to user settings.
  • the unmanned aerial vehicle 300 may operate to avoid such an avoidance path.
  • control unit 360 when the operation time of the unmanned aerial vehicle 300 takes more than a predetermined time (or when the current and the weather may be different) when searching for a flight route, the critical vector for safe operation and the vector of each preceding station. For comparison with the values, compare the current observations with the forecast information for each station, and calculate the total effective time for each route and / or fuel consumption per route based on the larger of the two, increasing the safety level and the optimum route. Can be calculated.
  • the controller 360 combines (or interpolates) the forecast model value (or forecast information) provided by the Meteorological Agency or the surrounding station 100 with the forecast information of the neighboring station.
  • One value can be used to calibrate.
  • Safety level can be further considered by selecting values such as wind direction, wind speed, rainfall occurrence probability, and lightning occurrence probability among the local forecast information.
  • the base station-based observation station 100 is located at a high position, mostly depending on the installation environment of the base station and the use of weather measurement, which may be adjacent to the flight path of the unmanned aerial vehicle 300.
  • the controller 360 receives weather information on the route from the observatory 100. It can also be sent directly.
  • control unit 360 is an emergency set in advance based on the location information of the real-time unmanned aerial vehicle 300 (or generated) generated by the GPS receiver 320, the real-time observation value measured by the sensor unit 330, and the like. Check (or determine) whether an event occurs.
  • the emergency event is the unmanned air vehicle 300 when the measured wind speed exceeds the wind speed threshold value, when rainfall occurs, when a lightning strike occurs, the remaining amount (or state) of the measured fuel storage (or battery) is unmanned vehicle 300 This includes cases where the flight from the current location to the destination is impossible.
  • the control unit 360 checks the current position of the unmanned aerial vehicle 300 through the preceding GPS receiver 320 and through the sensor unit 330. Return to the process of measuring a variety of observations of the area where the unmanned aerial vehicle 300 is located.
  • the control unit 360 is confirmed through the GPS receiver 320, a plurality of additional weather information for each station additionally provided from the server 200 Based on the current position of the unmanned aerial vehicle 300, various observation values measured by the sensor unit 330, the destination (or destination information, latitude and longitude information corresponding to the destination), etc. Search.
  • the controller 360 is a plurality of additional weather information for each station, the current position of the unmanned aerial vehicle 300 confirmed through the GPS receiver 320, Based on the various observation values measured by the sensor unit 330, the destination (or destination information, latitude and longitude information corresponding to the destination), etc., one or more safe routes that can be operated from the current location to the destination are reconfirmed, and the reconfirmed current Rediscover the navigation route from the current location to the destination based on one or more safe routes capable of navigation from the location to the destination.
  • control unit 350 controls the operation of the unmanned aerial vehicle 300 through the attitude control and / or position control of the unmanned aerial vehicle 300, and thus the current position of the unmanned aerial vehicle 300 along the re-discovered flight path. To move (or operate / fly) the unmanned aerial vehicle 300 to the destination.
  • the current position of the unmanned aerial vehicle 300 based on a real-time observation value measured through the sensor unit 330 or the like. If it is determined that the arrival or departure of the destination is difficult based on the reference point, the controller 360 minimizes the actual fuel (or battery) consumption based on the wind direction and / or wind speed included in the observation value measured by the sensor unit 330. Identify a nearby station 100 (or a station with a minimum fuel route / minimum station / minimum pass / stop station) of one or more safe routes that can be operated from the current location.
  • the controller 360 may include a station 100 having a minimum real fuel (or battery) identified value or a station / minimum pass path having a minimum station / minimum distance of real fuel consumption among one or more safe routes operable from the current location. Update (or rescan) the route to automatically return to the station corresponding to the station / station with the least route.
  • Update or rescan the route to automatically return to the station corresponding to the station / station with the least route.
  • the controller 360 may update the return route to return to the starting point based on one or more safe routes that can be operated from the current location.
  • the controller 360 controls the operation of the unmanned aerial vehicle 300 through the attitude control and / or the position control of the unmanned aerial vehicle 300, and at the current position of the unmanned aerial vehicle 300 along the updated return path.
  • the unmanned aerial vehicle 300 is moved (or operated / flighted) to a station having a minimum transit route.
  • the controller 360 encounters a gust of wind during the operation of the unmanned aerial vehicle 300 or a situation in which it is difficult to solve the situation due to a posture control program that the unmanned aerial vehicle 300 itself has due to a higher wind speed than expected or the sensor unit If a situation in which normal operation of the unmanned aerial vehicle 300 is difficult based on observations observed by a self-mounted gyro sensor or a motion sensor, a moisture sensor, or a GPS receiver 320 included in 330 is recognized, the server ( The route rescan may be performed through communication with the 200 (or control center) (not shown).
  • the controller 360 performs the path rescan by itself and autonomously moves the unmanned aerial vehicle 300, and then provides information on the result of the path rescan to the server 200 later. It may also notify (or notify / send).
  • control unit 360 searches the nearby landing site (or the station 100) including the starting point, re-searches the return route, and is unmanned. The loss of the aircraft 300 can be prevented.
  • the controller 360 compares the battery level (or fuel level) of the unmanned aerial vehicle 300 with the estimated battery level (or fuel level) for driving to the destination during the route re-search, and consumes the battery due to deterioration of battery performance. If (or fuel consumption) is greater than expected, it may search for a nearby landing site that can be recharged and search for a new route via (or to) the searched landing site.
  • the controller 360 controls the operation of the unmanned aerial vehicle 300 through the attitude control and / or the position control of the unmanned aerial vehicle 300, thereby finding a new searched for charging.
  • the unmanned aerial vehicle 300 is moved (or operated / flighted) from the current position of the unmanned aerial vehicle 300 along the path to the destination for charging.
  • the controller 360 may newly search for the optimum resumption timing after the charging and the route to arrive at the first destination. Can be.
  • the controller 360 controls the operation of the unmanned aerial vehicle 300 through the attitude control and / or position control of the unmanned aerial vehicle 300, the temporary changed destination for charging Moves (or operates / flies) the unmanned aerial vehicle 300 to the first destination at the.
  • the unmanned aerial vehicle 300 may further include an interface unit (not shown) that serves as an interface with all external devices connected to the unmanned aerial vehicle 300.
  • the interface unit may include a wired / wireless headset port, an external charger port, a wired / wireless data port, a memory card port, a port for connecting a device equipped with an identification module, an audio I / O ( Input / Output) port, video I / O (Input / Output) port, earphone port, and the like.
  • the identification module is a chip that stores various information for authenticating the use authority of the unmanned aerial vehicle 300, and includes a user identity module (UIM), a subscriber identity module (SIM), and universal user authentication.
  • the device equipped with the identification module may be manufactured in the form of a smart card. Therefore, the identification module may be connected to the unmanned aerial vehicle 300 through the port.
  • Such an interface unit receives data from an external device or receives power to transmit the data to each component inside the unmanned aerial vehicle 300 or transmit data within the unmanned aerial vehicle 300 to an external device.
  • the interface unit is a passage for supplying power from the cradle to the unmanned aerial vehicle 300, or various command signals inputted from the cradle by the user are corresponding unmanned aerial vehicle. It may be a passage that is delivered to (300). Various command signals or corresponding power input from the cradle may be operated as signals for recognizing that the unmanned aerial vehicle 300 is correctly mounted on the cradle.
  • the unmanned aerial vehicle 300 may include an input unit for receiving a command or control signal generated by an operation such as receiving a signal according to a button operation or an arbitrary function selection by a user, or touching / scrolling a displayed screen ( It may also include a).
  • the input unit is a means for receiving at least one of a user's command, selection, data, and information, and may include a plurality of input keys and function keys for receiving numeric or text information and setting various functions.
  • the input unit includes a key pad, a dome switch, a touch pad (static pressure / capacitance), a touch screen, a jog wheel, a jog switch, a jog shuttle, and a mouse.
  • a touch pad static pressure / capacitance
  • a touch screen a touch screen
  • jog wheel a jog wheel
  • a jog switch a jog shuttle
  • mouse a mouse.
  • Various devices such as a stylus pen, a touch pen, and the like may be used.
  • the display unit 350 is formed in the form of a touch screen, some or all of the input functions may be performed through the display unit 350.
  • each component (or module) of the unmanned aerial vehicle 300 may be software stored on a memory (or a storage unit 340) of the unmanned aerial vehicle 300.
  • the memory may be an internal memory of the unmanned aerial vehicle 300 and may be an external memory or another type of storage device.
  • the memory may also be a nonvolatile memory.
  • Software stored on the memory may include a set of instructions that, when executed, cause the unmanned aerial vehicle 300 to perform a particular operation.
  • the processor mounted on the observation station 100, the server 200, and the unmanned aerial vehicle 300 according to the present invention may process a program command for executing the method according to the present invention.
  • this processor may be a single-threaded processor, and in other implementations, the processor may be a multi-threaded processor.
  • the processor is capable of processing instructions stored in memory or storage devices.
  • the operation of the unmanned aerial vehicle is determined by using weather information of a plurality of dense weather stations that are observed in real time based on the base station existing between the starting point and the destination of the unmanned aerial vehicle, and operated when the operation of the unmanned aerial vehicle is determined. It is possible to provide an optimal path corresponding to an effective shortest time path or an optimal fuel consumption path for a plurality of paths possible.
  • the real-time observation value on the scheduled flight route during the flight exceeds a predetermined reference value for a predetermined time, new winds, precipitation or lightning are observed on the scheduled flight route, or continuous operation is performed through a sensor mounted on an unmanned aerial vehicle. If deemed difficult, the route may be re-searched or the route may be searched.
  • FIG. 5 is a flowchart illustrating a route guidance method for an unmanned aerial vehicle using weather information according to an exemplary embodiment of the present invention.
  • the communication unit 310 receives a plurality of weather information measured by the plurality of observing stations 100 located within a preset radius with respect to the shortest path from the starting point to the destination provided from the server 200.
  • the weather information includes information such as location information (eg, latitude, longitude, etc.), wind direction, wind speed, rainfall, lightning strike, and measurement time information of the region where the corresponding observatory 100 is located.
  • the communication unit 310 may receive weather information transmitted for each individual observing station 100.
  • the communication unit 310 may include a plurality of paths (eg, route A, route B,. Receive a plurality of weather information, respectively, measured at stations A 1 , ..., A N , B 1 , ..., B M located on the. Where M and N are natural numbers.
  • the station 100 on each path may include all stations capable of collecting weather information between the starting point and the destination (S510).
  • the controller 360 determines whether to operate from the corresponding departure point to the destination based on the received plurality of weather information.
  • the controller 360 removes the avoiding path from the plurality of paths from the starting point to the destination based on the plurality of weather information on the plurality of paths from the starting point to the destination.
  • the avoidance path includes a path in which wind speeds included in weather information for each station exceeds a preset wind speed threshold value among a plurality of paths from a source to a destination, a path corresponding to weather information (or a station) at which current rainfall is observed.
  • the controller 360 determines the at least one remaining path as a safe path.
  • controller 360 determines that the unmanned aerial vehicle 300 can be operated when there is at least one safe path that can be operated from the starting point to the destination.
  • controller 360 determines that the unmanned aerial vehicle 300 cannot be operated when at least one safe path capable of operating from the starting point to the destination does not exist.
  • the controller 360 corresponds to a station corresponding to stations A 1 and A 3 providing weather information exceeding a wind speed threshold value among the plurality of paths shown in FIG. 6, and to a station A 4 where current rainfall is observed.
  • a path corresponding to the stations A 1 and A 3 and a path corresponding to the station A 4 are respectively removed from the plurality of paths, and one or more remaining paths are determined as safe paths.
  • the controller 360 determines that the unmanned aerial vehicle 300 can be operated when the flight is possible from the starting point to the destination through a safe path including one or more paths.
  • the controller 360 when determining whether a safe route exists, includes a route exceeding a previous wind speed threshold value among a plurality of routes from the starting point to the destination, a path corresponding to weather information for which current rainfall is observed, and a current lightning strike. In addition to the path corresponding to the observed weather information, the driving speed of the unmanned aerial vehicle 300, the distance of each section path and the forecast information provided for each station, it may be determined whether a safe route exists.
  • control unit 360 is a path in which the wind speed included in the weather information for each station above the wind speed threshold value exceeds a threshold value, a path corresponding to weather information for which current rainfall is observed, and a current lightning strike, among a plurality of paths from a departure point to a destination. Included in the forecast information based on the forecast information on the corresponding route (or point) at the time when the unmanned aerial vehicle 300 reaches the plurality of paths according to the route corresponding to the weather information, and the speed of the unmanned aerial vehicle 300.
  • Rainfall threshold is a preset rainfall forecasting information included in the forecasting information based on the path that the wind speed exceeds the wind speed threshold, and the forecast information on the path when the unmanned vehicle 300 reaches the plurality of paths; Falls included in the forecast information based on the route exceeding the value, the forecast information for the route at the time when the unmanned aerial vehicle 300 reaches the plurality of routes.
  • the generation information is removed, the avoidance route comprising a path such as exceeding a pre-set threshold, an electrical storm, may determine whether the trusted path exists.
  • the controller 360 may include a path corresponding to stations A 1 and A 3 , respectively, which provide weather information exceeding a wind speed threshold value among the plurality of paths shown in FIG. 6, and a station A 4 where current rainfall is observed.
  • the corresponding path the unmanned air vehicle 300 is moving, including on forecast information at the time it reaches the station a 7 the station a 7 rainfall prediction information (e.g. the current station a 7, but without rain unattended Removes a path in which the vehicle 300 moves and approaches the corresponding station A 7 with a 70% rainfall probability) exceeding a preset rainfall threshold (eg, 60%), and removes a plurality of paths.
  • a preset rainfall threshold eg, 60%
  • the controller 360 Searches for a flight route from origin to destination based on one or more safe routes that can be operated.
  • the avoidance path is a path in which wind speeds included in weather information for each station exceeds a predetermined wind speed threshold value among a plurality of paths from a source to a destination, a path corresponding to weather information where current rainfall is observed, and an unmanned aerial vehicle 300.
  • control unit 360 for a plurality of safety routes (or one or more safe routes that can be operated) determined from a plurality of navigation routes from the origin to the destination, the total valid time for each route and / or each route Calculate fuel consumption.
  • controller 360 converts the route from the starting point to the destination (or a combination of the plurality of shortest times from the starting point to the destination) corresponding to the shortest time out of the calculated total valid time for each route as the final operating route. Select (or select)
  • controller 360 may determine a route from a corresponding starting point to a destination (or a combination of a plurality of minimum fuel consumptions from the starting point to the destination) that consumes the least fuel among the calculated fuel consumption for each route. Select (or select)
  • the controller 360 may determine a total valid time for each path for the remaining safety path after the paths corresponding to the stations A 1 and A 3 and the paths corresponding to the station A 4 are removed from the plurality of paths shown in FIG. 6. To calculate.
  • controller 360 selects a route from the calculated total valid time for each route to the starting point corresponding to the shortest time-B 1 -B 2 -...-B M -to the destination as the first final flight route.
  • the controller 360 may include fuel consumption for each path of the safety paths remaining after the paths corresponding to the stations A 1 and A 3 and the paths corresponding to the station A 4 are removed from the plurality of paths shown in FIG. 6. To calculate.
  • control unit 360 has a route-specific fuel consumption from the minimum to the fuel consumption calculated from - B 1 - B 2 - A 3 - A 5 ... - A N - a route to a destination to a second final flight path Select (S530).
  • the controller 360 controls the operation of the unmanned aerial vehicle 300 through the attitude control and / or the position control of the unmanned aerial vehicle 300 to control the operation of the unmanned aerial vehicle 300 at the corresponding starting point along the previously selected (or selected) final flight path.
  • the unmanned aerial vehicle 300 is moved (or operated / flighted) to a destination.
  • the controller 360 may operate the unmanned aerial vehicle 300 to move along the selected first final flight path (for example, a departure point-B 1 -B 2 -...-B M -a path to a destination). It controls (S540).
  • the selected first final flight path for example, a departure point-B 1 -B 2 -...-B M -a path to a destination. It controls (S540).
  • the GPS receiver 320 checks the current position of the unmanned aerial vehicle 300 in real time while the unmanned aerial vehicle 300 is sailing (or flying) to a destination.
  • the GPS receiver 320 receives the GPS signal transmitted from the satellite, and generates (or generates / confirms) the location data of the unmanned aerial vehicle 300 in real time based on the longitude coordinate and the latitude coordinate included in the received GPS signal. )
  • GPS receiver 320 is in the position information (for example stations B 1 point in the station B 1 point of the first unmanned air vehicle 300 is being operated as the final flight path for the path B shown in Figure 6 Corresponding latitude and longitude information) is generated (S550).
  • the sensor unit 330 may be a humidity storage area (or region) where the unmanned aerial vehicle 300 is located, humidity, temperature, wind direction, wind speed, rainfall occurrence, lightning strike, fuel storage unit provided in the unmanned aerial vehicle 300 (or Each measured value (or collected) including the remaining amount (or state) of the battery (not shown) is measured.
  • the sensor unit 330 may generate humidity, temperature, wind direction, wind speed, and rainfall at the station B 1 of the unmanned aerial vehicle 300 which is operating on the first final operation path corresponding to the path B shown in FIG. 6.
  • operation S560 a lightning strike occurs and a battery remaining amount of the unmanned aerial vehicle 300 is measured.
  • the control unit 360 is an emergency set in advance based on the location information of the real-time unmanned aerial vehicle 300 (or generated) generated by the GPS receiver 320 and the real-time observation value measured by the sensor unit 330. Check (or determine) whether an event has occurred.
  • the emergency event is the unmanned air vehicle 300 when the measured wind speed exceeds the wind speed threshold value, when rainfall occurs, when a lightning strike occurs, the remaining amount (or state) of the measured fuel storage (or battery) is unmanned vehicle 300 This includes cases where the flight from the current location to the destination is impossible.
  • the controller 360 checks whether the wind speed measured at the station B 1 point of the unmanned aerial vehicle 300 operating in the first final operating path corresponding to the route B shown in FIG. 6 exceeds the wind speed threshold. do.
  • the controller 360 confirms whether or not rainfall measurement is performed at the station B 1 point of the unmanned aerial vehicle 300 which is operating on the first final flight path corresponding to the path B shown in FIG. 6.
  • the controller 360 checks whether a lightning strike occurs at the station B 1 point of the unmanned aerial vehicle 300 which is operating on the first final flight path corresponding to the path B shown in FIG. 6.
  • the controller 360 may determine that the battery remaining amount of the unmanned aerial vehicle 300 measured at the station B 7 point of the unmanned aerial vehicle 300 operating in the first final operating path corresponding to the route B shown in FIG. Check whether the flight is possible from the current location to the destination (S570).
  • the control unit 360 checks the current position of the unmanned aerial vehicle 300 through the preceding GPS receiver 320 and through the sensor unit 330. Return to the process of measuring a variety of observations of the area where the unmanned aerial vehicle 300 is located.
  • the wind speed measured at the station B 1 point of the unmanned aerial vehicle 300 operating in the first final operating path corresponding to the path B shown in FIG. 6 is smaller than the wind speed threshold, and rainfall and lightning occur at that point. (Or not measured), and when the battery level of the unmanned aerial vehicle 300 measured at the corresponding point is in a state capable of operating from the current position to the destination, the controller 360 controls the unmanned aerial vehicle 300 through the preceding GPS receiver 320. The process returns to the step of checking the current position of (for example, step S550) (S580).
  • the control unit 360 is confirmed through the GPS receiver 320, a plurality of additional weather information for each station additionally provided from the server 200 Based on the current position of the unmanned aerial vehicle 300, various observation values measured by the sensor unit 330, the destination (or destination information, latitude and longitude information corresponding to the destination), etc. Search.
  • the controller 360 is a plurality of additional weather information for each station, the current position of the unmanned aerial vehicle 300 confirmed through the GPS receiver 320, Based on the various observation values measured by the sensor unit 330, the destination (or destination information, latitude and longitude information corresponding to the destination), etc., one or more safe routes that can be operated from the current location to the destination are reconfirmed, and the reconfirmed current Rediscover the navigation route from the current location to the destination based on one or more safe routes capable of navigation from the location to the destination.
  • control unit 350 controls the operation of the unmanned aerial vehicle 300 through the attitude control and / or position control of the unmanned aerial vehicle 300, and thus the current position of the unmanned aerial vehicle 300 along the re-discovered flight path. To move (or operate / fly) the unmanned aerial vehicle 300 to the destination.
  • the control unit 360 is a plurality of additional weather information for each station further provided from the server 200, the current position of the unmanned aerial vehicle 300 confirmed through the GPS receiver 320, the sensor unit 330 Reconfirm one or more safe routes from the current location to the destination based on various observations, destinations (or destination information, latitude and longitude information corresponding to the destination), and the like.
  • controller 360 calculates the total valid time for each route and / or the fuel consumption for each route for one or more safe routes that can be operated from the reconfirmed current position to the destination.
  • the controller 360 may include a path from the current location B 1 corresponding to the shortest time to the destination (or a combination of a plurality of shortest times from the current location to the destination) of the calculated total effective time for each route.
  • control unit 360 is the path from the current position B 1 that consumes the minimum fuel among the calculated fuel consumption for each route to the destination B 1 -A 2 -B 54-...- B M -to the destination
  • the route may be selected (or selected) as the re-search final flight route (or fourth final flight route).
  • controller 360 may rescan the third final flight route (for example, B 1 -A 2 -A 5 -...- B M-1 -B M -which is the current position of the unmanned aerial vehicle 300).
  • the operation of the unmanned aerial vehicle 300 is controlled to move along the path (S590).
  • the current position of the unmanned aerial vehicle 300 based on a real-time observation value measured through the sensor unit 330 or the like. If it is determined that the arrival or departure of the destination is difficult based on the reference point, the controller 360 minimizes the actual fuel (or battery) consumption based on the wind direction and / or wind speed included in the observation value measured by the sensor unit 330. Identify a nearby station 100 (or a station with a minimum fuel route / minimum station / minimum pass / stop station) of one or more safe routes that can be operated from the current location.
  • the controller 360 may include a station 100 having a minimum real fuel (or battery) identified value or a station / minimum pass path having a minimum station / minimum distance of real fuel consumption among one or more safe routes operable from the current location. Update (or rescan) the route to automatically return to the station corresponding to the station / station with the least route.
  • Update or rescan the route to automatically return to the station corresponding to the station / station with the least route.
  • the controller 360 may update the return route to return to the starting point based on one or more safe routes that can be operated from the current location.
  • the controller 360 controls the operation of the unmanned aerial vehicle 300 through the attitude control and / or the position control of the unmanned aerial vehicle 300, and at the current position of the unmanned aerial vehicle 300 along the updated return path.
  • the unmanned aerial vehicle 300 is moved (or operated / flighted) to a station having a minimum transit route.
  • the control unit 360 determines the route of the real fuel consumption is the minimum value among the one or more trusted path available station a 9 from the present position, and the consumption the identified actual fuel is minimum Update the route to return.
  • controller 360 controls the operation of the unmanned aerial vehicle 300 to move along the updated return path (for example, a path from the current position of the unmanned aerial vehicle B 7 to A 9 ).
  • the controller 360 is a plurality of additional weather information for each station further provided from the server 200, the current position of the unmanned aerial vehicle 300 confirmed through the GPS receiver 320, the sensor unit 330 Reconfirm one or more safe routes that can be navigated from the current location to the destination based on various observations, destinations (or destination information, latitude and longitude information corresponding to the destination), and the like.
  • controller 360 calculates the total valid time for each route and / or the fuel consumption for each route for one or more safe routes that can be operated from the reconfirmed current position to the destination.
  • the controller 360 updates the return path to return to the starting point from the current location B 1 .
  • controller 360 controls the operation of the unmanned aerial vehicle 300 to move along the updated return path (for example, the path from the current position of the unmanned aerial vehicle B 1 to the starting point) (S600). .
  • the path guidance system for an unmanned aerial vehicle using weather information can be prepared by a computer program, and codes and code segments constituting the computer program can be easily inferred by a computer programmer in the art.
  • the computer program is stored in a computer readable media, and is read and executed by a computer or an observation station, a server, an unmanned aerial vehicle, etc. according to an embodiment of the present invention to use an unmanned aerial vehicle using weather information.
  • the route guidance system can be implemented.
  • the information storage medium includes a magnetic recording medium, an optical recording medium and a carrier wave medium.
  • a computer program for implementing a route guidance system for an unmanned aerial vehicle using weather information according to an embodiment of the present invention may be stored and installed in an internal memory of an observation station, a server, an unmanned aerial vehicle, and the like.
  • an external memory such as a smart card that stores and installs a computer program for implementing a route guidance system for an unmanned aerial vehicle using meteorological information according to an embodiment of the present invention may be a route guidance system for an unmanned aerial vehicle using weather information through an interface. It may be mounted.
  • the embodiment of the present invention determines whether the unmanned aerial vehicle is operated by using weather information of a plurality of dense weather stations which are observed in real time based on a base station existing between the starting point and the destination of the unmanned aerial vehicle.
  • the optimal path corresponding to the effective shortest time path or optimal fuel consumption path for the plurality of operable paths can be provided to precisely determine whether the unmanned vehicle is operated, and is economical and stable You can choose a route for your trip.
  • the real-time observation value on the scheduled flight route during the flight exceeds a predetermined reference value for a predetermined time, a new strong wind, precipitation or lightning is observed on the scheduled flight route, If it is determined that continuous operation is difficult through onboard sensors, it is possible to minimize the loss of unmanned aerial vehicles in weather deterioration, accidental situation, emergency situation by re-navigating the navigation route or searching for a return route.
  • the present invention determines whether the unmanned aerial vehicle is operated by using weather information of a plurality of dense weather stations that are observed in real time based on a base station existing between the origin and destination of the unmanned aerial vehicle, and operates when the operation of the unmanned aerial vehicle is determined. It provides an optimal route corresponding to an effective shortest time route or an optimal fuel consumption route for a plurality of possible routes, and real-time observations on a scheduled route during a flight exceed a predetermined reference value or a new high wind on the scheduled route. In the event that precipitation or lightning strikes are observed, or if it is determined that continuous operation is difficult through sensors mounted on an unmanned aerial vehicle, it is possible to precisely determine whether the unmanned aerial vehicle is operated by re-navigating the navigation route or searching for a return route. You can choose a route for economical and stable operation It may be widely used in the field of unmanned aerial vehicle (UAV), aircraft, quadrotor, and the like.
  • UAV unmanned aerial vehicle

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un système de guidage d'itinéraire, utilisant des informations météorologiques, d'un véhicule aérien sans pilote, un procédé associé, et un support d'enregistrement enregistré avec un programme informatique. C'est-à-dire, la présente invention : détermine s'il faut ou non faire voler un véhicule aérien sans pilote en utilisant des informations météorologiques obtenues d'après les observations en temps réel d'une pluralité d'observatoires météorologiques localisés de manière dense sur la base d'une station de base présente entre un lieu de départ du véhicule aérien sans pilote et une destination de celui-ci ; fournit un itinéraire optimal correspondant à un itinéraire de temps le plus court valide ou à un itinéraire de consommation de carburant optimal, parmi une pluralité d'itinéraires disponibles pour le vol, s'il est déterminé que le véhicule aérien sans pilote peut voler ; et recherche un itinéraire de vol ou recherche un itinéraire de retour si, pendant le vol, une valeur observée en temps réel sur un itinéraire de vol programmé dépasse une valeur de référence prédéterminée pour un temps prédéterminé, un vent fort, de la pluie ou de la foudre est nouvellement observé sur l'itinéraire de vol programmé, ou s'il est déterminé par l'intermédiaire d'un capteur, monté sur le véhicule aérien sans pilote, ou autre, qu'il est difficile de poursuivre le vol. Par conséquent, la présente invention peut déterminer avec précision s'il faut ou non faire voler un véhicule aérien sans pilote et peut sélectionner un itinéraire pour un vol économique et sûr.
PCT/KR2016/013299 2016-09-05 2016-11-17 Système de guidage d'itinéraire, utilisant des informations météorologiques, d'un véhicule aérien sans pilote, procédé associé, et support d'enregistrement enregistré avec un programme informatique WO2018043820A1 (fr)

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CN106485429A (zh) * 2016-10-31 2017-03-08 广州极飞科技有限公司 一种无人机作业调度方法及装置
CN111224833A (zh) * 2018-11-26 2020-06-02 财团法人工业技术研究院 通信失效侦测方法和装置
CN111224833B (zh) * 2018-11-26 2022-07-26 财团法人工业技术研究院 通信失效侦测方法和装置
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CN111338366B (zh) * 2020-02-26 2024-06-11 酷黑科技（北京）有限公司 一种飞行路线的确定方法及飞行辅助系统
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CN114867032A (zh) * 2022-04-29 2022-08-05 北京尚谷彤邺科技发展有限公司 一种基于大数据的5g通讯服务系统及其终端设备

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