A method for displaying 4D routes for unmanned vehicles using point clouds

Abstract

A method for displaying a four-dimensional route for an unmanned moving body is provided, which provides a safe flight route and prevents collision accidents of the unmanned moving body. [Solution] The present invention discloses a 4D path display method for an unmanned mobile vehicle using a point cloud, which uses a point cloud in a 3D airspace to precisely and simply define and display collimators that constitute the flight path of the unmanned mobile vehicle, thereby facilitating control of the unmanned mobile vehicle and providing a detailed and safe path in response to collision accidents during flight of the unmanned mobile vehicle. The 4D path display method for an unmanned mobile vehicle using a point cloud according to an embodiment of the present invention includes a step of defining a 3D airspace for generating a flight path of the unmanned mobile vehicle, and a step of generating and displaying the flight path of the unmanned mobile vehicle using a point cloud in the 3D airspace.

Description

[Technical field]

[0001] The present invention uses point clouds to estimate the congestion of three-dimensional airspace. Do This paper defines a 4-dimensional path display method for unmanned vehicle using point cloud, which displays the 4-dimensional path of the unmanned vehicle. [Background technology]

[0002] Currently, most commercial and open source Ground Control Systems, which are systems that fly or operate unmanned vehicles such as drones, determine flight path points or set altitudes through mouse click events on a 2D-based map domain.

[0003] However, 2D maps are difficult to reflect real environmental information or to materialize flight information to the user's viewpoint. Also, mouse-click processing has limitations in determining an accurate point or setting an altitude due to errors in judging altitude for the same point and errors due to overlapping of determined points.

[0004] In order to solve these shortcomings of 2D maps, 3D maps are sometimes used. Although processing using 3D maps has good visualization, reflection of the environment, and expansion of concreteness, problems arise in terms of the user interface due to the 3D experience, the difficulty of clicking and zooming in and out due to 3D coordinates, the determination of altitude and location, and the rendering speed and performance.

[0005] In particular, a user needs to generate a flight path to an accurate point that can be reached along an efficient route, but it is difficult to accurately determine the desired corresponding point in a general three-dimensional space.

[0006] To address this issue, recent proposals have focused on dividing the space into cubes, such as a lattice. However, cubes and lattice shapes increase the complexity of the space, making it difficult to visualize the surrounding environment. In addition, the visualization of the surrounding environment is so complicated that it is difficult to process mouse events, such as clicking on a map, and to display and determine routes.

[0007] In addition, grids are used as a method of managing spatial information, and are used to determine the routes of unmanned vehicles. Do They do not define or express space, but overlap or occupy more space than necessary, creating conflicts with the flight path of unmanned vehicles. Door structure There are also limitations to expressing one's progress. Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention has been made to solve the above problems, and an object of the present invention is to provide a collision avoidance system that uses a point cloud in a three-dimensional airspace to configure a flight path for an unmanned vehicle. Do The present invention provides a method for expressing a four-dimensional route for an unmanned vehicle using a point cloud, which facilitates the control of the unmanned vehicle by precisely and easily defining and expressing the route.

[0009] Another object of the present invention is to provide a method for displaying a 4D route for an unmanned vehicle using a point cloud, which enables a variety of flight routes for the unmanned vehicle to be selected by simultaneously generating multiple routes within a 3D airspace.

[0010] Yet another object of the present invention is to provide a method for displaying a four-dimensional route for an unmanned moving body using a point cloud, which can provide a safe flight route by reflecting and interpolating environmental information of obstacles, buildings and / or terrain in the direction of the flight route, and verifying and simulating the same, thereby preventing collision accidents of the unmanned moving body.

[0011] The object of the present invention is not limited to the above-mentioned objects, and other objects not mentioned herein will be clearly understood by those skilled in the art from the following description. [Means for solving the problem]

[0012] To solve the above problems, the present invention provides a 4D route display method using a point cloud, comprising the steps of defining a point cloud-based 3D airspace space for generating a flight route for an unmanned mobile vehicle, and generating and displaying the flight route for the unmanned mobile vehicle using a point cloud in the 3D airspace space, wherein the flight route is generated based on the point spacing, point size and display information for each point of the point cloud.

[0013] Generating and representing the flight path includes adding time information to the flight path generated using the point cloud to generate a four-dimensional path.

[0014] The point interval is determined based on an initially determined default value, a value determined by a preset algorithm, a value determined reflecting the surrounding environment of the three-dimensional airspace, or a parameter value changed by the user.

[0015] The three-dimensional airspace space is defined as a collection of space vector points, each of which has latitude, longitude and altitude in the coordinate system of the Earth ellipsoid, and can represent at least one of the following information: XYZ coordinates, Render Index, flight point number, mission type, mission command and behavior mode.

[0016] The spatial vector point may further include a time vector and may represent at least one of the following information: occupancy time, occupancy duration, and sign information of the occupying unmanned vehicle for the flight path of the unmanned vehicle.

[0017] The point size is determined by predicting a spatial vector point of the flight area of ​​the unmanned mobile unit based on meteorological information, wind strength, and size information of the unmanned mobile unit at each point within the three-dimensional airspace.

[0018] The flight path is In Do Each of the Do The constituent points and information are managed independently and separately.

[0019] The aforementioned coli Do is , the collision in the space occupied by the path depends on the size of the points it occupies. Do's The diameter or cross-sectional area perpendicular to the direction of travel is determined.

[0020] The aforementioned coli Do is The size of the point is determined by additionally reflecting the time of occupation of the point, the duration of occupation, and the sign information of the occupying unmanned moving body.

[0021] The aforementioned coli Do is , a route ID, a route configuration type, an obstacle detection and avoidance type, a distance from a starting point, and an arrival time according to a route setting speed.

[0022] The aforementioned coli Do is At each point in the space occupied by the path, the state of hue and transparency is expressed differently depending on the time sequence.

[0023] The aforementioned coli Do is At each point in the space occupied by the route, information on the unmanned moving bodies occupying the points is presented in chronological order, and the information on the unmanned moving bodies can be presented in the order in which they occupy the points.

[0024] The step of defining the three-dimensional airspace space may include collecting two-dimensional position information for a route generation area in which a flight route of the unmanned mobile vehicle is generated, determining the extent of the route generation area based on the collected two-dimensional position information, generating a point cloud airspace space composed of spatial vector points based on the determined extent of the route generation area to define the three-dimensional airspace space, modifying the point cloud airspace space according to the surrounding environment of the three-dimensional airspace space or a user request, and rendering the three-dimensional airspace space.

[0025] The point cloud airspace space is defined by one or more of a point size, an X-axis, Y-axis, and Z-axis interval between points, a weight value for the point interval, and a position in the airspace space.

[0026] The step of modifying the point cloud airspace may modify at least one parameter value of a point size, an X-axis, Y-axis, or Z-axis interval between points, a weight value for a point interval, and a position in the airspace.

[0027] The step of generating and displaying the flight path of the unmanned vehicle includes the steps of selecting a start point from among space vector points in the three-dimensional airspace, predicting a space vector point of a flight possible area based on meteorological information, wind strength information and size information of the unmanned vehicle at the selected start point, and displaying information of the point as a point size, and displaying the start coordinate system by reflecting the size and display information of each point. Do and a step of generating coli. Door structure selecting a detection and avoidance type and an obstacle detection and avoidance type; and selecting n collisions based on the size of the displayed points. Do The method may include a step of configuring.

[0028] The aforementioned coli Door structure The step of selecting a detection and avoidance type and an obstacle detection and avoidance type is performed by determining whether or not a collision occurs on a flight path of the unmanned vehicle. DoA step of selecting one of a user-click type and an automated type for configuring the flight path, and a step of selecting a collision avoidance route when an obstacle is detected in the flight path. Dough type and a curve type.

[0029] In the step of selecting an obstacle detection and avoidance type, Do If a type is selected, a route is constructed by avoiding other space vector points in the vicinity when an obstacle is detected from the traveling direction of the route, and if a curve type is selected, a route is constructed by avoiding Bezier curve interpolation points when an obstacle is detected from the traveling direction of the route.

[0030] The step of generating and displaying a flight path of the unmanned vehicle includes Do When the starting point of the route configured in the configuring step is changed, the route is calculated based on the changed starting point. Do The method may further include reconstructing the

[0031] The n number of the configured Do and simulating a flight path according to the speed and time of the unmanned vehicle; Do Based on the verification and simulation results, Do Output and whole collision Do's and storing the output information in a database corresponding to the route ID. Do A virtual route image and a virtual unmanned vehicle image for each route are displayed, and the position of the virtual unmanned vehicle image can be variably displayed based on a flight plan based on the speed and time of the unmanned vehicle set for each route. Effect of the Invention

[0032] According to an embodiment of the present invention, a point cloud in a three-dimensional airspace is used to calculate the collision. DoBy defining it, the flight path of an unmanned vehicle can be easily generated and displayed in detail.

[0033] In addition, since the present invention utilizes point clouds to generate flight paths within a three-dimensional airspace, multiple paths can be generated simultaneously.

[0034] In addition, the present invention provides a safe flight path by reflecting and interpolating environmental information of obstacles, buildings and / or terrain in the direction of the flight path, and verifying and simulating the same, thereby minimizing the occurrence of collision accidents during the flight of an unmanned vehicle.

[0035] The effects of the present invention are not limited to the above-mentioned examples, and various other effects are included within the scope of the present invention. [Brief description of the drawings]

[0036] [Figure 1] FIG. 1 is a diagram showing a system configuration according to an embodiment of the present invention. [Diagram 2] 1 is a flowchart showing a method for displaying a four-dimensional route for an unmanned moving body using a point cloud according to an embodiment of the present invention. [Diagram 3] 11 is a flowchart illustrating a detailed operation of configuring a corridor in a user click mode according to an embodiment of the present invention. [Figure 4] 4 is a flowchart illustrating a detailed operation of configuring a corridor in an automatic mode according to an embodiment of the present invention. [Diagram 5] FIG. 2 illustrates a point cloud airspace volume according to an embodiment of the present invention. [Figure 6] 2 is an exemplary diagram illustrating a point cloud path corridor generation and object detection operation according to an embodiment of the present invention. [Figure 7] FIG. 2 illustrates a flight path according to an embodiment of the present invention. [Figure 8] 2 is an exemplary diagram showing a first operation of displaying a flight path in a three-dimensional airspace according to an embodiment of the present invention; FIG. [Figure 9] FIG. 13 is an exemplary diagram showing a second operation of displaying a flight path in a three-dimensional airspace according to an embodiment of the present invention. [Figure 10] 1 is an example diagram illustrating a collision detection and avoidance pattern for a flight path according to an embodiment of the present invention; [Figure 11] FIG. 2 is an exemplary diagram showing an operation of simulating a flight path according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0037] Hereinafter, various embodiments will be described in more detail with reference to the accompanying drawings. The embodiments described in this specification can be modified in various ways. Specific embodiments will be described in detail with reference to the drawings. However, the specific embodiments disclosed in the accompanying drawings are for easy understanding of various embodiments. Therefore, the technical idea is not limited by the specific embodiments disclosed in the accompanying drawings, and it should be understood that all equivalents or alternatives included in the idea and technical scope of the invention are included.

[0038] Although terms including ordinal numbers such as first, second, etc. are used to describe various components, such components are not limited to the above-mentioned terms. The above-mentioned terms are used only to distinguish one component from another component.

[0039] In this specification, the terms "comprise" or "have" are intended to specify the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, and should be understood as not precluding the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof. When a component is referred to as being "coupled" or "connected" to another component, it should be understood that the component may be directly connected or connected to the other component, but that there may be other components in between. On the other hand, when a component is referred to as being "directly coupled" or "directly connected" to another component, it should be understood that there is no other component in between.

[0040] On the other hand, a "module" or "unit" for a component used in this specification performs at least one function or operation. A "module" or "unit" may perform a function or operation by hardware, software, or a combination of hardware and software. In addition, a plurality of "modules" or "units" may be integrated into at least one module, except for a "module" or "unit" that is to be implemented by a specific piece of hardware or at least one processor. An expression of the number of stages includes a plurality of expressions unless the context clearly differs.

[0041] In addition, in describing the present invention, if it is determined that a specific description of related publicly known functions or configurations may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

[0042] FIG. 1 is a diagram showing a system configuration according to an embodiment of the present invention.

[0043] Referring to FIG. 1, a system 100 according to an embodiment of the present invention may include a point cloud airspace space generator 110, a route generation and control management unit 120, a route verification and simulation unit 130, and a route storage unit 140.

[0044] First, the point cloud airspace space generating unit 110 defines a three-dimensional airspace space for generating a flight path of the unmanned moving body. At this time, the point cloud airspace space generating unit 110 collects position information of a path generation area for generating a flight path. Here, the point cloud airspace space generating unit 110 may directly input input data 115 for the position information of the path generation area from a user. Meanwhile, the point cloud airspace space generating unit 110 may call up the position information of a predetermined area to generate a flight path from the information stored in the 3D GIS information unit 111. As an example, the position information of the path generation area may include area position information such as time, figure, and group.

[0045] The point cloud airspace space generator 110 determines the range of the route generation area so as to include the location information of all regions input for the route generation area. The point cloud airspace space generator 110 defines components (e.g., point size, point X-axis Y-axis and Z-axis intervals, weighting value for point intervals, position in airspace, etc.) for the point cloud airspace space based on the default values ​​of the determined route generation area, and the point cloud airspace space composed of space vector points is generated based on the defined components. As a result, the airspace space of the point cloud is defined as a collection of space vector points.

[0046] At this time, the generated point cloud airspace can be defined as a 3D airspace and rendered.

[0047] Here, the points constituting the point cloud airspace are 3D space vector points, and each point has latitude, longitude, and altitude in EPSG:4326 (WGS84), which is an Earth ellipsoid coordinate system. At this time, each point expresses information that affects the movement of the conjugate and unmanned vehicle, such as airspace spatial XYZ coordinates, render index for search and visualization, flight point number, mission type, mission command, and behavior mode.

[0048] The point may further include a time vector. In this case, the point is a four-dimensional space and time vector point, and represents information that affects the movement of the airspace and the unmanned vehicle, such as the time of occupancy of the flight route by the unmanned vehicle that has already been planned and stored, the duration of occupancy, and the sign information of the occupying unmanned vehicle.

[0049] The spacing of the space vector points is determined by an initial default value or by a preset algorithm, but may be changed to reflect the surrounding environment, such as terrain features in the point cloud airspace space. The spacing of the space vector points may be adjusted by changing the parameter values ​​of the components for the point cloud airspace space.

[0050] The route generation and control management unit 120 includes an object and terrain detection unit 121 for detecting objects and terrain in the three-dimensional airspace, and a collision detection unit 122 for detecting collisions based on the space vector points in the three-dimensional airspace and the detected objects and terrain. Do Calculated Cori Do calculation The protrusion 125 may include a recess 126.

[0051] The route generation and control management unit 120 can predict the space vector points of the flight area of ​​the unmanned mobile unit based on information such as weather information, wind strength, and the size of the unmanned mobile unit at each point in the three-dimensional airspace, and express the information of the point as the size of the point. Therefore, the size of the space vector point in the three-dimensional airspace can be changed depending on the weather information, wind strength, and the size of the unmanned mobile unit at the corresponding point.

[0052] Meanwhile, when a starting point is selected from among the space vector points in the three-dimensional airspace, the route generation and control management unit 120 generates a starting coordinate system having a route size that reflects the size of the space vector point of the flight possible area based on the point of the starting point. Do Generate.

[0053] The flight path according to the embodiment of the present invention is Do ( Therefore, the corridor is displayed as a Do calculation The detection unit 125 calculates a number of flight paths using the point cloud of the flight area, and Do As an example, Do calculation The output unit 125 may calculate a three-dimensional flight path based on the interval between points, the size of points, and display information of points, and display information related thereto.

[0054] Cori Do calculation The output section 125 is a Door structure Based on the model type and obstacle detection and avoidance model, multiple (n) collisions are generated. Do It can be configured.

[0055] Cori Door structure The type can be selected from either a user click type or an automated type. In the user click type, when the user selects a point cloud by clicking a desired direction on the virtual keyboard, a route is generated according to the selected point cloud, and a route to the destination point is generated through spatial coordinate linear interpolation of the direction of travel between points. In the automated type, the destination point and right or left side mode are input, or an automatic mode is set with a starting point, a destination point, latitude, longitude, and angle. In this case, a route is generated based on the spatial vector point with the shortest distance among all routes that can be generated from the starting point to the destination point.

[0056] Obstacle detection and avoidance type is Kori Dough type and curve type can be selected. Dough type In the point cloud airspace type, when an obstacle is detected in the direction of travel on the route, it avoids it by using other space vector points to generate a route. In the curve type, when an obstacle is detected on the route in the airspace, it avoids it by using Bezier curve interpolation points for the spatial coordinates in the direction of travel between points to generate a route.

[0057] At this time, each Do The constituent points and information are stored and managed independently. Do's The size is determined according to the size of the point that corresponds to the occupied space. Do's The size is Kori Do's This means the diameter or cross-sectional area perpendicular to the direction of travel.

[0058] In addition, Do is The information of points according to time, for example, the time of occupancy of a flight route by an unmanned vehicle, the duration of occupancy, and the sign information of the occupying unmanned vehicle can be configured. Do is ,Predetermined information, e.g., route ID,,cori Door structure Type of obstacle detection and avoidance (user click type, automated type), obstacle detection and avoidance type (collision type) for buildings and terrain on the route Do It is possible to display the total arrival time based on the route setting speed, distance from the starting point, and so on. Do is The display state at a point, for example, color, transparency, etc., can be varied depending on the time sequence, and information such as the ID of an unmanned moving object occupying a point can be displayed depending on the time sequence, and information about the unmanned moving objects can be displayed in the order in which they occupy the corresponding points.

[0059] The route verification and simulation unit 130 Do The route verification and simulation unit 130 can verify and simulate a route according to the speed and time of the unmanned vehicle.

[0060] The path storage unit 140 stores the entire correlation that has been verified by the path verification and simulation unit 130. Do The output of the 3D space is displayed in the 3D space. Do The output of is matched to the route ID and stored in each database of the route storage unit 140.

[0061] The operation flow of the system configured as above will be described with reference to FIG.

[0062] 2 is a flowchart showing a method for displaying a 4D route of an unmanned vehicle using a point cloud according to an embodiment of the present invention. Referring to FIG. 2, the method for displaying a 4D route of an unmanned vehicle using a point cloud may include a step of defining a 3D airspace space and a step of generating and displaying a flight route of the unmanned vehicle.

[0063] First, the step of defining a three-dimensional airspace space may include a step of collecting two-dimensional position information for a path generation area in which a flight path of the unmanned vehicle is generated in detail (S110), a step of determining the extent of the path generation area based on the collected two-dimensional position information (S120), a step of generating a point cloud airspace space composed of spatial vector points based on the extent of the determined path generation area to define the three-dimensional airspace space (S130), a step of modifying the point cloud airspace space according to the surrounding environment of the three-dimensional airspace space or a user request (S140), and a step of rendering the three-dimensional airspace space (S150).

[0064] In the step of collecting location information (S110), location information for at least one region is collected. At this time, location information for the route generation area may be directly input by the user, or location information of a predetermined region, such as time, figure, group, etc., may be called up to generate a flight route from information stored in the 3D GIS information unit.

[0065] In the step of determining the range of the route generation area (S120), the range of the route generation area is determined so as to include the position information of all regions input for the route generation area. In the step of defining the 3D airspace space (S130), a point cloud airspace space is generated based on the determined range of the route generation area, and the 3D airspace space is defined based on the generated point cloud airspace space.

[0066] In the step of modifying the point cloud airspace (S140), the user can modify the parameter values ​​of the components as desired. Meanwhile, the parameter values ​​of the components may be modified according to the surrounding environment such as obstacles in the point cloud airspace.

[0067] In the step of rendering a 3D airspace (S150), the 3D airspace is rendered based on the components defined for the point cloud airspace. At this time, the 3D airspace includes a number of space vector points, and the intervals between the space vector points are determined as an initial default value or are determined according to a preset algorithm.

[0068] Meanwhile, the spacing of the spatial vector points may be changed to reflect the surrounding environment such as topographical features in the point cloud airspace space. The spacing of the spatial vector points may be adjusted by changing parameter values ​​of components for the point cloud airspace space in the step of changing the point cloud airspace space (S140).

[0069] If a no-fly zone exists in the point cloud airspace, the no-fly zone and the permitted zone are displayed in different conjugate colors. The step of generating and displaying the flight path of the unmanned vehicle includes a step of selecting a start point from space vector points in the three-dimensional airspace space in detail (S160), a step of predicting a space vector point of a flight-allowed area based on meteorological information, wind strength information and size information of the unmanned vehicle at the start point selected in the step "S160" and displaying the information of the point as a point size (S170), and a step of displaying n number of correlations based on the size information of the point displayed in the step "S170". Do The construction stage (S180 to S210) consists of n Do A step of verifying a route for the unmanned vehicle and simulating a flight route according to the speed and time of the unmanned vehicle (S230), and Do Based on the verification and simulation results, Do Output and whole collision Do'sThe method may include storing the output information in a database corresponding to the route ID (S240).

[0070] In the step of expressing the size of the points (S170), the spatial vector points of the flight area of ​​the unmanned aerial vehicle are predicted based on information such as meteorological information, wind strength, and the size of the unmanned aerial vehicle.

[0071] The magnitude of each space vector point is determined based on the weather information, wind strength information, and size information of the unmanned moving object at each point. Therefore, in the step of expressing the point size (S170), once the magnitude of each space vector point is determined, the magnitude is reflected to each point in the three-dimensional airspace space.

[0072] Also, the space vector points can express certain information in the 3D airspace. Basically, the space vector points have latitude, longitude and height in EPSG:4326 (WGS84), which is an Earth ellipsoid coordinate system, and each point expresses information that affects the movement of the conjugate and unmanned vehicle, such as airspace spatial XYZ coordinates, render index for search and visualization, flight point number, mission type, mission command and behavior mode.

[0073] Meanwhile, the space vector point further includes a time vector, and in this case, the 4-dimensional space and time vector point represents information that affects the movement of the airspace and the unmanned vehicle, such as the time of occupancy of the flight path by the unmanned vehicle, the duration of occupancy, and the sign information of the occupying unmanned vehicle.

[0074] n number of coli Do The steps of constructing (S180 to S210) are performed by forming a starting point by reflecting the size and expression information of each point in detail. Do The step of generating (S180), Door structure In step S190, a detection and avoidance type is selected. Do The step of constructing (S200) and n number of columns To Do The method includes the step of extracting the m included space vector points (S210).

[0075] Departure Kori Do In the generating step (S180), a route size is determined based on the point size of each point, and a starting collision map is generated based on the determined route size. Do Generate.

[0076] Cori Door structure In the step of selecting a configuration type and an obstacle detection and avoidance type (S190), a user can select one of a configuration type of a click type or an automated type.

[0077] In the user click type, a route is generated according to the selected point cloud by clicking a desired direction to the destination point on the virtual keyboard, and the route is rendered by linearly interpolating the spatial coordinates of the travel direction between each point. Door structure If there is an obstacle, building, or terrain in the direction of travel, the system will notify the user and can block route construction in that direction.

[0078] Depending on the user click type configuration, Do For detailed operations of constructing the path, please refer to the embodiment of FIG.

[0079] For the automated type, input the arrival point, right or left mode, or set the automatic mode with the latitude and longitude angles of the departure point and arrival point. At this time, the route is calculated based on the space vector point with the shortest distance. Door structure If an obstacle, building, or terrain is present in front of the travel path, an avoidance path is calculated according to the selected obstacle detection and avoidance type, and the final calculated path is rendered.

[0080] Depending on the type of automation configuration, Do For detailed operations of constructing the path, please refer to the embodiment of FIG.

[0081] The method of detecting obstacles may be based on the position information of the terrain features in the point cloud airspace. In this case, obstacles can be detected based on the route direction from the corresponding point and the position of the terrain features when constructing a route including points located in close proximity to the position of the terrain features.

[0082] Another method for detecting obstacles may be based on route information previously selected by other unmanned vehicles. In this case, points located at positions corresponding to routes previously occupied by other unmanned vehicles may be detected as obstacles when constructing a route.

[0083] Obstacle detection and avoidance type is Kori Dough type Or one of the curve types can be selected. Do The type allows obstacles to be avoided using other space vector points in the vicinity when an obstacle is detected in the direction of the path. The curve type allows obstacles to be avoided using Bezier curve interpolation points when an obstacle is detected in the direction of the path.

[0084] n number of coli Do In the construction step (S200), n number of cores are constructed in the 3D airspace through the steps of “S180” and “S190”. Do The core is constructed through the process of “S180” or “S200”. Do is The size of the path is determined by the size of the points contained in the space that the path occupies, i.e., the colli Do's The size is determined. Here, Do's The size is Kori Do's This means the diameter or cross-sectional area perpendicular to the direction of travel.

[0085] Also, Cori Do is In addition, the time-dependent point appearance information, i.e., the time of occupancy of the route by the unmanned mobile unit, the duration of occupancy, and sign information of the occupying unmanned mobile unit can be reflected to determine the time-dependent point appearance information.

[0086] This is how the coli is structured. Docan express the desired information. Do's The information displayed is the route ID, Door structure Formation type (e.g., user-click type, automated type) and / or obstacle detection and avoidance type (e.g., collision Dough type , curved type), distance from the starting point, total arrival time based on routing speed, etc.

[0087] At this time, Kori Do is At each point in the space it occupies, it can be displayed in a different state (e.g., color, transparency, etc.) according to the time sequence. Do is At each point in the occupied space, information (e.g., ID, etc.) of the unmanned moving body occupying the space can be displayed in chronological order.

[0088] n number of cells in the “S200” process Door structure Once the synthesis is complete, n cells are Do The m space vector points included in the 3D airspace are extracted (S210). The m space vector points extracted in the step "S210" and their information are separated and managed independently in order to generate and manage a number of flight routes separately from the space vector points in the 3D airspace.

[0089] If, during this process, Do If you select the starting point again during the configuration, you need to repeat the process after “S150” to create n columns. Do It can be reconstructed. Do If you are configuring, the existing configured Do It can also be deleted or reconstructed in between.

[0090] n number of coli Do If the verification fails in the step of verifying and simulating the path for Do At this time, the collisions for routes that fail verification can be reconstructed. Do In the storing step (S240), n number of columns are stored. DoIn the step of verifying and simulating the routes for the 1000th generation, when the verification and simulation for all the routes are completed, the entire correlation coefficient is calculated. Do's Output the information and Do's The output information is stored in a database corresponding to the route ID.

[0091] FIG. 3 shows a configuration type of a user click type according to an embodiment of the present invention. Do 4 is a flowchart showing detailed constituent operations.

[0092] Referring to Figure 3, the user click type configuration type is Do When configuring the method, the steps may include a step of setting a user click mode (S310), a step of generating a route (S320), a step of interpolating (S330), and a step of rendering a route (S340).

[0093] In the path generation step (S320), a path is generated based on a point selected by the user clicking up, down, left, right, etc. on the virtual keyboard to the destination point. In the interpolation step (S330), linear interpolation is performed on the spatial coordinates of the travel direction between each point.

[0094] In the route rendering step (S340), the route generated by the user's click input to the destination point is rendered. Door structure If there are obstacles, buildings, or terrain in the direction of travel, the system will notify the user and can block route construction in that direction.

[0095] FIG. 4 shows an automated configuration type according to an embodiment of the present invention. Do 4 is a flowchart showing detailed constituent operations.

[0096] Referring to Figure 4, the core is divided into two types according to the automation configuration. Do When configuring the method, it may include an automatic mode setting step (S410), a route calculation step (S420), an obstacle detection and avoidance step (S440), and a route rendering step (S450).

[0097] In the automatic mode setting step (S410), the arrival point, right side mode or left side mode is input, or the automatic mode is set by the latitude and longitude angles of the departure point and arrival point. In the route calculation step (S420), a route is calculated based on the space vector point with the shortest distance to the arrival point based on the information set in the automatic mode setting step (S410).

[0098] In the obstacle detection and avoidance step (S430, S440), if an obstacle, building, terrain, etc. is detected in front of the traveling path (S430), the obstacle detection and avoidance type (e.g., Dough type The system calculates an avoidance route based on the type of obstacle (curve type).

[0099] In the route rendering step S450, if the final route is calculated through the route calculation step S420 and the obstacle detection and avoidance steps S430 and S440, the final calculated route is rendered.

[0100] FIG. 5 is a diagram illustrating a point cloud airspace volume according to an embodiment of the present invention.

[0101] 5, in the point cloud airspace space 510, points are defined as a set of points in the area space as basic space vector points. In the point cloud airspace space 510 consisting of a set of points, the intervals between each point are determined by a default interval corresponding to the horizontal and vertical values ​​of the area range when the user clicks to set the area in which the route is displayed, or are determined by an interval derived by a set algorithm.

[0102] In this case, when the route of the unmanned vehicle is displayed based on each spatial vector point of the point cloud airspace space 510, the space is not complicated compared to the conventional cube or lattice form, and therefore the recognition and visualization of the surrounding environment is improved, and the route of the unmanned vehicle is easily calculated. Do It is easy to construct and express.

[0103] FIG. 6 shows a route collation according to an embodiment of the present invention. Do raw 13 is a diagram showing an example of a configuration and object detection operation.

[0104] Referring to FIG. 6, if one of the space vector points in the point cloud airspace is selected as a starting point 610, a route 620 starting from the selected starting point 610 is calculated to obtain a collision. Do The magnitude of the spatial vector point is determined based on the meteorological information, wind strength information, and size information of the unmanned moving object at each point, and the size of the route is determined by reflecting the size of the point at each point, and the starting coordinate system is determined based on the determined size of the route. Do Generate.

[0105] Cori Do If an obstacle is detected during the configuration, the route is calculated to avoid the obstacle. Do In this case, a large number of (n) collimators are constructed in the point cloud airspace. Do It can be configured.

[0106] FIG. 7 shows a colloid according to an embodiment of the present invention. Do's FIG.

[0107] Referring to FIG. 7, the magnitude of each space vector point 710 in the point cloud airspace space is determined based on the weather information, wind strength information, and size information of the unmanned moving object at each point.

[0108] At this time, Kori Do7 20, the size of the path, i.e., the Coriolis, is determined by the size of the points 710 that the path occupies. Do's The size is determined. Here, Do7 The size of 20 is Kori Do7 This refers to the diameter or cross-sectional area perpendicular to the direction of travel of the tube 20.

[0109] Also, Cori Do720 can be determined by additionally reflecting time-dependent point appearance information, i.e., the time of occupancy of the route by the unmanned mobile unit, the duration of occupancy, and sign information of the occupying unmanned mobile unit.

[0110] 8 and 9 show a multi-core core according to an embodiment of the present invention. Do 13 is an exemplary diagram showing an operation in which a path is displayed in a three-dimensional airspace space.

[0111] A large number (n) of collisions in the point cloud airspace Do A large number of such configured cores can be Do The path of the collision is expressed in three-dimensional space. Do's The route is shown in various forms as shown in FIG. 8 and FIG.

[0112] As an example, Do is Each point that the path occupies is displayed with a different color, transparency, etc. depending on the time sequence.

[0113] FIG. 10 is an example diagram illustrating a collision detection and avoidance pattern of a route according to an embodiment of the present invention.

[0114] Referring to Figure 10, Do's When constructing a route, obstacles in the direction of travel of the route, such as buildings, structures, terrain features, and pre-selected routes by other unmanned vehicles, are detected.

[0115] In this way, when an obstacle is detected in the direction of the route, the route is created by avoiding the obstacle to prevent the unmanned vehicle from colliding with the obstacle during flight. Dough type Or, one of the curve types is selected.

[0116] Cori Dough type When an obstacle is detected in the traveling direction of the path and a collision is predicted, 1010 can prevent a collision with the obstacle by selecting other space vector points in the vicinity to construct a path to avoid the obstacle.

[0117] The curve type 1020 can prevent collisions with obstacles by constructing a path to avoid obstacles using Bezier curve interpolation points for sections where obstacles exist, rather than constructing a path based on surrounding spatial vector points.

[0118] FIG. 11 is a schematic diagram of a coliform endothelial cell according to an embodiment of the present invention. Do's FIG. 13 is an exemplary diagram showing a route verification and simulation operation.

[0119] Referring to Figure 11, n cells Do The paths to can overlap in space. Do When unmanned vehicles fly along each of the routes, collisions may occur at certain intervals. Do's When flying along a route, there is a risk of collision with an obstacle due to the surrounding environment, etc.

[0120] To prevent this, Do It is possible to carry out a virtual flight simulation according to the plan set for the route, and to check in advance whether a collision will occur between unmanned vehicles or with an obstacle, etc.

[0121] As an example, the simulation motion for a flight path is Do A virtual route image and a virtual unmanned mobile object image for each route are displayed, and the position of the virtual unmanned mobile object image is changed and displayed based on the flight plan based on the speed and time of the unmanned mobile object set for each route, thereby making it possible to check the flight status of the unmanned mobile object for each route.

[0122] If a collision occurs during the route simulation, it is considered a failure. Do At this time, some of the Do On the other hand, if n colli DoOnce the route verification and simulation for the entire Do's The output information is stored and managed in a database corresponding to the route ID.

[0123] In this way, according to the embodiment of the present invention, the collision detection is performed by using the point cloud in the three-dimensional airspace. Do By defining it, the flight path of an unmanned vehicle can be easily generated and displayed in detail.

[0124] In addition, the present invention utilizes point clouds to generate flight paths in a three-dimensional airspace, so multiple paths can be generated simultaneously.The present invention also provides a safe flight path by reflecting and interpolating environmental information of obstacles, buildings, and / or terrain in the flight path's direction, verifying and simulating the same, thereby minimizing the occurrence of collision accidents during the flight of an unmanned vehicle.

[0125] As described above, preferred embodiments of the present invention have been described. However, the present invention is not limited to the above-described embodiments, and various modifications may be made by a person having ordinary knowledge in the technical field to which the invention pertains without departing from the gist of the present invention as claimed in the claims. Such modifications should not be understood separately from the technical ideas and perspectives of the present invention. [Industrial Applicability]

[0126] The present invention uses a point cloud in a three-dimensional airspace to construct a flight path for an unmanned vehicle. Do By defining and expressing the route precisely and easily, it is easy to control the unmanned vehicle. We provide a four-dimensional route expression method for an unmanned vehicle using a point cloud that provides a precise and safe route in response to collision accidents during flight of the unmanned vehicle. [Explanation of symbols]

[0127] 100 Systems 110 Point cloud airspace generation unit 120 Route Generation and Control Management Department 121 Object and Terrain Detection Unit 125 Cory Do calculation Debe 130 Route Verification and Simulation Department 140 Route storage unit 510 Point Cloud Airspace 610 Starting point 620 Route starting from a starting point 710 Points occupied by a route 720 Cori Do 1010 Cori Dough-shaped path 1020 Curved Route

Claims

1. Defining a point cloud-based three-dimensional airspace space for generating a flight path for an unmanned vehicle; and generating and displaying a flight path of the unmanned vehicle using a point cloud in the three-dimensional airspace; The flight path is generated based on point spacing, point size, and appearance information of each point of the point cloud; A method for displaying a four-dimensional route for an unmanned mobile vehicle using a point cloud, characterized in that the point size is determined by predicting spatial vector points of the unmanned mobile vehicle's possible flight area based on meteorological information, wind strength, and size information of the unmanned mobile vehicle at each point within the three-dimensional airspace.

2. 2. The method of claim 1, wherein the step of generating and displaying the flight path includes a step of generating a four-dimensional path by adding time information to the flight path generated using the point cloud.

3. 2. The method of claim 1, wherein the point interval is determined based on an initially determined default value, a value determined by a preset algorithm, a value determined reflecting the surrounding environment of the three-dimensional airspace, or a parameter value changed by a user.

4. 2. The method of claim 1, wherein the three-dimensional airspace space is defined as a set of space vector points, and the space vector points each have latitude, longitude, and altitude in a coordinate system of an Earth ellipsoid, and represent at least one of XYZ coordinates, a render index, a flight point number, a mission type, a mission command, and a behavior pattern.

5. The method for displaying a four-dimensional path of an unmanned mobile body using a point cloud as described in claim 4, characterized in that the spatial vector points further include a time vector and display at least one of the following information for the flight path of the unmanned mobile body: occupancy time, occupancy duration, and sign information of the occupying unmanned mobile body.

6. 2. The method of claim 1, wherein the flight path is displayed as a corridor, and the points and information constituting each corridor are managed independently and separately.

7. 7. The method for displaying a four-dimensional route for an unmanned vehicle using a point cloud according to claim 6, wherein the size of the diameter or cross-sectional area of ​​the corridor in a direction perpendicular to the direction of travel of the corridor in the space it occupies is determined according to the size of the points the route occupies.

8. The method for displaying a four-dimensional route for an unmanned vehicle using a point cloud according to claim 7, wherein the size of the corridor is determined by additionally reflecting the occupancy time of the point, the occupancy time, and the sign information of the occupying unmanned vehicle.

9. 7. The method of claim 6, wherein the corridor has at least one of display information including a route ID, a route configuration type, an obstacle detection and avoidance type, a distance from a starting point, and an arrival time according to a route setting speed.

10. The method of claim 6, wherein the corridor is displayed with different color and transparency states depending on a time sequence at each point in a space occupied by the route.

11. 7. The method for displaying a four-dimensional route for an unmanned vehicle using a point cloud as claimed in claim 6, wherein the corridor represents information of the unmanned vehicle occupying each point in the space occupied by the route in a time order, and represents information of the unmanned vehicle in the order in which it occupies the corresponding points.

12. The step of defining the three-dimensional airspace space includes: Collecting two-dimensional position information for a route generation area for generating a flight route of the unmanned vehicle; determining a range of a route generation area based on the collected two-dimensional position information; generating a point cloud airspace space composed of space vector points based on the determined range of the path generation area to define a three-dimensional airspace space; modifying the point cloud airspace space according to surrounding environment of the 3D airspace space or a user request; 2. The method of claim 1, further comprising: rendering the three-dimensional airspace.

13. 13. The method of claim 12, wherein the point cloud airspace space is defined by one or more of a point size, an X-axis, Y-axis, and Z-axis interval between points, a weight value for the point interval, and a position in the airspace space.

14. 14. The method of claim 13, wherein the step of modifying the point cloud airspace space comprises modifying at least one parameter value among a point size, an X-axis, Y-axis, and Z-axis interval between points, a weight value for a point interval, and a position in the airspace space.

15. The step of generating and displaying a flight path of the unmanned vehicle includes: selecting a starting point among space vector points within the three-dimensional airspace volume; predicting a space vector point of a flight possible area based on meteorological information, wind strength information, and size information of the unmanned moving object of the selected starting point, and expressing the information of the point as a size of a point; generating a starting corridor based on the size and expression information of each point; selecting a corridor configuration type and an obstacle detection and avoidance type; and constructing n corridors based on the sizes of the displayed points.

16. The step of selecting the corridor construction type and the obstacle detection and avoidance type includes: Selecting one of a user-click type and an automated type to configure a corridor for a flight path of the unmanned vehicle; 16. The method of claim 15, further comprising the step of selecting one of an obstacle detection and avoidance type, a corridor type and a curve type, to construct an avoidance path when an obstacle is detected in the direction of the flight path.

17. In the step of selecting an obstacle detection and avoidance type, If the corridor type is selected, when an obstacle is detected in the direction of the route, the route is created by avoiding it to other space vector points in the vicinity.

17. The method of claim 16, further comprising the step of constructing a route by avoiding an obstacle detected in a traveling direction of the route using a Bezier curve interpolation point when the curve type is selected.

18. The step of generating and displaying a flight path of the unmanned vehicle includes:

16. The method of claim 15, further comprising: when a start point of the route configured in the step of configuring the corridor is changed, reconstructing the corridor based on the changed start point.

19. Verifying routes corresponding to the n number of corridors configured and simulating a flight route of the unmanned vehicle according to speed and time; outputting an overall corridor based on a verification and simulation result for the n corridors, and storing output information of the overall corridor in a database corresponding to a route ID, The step of simulating the flight path includes: The method for displaying a four-dimensional route of an unmanned vehicle using a point cloud as claimed in claim 15, characterized in that a virtual route image and a virtual unmanned vehicle image for each route of the n corridors are displayed, and the position of the virtual unmanned vehicle image is variably displayed based on a flight plan based on the speed and time of the unmanned vehicle set for each route.

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