Method for displaying corridors and routes for unmanned vehicles using point clouds

Abstract

To provide a method for displaying a corridor for an unmanned mobile body, which enables an intuitive recognition of the flight environment of the unmanned mobile body. [Solution] The method for displaying a corridor for an unmanned vehicle using a point cloud according to the present invention includes the steps of displaying the spatial vector points within a pre-set three-dimensional airspace, and generating and displaying individual corridors that respectively connect selected spatial vector points among the spatial vector points, wherein each of the spatial vector points includes position information and size information, the individual corridors are displayed in a three-dimensional structure including an interior space in which the unmanned vehicle can fly, and the shape of the individual corridor is determined based on the size information of a pair of adjacent spatial vector points.

Description

[Technical field]

[0001] The present invention relates to a method for displaying corridors and paths for unmanned vehicles using point clouds. [Background technology]

[0002] A Ground Control System is a system that controls the flight of unmanned vehicles such as drones, and most Ground Control Systems are operated based on a two-dimensional (2D) map. In other words, when a specific point on a 2D map is specified by user input, the system determines the route for the unmanned vehicle to fly through that point, or sets the altitude at which the unmanned vehicle will fly.

[0003] However, due to the characteristics of 2D maps, there are limitations to expressing actual environmental information and flight information of unmanned mobile vehicles from a three-dimensional (3D) user's perspective, and when a specific point is specified by user input, there is a risk of erroneous judgment of the altitude of that point. Summary of the Invention [Problem to be solved by the invention]

[0004] The object of the present invention, which has been made to solve the above-mentioned problems, is to provide a method for displaying corridors for unmanned mobile vehicles, which enables intuitive recognition of the flight environment of an unmanned mobile vehicle by displaying the corridor for the unmanned mobile vehicle in three dimensions using a point cloud placed within a three-dimensional airspace.

[0005] Another object of the present invention is to provide a method for displaying corridors for unmanned mobile vehicles that can visualize and provide users with information about a three-dimensional airspace through a large number of spatial vector points placed within the airspace.

[0006] Another object of the present invention is to provide a method for displaying routes for unmanned vehicles, which allows for a variety of options for flight routes for the unmanned vehicle by simultaneously generating multiple routes within a three-dimensional airspace.

[0007] Another object of the present invention is to provide a method for displaying a route for an unmanned mobile unit, which can prevent collision accidents of the unmanned mobile unit by detecting obstacles located in the direction of the flight route, generating an avoidance route, and verifying and simulating the generated flight route, thereby providing a safe flight route. [Means for solving the problem]

[0008] A method for displaying a corridor for an unmanned vehicle using a point cloud according to one embodiment of the present invention is a method for displaying a corridor for an unmanned vehicle using a point cloud including a plurality of spatial vector points, and includes a step of displaying the spatial vector points within a pre-defined three-dimensional airspace, and a step of generating and displaying individual corridors connecting selected spatial vector points among the spatial vector points, wherein each of the spatial vector points includes position information and size information, the individual corridor is displayed in a three-dimensional structure including an internal space in which the unmanned vehicle can fly, and the shape of the individual corridor is determined based on size information of a pair of adjacent spatial vector points.

[0009] Also, the shape of the individual corridor may be determined to be one of a first shape in which the cross-sectional area increases, a second shape in which the cross-sectional area is maintained constant, and a third shape in which the cross-sectional area decreases.

[0010] In addition, the individual corridor includes a first end and a second end each connected to the pair of adjacent space vector points, and a size of the first end of the individual corridor is determined corresponding to magnitude information of the space vector point to which the first end is connected, and a size of the second end of the individual corridor is determined corresponding to magnitude information of the space vector point to which the second end is connected.

[0011] Additionally, each of the space vector points is displayed as a sphere having a diameter corresponding to the magnitude information.

[0012] In addition, the outer periphery of the individual corridor is formed by a set of tangents connecting the pair of adjacent space vector points.

[0013] Additionally, the outer circumferential surface of the individual corridor is formed of a set of straight lines connecting the first end and the second end.

[0014] Also, each of the space vector points is displayed in a three-dimensional shape having a size that is consistent with the size information, or a three-dimensional shape having a size that is a certain ratio of the size information.

[0015] Additionally, each of the spatial vector points further includes weather information, and the magnitude information is calculated corresponding to the weather information, but is periodically updated in response to fluctuations in the weather information.

[0016] In addition, the weather information includes wind speed information and wind direction information, and a visualization element showing the wind speed information and the wind direction information is displayed at at least one space vector point among the space vector points.

[0017] The three-dimensional airspace includes a first area and a second area, and an interval between the space vector points arranged in the first area and the space vector points arranged in the second area is set to be different.

[0018] Further, the three-dimensional airspace includes a first region and a second region, and the hues of at least one space vector point arranged in the first region and at least one space vector point arranged in the second region are set to be different from each other.

[0019] The method may further include changing at least one of a size, an interval, and a color of space vector points located in at least a portion of the three-dimensional space.

[0020] Furthermore, each of the space vector points may include the time and duration of occupancy by the unmanned mobile object, and identification information of the unmanned mobile object.

[0021] A method for displaying a corridor for an unmanned vehicle using a point cloud according to one embodiment of the present invention is a method for displaying a corridor for an unmanned vehicle using a point cloud including a plurality of spatial vector points, and includes the steps of displaying the spatial vector points within a pre-defined 3D airspace, and displaying a corridor for the unmanned vehicle including n (n is an integer equal to or greater than 3) spatial vector points among the spatial vector points and n-1 individual corridors connected between the n spatial vector points, wherein each of the spatial vector points includes position information and size information, a shape of an n-2th individual corridor among the n-1 individual corridors is determined corresponding to size information of the n-2th spatial vector point and the n-1th spatial vector point among the n spatial vector points, and a shape of an n-1th individual corridor among the n-1 individual corridors is determined corresponding to size information of the n-1th spatial vector point and the nth spatial vector point among the n spatial vector points.

[0022] Additionally, each of the spatial vector points further includes weather information, and the magnitude information is calculated corresponding to the weather information, but is periodically updated in response to fluctuations in the weather information.

[0023] The weather information may also include wind direction information and wind speed information.

[0024] A method for displaying a route for an unmanned vehicle using a point cloud according to one embodiment of the present invention includes a step of defining a three-dimensional airspace based on a point cloud for generating a flight route for an unmanned vehicle, and a step of generating and displaying the flight route for the unmanned vehicle using a point cloud within the three-dimensional airspace, wherein the point cloud is composed of a number of spatial vector points including information that affects the movement of the unmanned vehicle, the flight route is generated based on a spatial vector point selected from the spatial vector points and an individual corridor connecting the selected spatial vector points, and a shape of the individual corridor is determined based on magnitude information of a pair of adjacent spatial vector points.

[0025] In addition, the step of defining the three-dimensional airspace may include a step of collecting position data for a route generation area in which a flight path of the unmanned mobile vehicle is generated, a step of determining the extent of the route generation area based on the collected position data, a step of defining a three-dimensional airspace in which the point cloud is to be placed based on the determined extent of the route generation area, a step of changing characteristics of the point cloud according to the surrounding environment of the three-dimensional airspace or a user request, and a step of rendering the three-dimensional airspace.

[0026] Also, the step of changing the characteristics of the point cloud may change at least one of the size, interval, position, and color of the space vector points constituting the point cloud.

[0027] In addition, the step of generating and displaying a flight path of the unmanned mobile body may include a step of selecting a starting point from among space vector points in the three-dimensional airspace, a step of predicting a flight area based on information of the selected starting point and size information of the unmanned mobile body, a step of selecting a corridor configuration type and an obstacle avoidance type, and a step of constructing a number of corridors based on information of space vector points located within the flight area.

[0028] In addition, the step of selecting the corridor configuration type and the obstacle avoidance type may include a step of selecting one of a user selection type and an automated type to configure a corridor for a flight path of the unmanned vehicle, and a step of selecting one of an obstacle avoidance type and a corridor type to configure an avoidance path when an obstacle is detected in the direction of the flight path.

[0029] In addition, the step of selecting the obstacle avoidance type may include a step of forming a path by avoiding an obstacle at a nearby space vector point when an obstacle is detected in the traveling direction of the path if a corridor type is selected, and forming a path by avoiding an obstacle at a Bezier curve interpolation point when an obstacle is detected in the traveling direction of the path if a curve type is selected.

[0030] The method further includes a step of verifying routes corresponding to the configured multiple corridors and simulating a flight route of the unmanned vehicle based on speed and time, and a step of outputting an entire corridor based on verification and simulation results for the multiple corridors and storing output information of the entire corridor in a database, and the step of simulating the flight route displays a virtual route image and a virtual unmanned vehicle image for each route of the multiple corridors, and variably displays the position of the virtual unmanned vehicle image based on a flight plan based on the speed and time of the unmanned vehicle set for each route. Effect of the Invention

[0031] According to the present invention, a method for displaying corridors for unmanned mobile vehicles can be provided, which allows for intuitive recognition of the flight environment of an unmanned mobile vehicle by three-dimensionally displaying the corridors for unmanned mobile vehicles using a point cloud placed within a three-dimensional airspace.

[0032] In addition, according to the present invention, a method for displaying corridors for unmanned mobile vehicles can be provided, which can visualize and provide information about a three-dimensional airspace to a user through a large number of spatial vector points placed within the airspace.

[0033] In addition, according to the present invention, it is possible to provide a method for displaying routes for unmanned mobile bodies, which allows for a variety of options for flight routes for the unmanned mobile body by simultaneously generating multiple routes within a three-dimensional airspace.

[0034] In addition, according to the present invention, a method for displaying a path for an unmanned mobile unit can be provided, which detects obstacles located in the direction of the flight path, generates an avoidance path, and verifies and simulates the generated flight path, thereby providing a safe flight path and preventing collision accidents of the unmanned mobile unit. [Brief description of the drawings]

[0035] [Figure 1] 1 illustrates a system according to an embodiment of the present invention. [Diagram 2] 1 is a diagram showing a method for displaying a corridor for an unmanned vehicle according to one embodiment of the present invention. [Diagram 3] 1 is a diagram illustrating a three-dimensional airspace and space vector points according to an embodiment of the present invention. [Figure 4] 1 is a diagram showing a corridor according to an embodiment of the present invention. [Diagram 5] 13 is a diagram showing a corridor according to another embodiment of the present invention. [Figure 6a] 1 is a diagram illustrating the form of a space vector point according to an embodiment of the present invention. [Figure 6b] 1 is a diagram illustrating the form of a space vector point according to an embodiment of the present invention. [Figure 6c] 1 is a diagram illustrating the form of a space vector point according to an embodiment of the present invention. [Figure 6d] 1 is a diagram illustrating space vector points on which visualization elements are displayed according to an embodiment of the present invention; [Figure 7] 1 is a diagram showing a method for displaying a route for an unmanned vehicle according to an embodiment of the present invention; [Figure 8] 1 is a diagram showing a three-dimensional airspace definition step according to an embodiment of the present invention. [Figure 9]4 is a diagram showing a step of generating and displaying a flight path according to an embodiment of the present invention. [Figure 10] 1 is a diagram illustrating a route verification and simulation step and a database storage step according to an embodiment of the present invention. [Figure 11] 1 is a diagram illustrating a method for generating a corridor according to an embodiment of the present invention. [Figure 12] 1 is a diagram showing a plurality of corridors displayed in a three-dimensional airspace according to an embodiment of the present invention. [Figure 13] 1 is a diagram illustrating a collision detection and avoidance pattern according to an embodiment of the present invention. [Figure 14] 1 is a diagram illustrating a route verification and simulation operation according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0036] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a method for displaying a corridor and a route for an unmanned vehicle using a point cloud according to the present invention will be described with reference to the drawings related to the embodiments of the present invention.

[0037] Figure 1 is a diagram showing a system according to an embodiment of the present invention. As shown in Figure 1, the system (100) according to an embodiment of the present invention includes an airspace control unit (110), a route management unit (120), and a corridor generation unit (130), and may further include a route verification unit (140) and a route storage unit (150). The system (100) displays a corridor and a flight route for an unmanned vehicle using a point cloud on a user terminal or a display device through the above-mentioned components.

[0038] The airspace control unit (110) can define a three-dimensional airspace in which the flight path of the unmanned vehicle is displayed. To this end, the airspace control unit (110) collects position data that can determine the range of the three-dimensional airspace. For example, the airspace control unit (110) can receive position data for the three-dimensional airspace directly input from a user or from a separate Geographic Information System (GIS).

[0039] The position data related to the three-dimensional airspace is defined as data that can identify the position and range of the three-dimensional airspace, and is provided in the form of a coordinate system or administrative district (e.g., city, province, district, county, etc.). In addition, when the three-dimensional airspace is set, the airspace control unit (110) can generate and arrange a point cloud within the previously set three-dimensional airspace. At this time, the point cloud is defined as a collection of a number of space vector points.

[0040] The space vector points are visualized and displayed in a three-dimensional shape in a three-dimensional airspace, and each may include identification information, location information, weather information, size information, etc. For example, the identification information is information given to each space vector point to identify the space vector point, and the location information may include latitude, longitude, and altitude (e.g., absolute altitude and / or relative altitude) that can identify the location of the space vector point.

[0041] Weather information means weather information at the location where the spatial vector point is located, and such weather information is obtained from an external database by referring to the location information of the spatial vector point. Also, the weather information is periodically updated over time. For example, the weather information may include information (e.g., value, duration, amount, degree, direction, etc.) related to temperature, humidity, rain, snow, fog, hail, typhoon, thunder, lightning, gusts, yellow dust, wind, particulate matter, etc., and among these, wind speed and wind direction are managed as sensitive weather information.

[0042] The sensitive weather information, such as wind speed and wind direction, is visualized and displayed on the spatial vector points, and therefore the spatial vector points are displayed with visualization elements showing the wind speed and wind direction, respectively. For example, the visualization elements are displayed in a three-dimensional form whose length and direction can be changed, and the length and direction are changed according to the wind speed and wind direction.

[0043] The magnitude information is information indicating the size of the space vector point displayed in a three-dimensional shape, and for example, when the space vector point is displayed in a sphere shape, the magnitude information may be defined as the diameter of the space vector point, and when the space vector point is displayed in a hexahedron shape, the magnitude information may be defined as the width, length, and height of the space vector point. However, the shape of the magnitude information is not limited thereto, and may be changed into various shapes according to the shape of the space vector point.

[0044] At this time, the airspace control unit 110 determines the visual size of each space vector point according to the size information of the space vector point. For example, the airspace control unit 110 displays the space vector point in a three-dimensional shape having a size that matches the size information without processing the size information, or displays the space vector point in a three-dimensional shape having a size that is enlarged or reduced compared to the size information by applying a certain ratio to the size information.

[0045] In addition, the magnitude information can be calculated according to weather information and is periodically updated according to the fluctuation of the weather information. For example, the magnitude information can be calculated according to wind speed and wind direction, which are sensitive weather information, and the size and speed of the unmanned moving object can be considered as additional factors. In this case, the magnitude information of the space vector point is calculated according to the following function form.

[0046] M=F(a, b, c, d) Here, M is the magnitude information of the spatial vector point, a is the wind speed, b is the wind direction, c is the size of the unmanned mobile body, and d is the speed of the unmanned mobile body.

[0047] Meanwhile, each space vector point may further include obstacle information, regulation information, and occupancy information by an unmanned moving object. For example, the obstacle information may include information on whether an obstacle exists at the location where the space vector point is located (e.g., fixed obstacle, temporary obstacle, etc.) and information on the type of obstacle (e.g., building, terrain, occupancy of other unmanned moving objects, emergency situation, whether flight is prohibited, etc.), and the regulation information may include information on whether the location where the space vector point is located is set as a no-fly zone or a flight-permitted zone.

[0048] Occupancy information by an unmanned mobile object may include the time when the unmanned mobile object occupies a spatial vector point, the duration of occupancy, and information about the unmanned mobile object occupying the spatial vector point (e.g., identification information, type, size, weight, speed, etc.).

[0049] Meanwhile, information included in the space vector point (e.g., identification information, location information, weather information, size information, obstacle information, regulation information, occupancy information by unmanned moving objects, etc.) is displayed in more detail in response to user input. For example, when a user selects a specific space vector point for which he / she wishes to inquire about detailed information using an input means (e.g., a mouse, etc.), the information of the selected space vector point is displayed in a separate area in the form of text, graphics, pictures, etc.

[0050] For example, in the case of information that changes over time (e.g., weather information, obstacle information, occupancy information by unmanned moving objects, etc.), the information is displayed by time period. The intervals of the space vector points arranged in the three-dimensional airspace are set to initial values ​​or are determined by a preset algorithm. For example, the intervals of the space vector points are changed to reflect the surrounding environment, such as topographical features located in the three-dimensional airspace. Also, the intervals of the space vector points are adjusted in response to user input.

[0051] In addition, the color of the space vector points is set to be different. For example, the color of the space vector points is changed to reflect at least one of the weather information, size information, obstacle information, regulation information, and occupancy information by unmanned moving objects of the space vector points. In other words, the interval and / or color of the space vector points are changed according to the surrounding environment or the characteristics of the space vector points, so that the characteristics of the 3D airspace can be more intuitively conveyed to the user.

[0052] The route management unit (120) predicts (or searches) the flight area of ​​the unmanned mobile unit based on information included in each space vector point in the three-dimensional airspace (e.g., weather information, size information, obstacle information, regulation information, occupancy information by the unmanned mobile unit, etc.) and the size of the unmanned mobile unit, and selects a space vector point within the predicted flight area. At this time, the route management unit (120) visualizes the information of the selected space vector point as the size of the space vector point and displays it. In other words, the size of the space vector point located in the flight area can be changed depending on the wind speed, wind direction, size and speed of the unmanned mobile unit, etc.

[0053] The flight path of an unmanned vehicle can be displayed as a corridor, and for example, the flight path of an unmanned vehicle is composed of one or more individual corridors or a number of individual corridors each connected between a number of space vector points. In other words, a corridor showing the flight path of an unmanned vehicle is composed of one or a number of individual corridors, and an individual corridor means a unit corridor connected between a pair of adjacent space vector points.

[0054] The corridor generating unit (130) calculates one or more flight paths using the point cloud of the predicted flight area, and generates a corridor based on the calculated flight paths. For example, the corridor generating unit (130) can calculate a three-dimensional flight path based on information on space vector points (e.g., weather information, size information, obstacle information, regulation information, occupancy information by unmanned vehicles, etc.) within the flight area and the interval between the space vector points, and display information related to the three-dimensional flight path.

[0055] Also, the corridor generating unit (130) configures a number of corridors based on preset corridor configuration types and obstacle avoidance types. The corridor configuration type is selected from either a user selection type or an automated type. In the user selection type, if a user selects a space vector point along a desired direction through an input means (e.g., a virtual keyboard, etc.), a flight path is generated according to the selected space vector point, and a flight path to an arrival point is generated through linear interpolation of space coordinates corresponding to a traveling direction between the space vector points. In the automated type, a starting point and an arrival point are input, and a path is generated based on a space vector point with the shortest distance from among all possible routes that can be generated from the starting point to the arrival point. In this case, the starting point and the arrival point are selected from the space vector points of the point cloud.

[0056] The obstacle avoidance type can be selected from either the corridor type or the curve type. The corridor type generates a route by avoiding an obstacle to another space vector point if an obstacle is detected on the flight path in the 3D airspace. The curve type generates a route by avoiding an obstacle to a Bezier curve interpolation point if an obstacle is detected on the flight path in the 3D airspace.

[0057] At this time, the spatial vector points and information constituting each corridor are stored and managed independently. Furthermore, the corridor is configured to reflect information on the spatial vector points according to time, for example, the time of occupancy by an unmanned vehicle, the occupancy period, and the identification information of the occupying unmanned vehicle.

[0058] Also, each corridor can display predetermined information, for example, identification information of the flight route, corridor configuration type (user selection type, automated type), obstacle avoidance type (corridor type, curve type) for buildings and terrain on the flight route, distance from the starting point, arrival time, etc. At this time, each corridor can display the display state of the space vector point, for example, color, transparency, etc., differently according to the time sequence, and displays information (for example, identification information, etc.) of the unmanned moving object occupying the space vector point according to the time sequence, and displays the information of the unmanned moving object in the order of occupancy of the space vector point.

[0059] Meanwhile, the individual corridor is displayed as a three-dimensional structure including an internal space in which the unmanned vehicle can fly, and the form of the individual corridor is determined based on the size information of a pair of adjacent space vector points. For example, the form of the individual corridor is determined to be one of a first form in which the cross-sectional area increases, a second form in which the cross-sectional area is kept constant, and a third form in which the cross-sectional area decreases. Also, the cross-sectional area of ​​the individual corridor is defined as the area of ​​a cross section perpendicular to the flight path direction or the area of ​​a cross section perpendicular to a straight line connecting the center points of a pair of adjacent space vector points.

[0060] The individual corridor may include a first end and a second end connected to a pair of adjacent space vector points, respectively, and an outer periphery connected between the first end and the second end. In this case, the size of the first end of the individual corridor is determined according to the size information of the space vector point to which the first end is connected, and the size of the second end of the individual corridor is determined according to the size information of the space vector point to which the second end is connected. In addition, the outer periphery of the individual corridor is composed of a set of straight lines connected between the first end and the second end.

[0061] For example, when the space vector points are displayed on a sphere having a diameter corresponding to the size information, the outer surface of the individual corridor is composed of a set of tangents connecting a pair of adjacent space vector points. Also, the first end and the second end of the individual corridor can be defined through a closed curve or a plane, and are arranged so as to be perpendicular to the flight path or perpendicular to a straight line connecting the center points of a pair of adjacent space vector points.

[0062] The route verification unit (140) can verify and simulate the flight route for each corridor. For example, the route verification unit (140) can verify and simulate the flight route according to the speed and time of the unmanned vehicle, and the output of the entire corridor verified by the route verification unit (140) is displayed in a 3D airspace. At this time, the output of the entire corridor is matched with the identification information (e.g., route ID) of the flight route and stored in the database of the route storage unit (140).

[0063] Fig. 2 is a diagram showing a method for displaying a corridor for an unmanned vehicle according to an embodiment of the present invention, Fig. 3 is a diagram showing a 3D airspace and space vector points according to an embodiment of the present invention, Fig. 4 is a diagram showing a corridor according to an embodiment of the present invention, and Fig. 5 is a diagram showing a corridor according to another embodiment of the present invention. In particular, in Figs. 4 and 5, some space vector points and individual corridors are enlarged for ease of explanation.

[0064] 2, a method for displaying a corridor for an unmanned vehicle according to an embodiment of the present invention may include a 3D airspace definition step (S100), a point cloud display step (S110), and a corridor display step (S120). In the 3D airspace definition step (S100), position data capable of determining the range of the 3D airspace (1) may be collected to define the 3D airspace (1). For example, the position data required for defining the 3D airspace (1) may be directly input by a user or may be input from a separate geographic information system (GIS).

[0065] In the point cloud display step (S110), after the setting of the 3D airspace (1) is completed, a point cloud (2) can be generated and arranged within the 3D airspace (1). As described above, the point cloud (2) is composed of a number of space vector points (P). When the flight path of an unmanned vehicle is displayed based on the space vector points (P) within the 3D airspace (1), the degree of complexity is lower than that of the conventional cube or lattice form, and therefore the visibility and recognition of the surrounding environment is improved, and the construction and display of a corridor is easy.

[0066] 4, in the corridor display step (S120), a corridor (C) showing the flight path of the unmanned vehicle is displayed. Specifically, individual corridors (C1, C2, C3) that respectively connect selected space vector points (P1, P2, P3, P4) among the space vector points (P) that constitute the point cloud (2) are generated and displayed.

[0067] At this time, the individual corridors (C1, C2, C3) are displayed as a three-dimensional structure having an internal space in which the unmanned vehicle can move, and the form of the individual corridors (C1, C2, C3) is determined based on the magnitude information of a pair of adjacent space vector points (P1, P2, P3, P4). For example, the form of the first individual corridor (C1) is determined based on the magnitude information of a pair of adjacent space vector points (P1, P2), the form of the second individual corridor (C2) is determined based on the magnitude information of a pair of adjacent space vector points (P2, P3), and the form of the third individual corridor (C3) is determined based on the magnitude information of a pair of adjacent space vector points (P3, P4).

[0068] The shapes of these individual corridors (C1, C2, C3) are determined to be one of the following: a first shape in which the cross-sectional area increases (see the first individual corridor (C1)), a second shape in which the cross-sectional area remains constant (see the third individual corridor (C3)), and a third shape in which the cross-sectional area decreases (see the second individual corridor (C2)).

[0069] Each individual corridor (C1, C2, C3) may include a first end (Ea1, Ea2, Ea3) and a second end (Eb1, Eb2, Eb3) respectively connected to an adjacent pair of spatial vector points (P1, P2, P3, P4), and an outer circumferential surface (Ec1, Ec2, Ec3) connected between the first end (Ea1, Ea2, Ea3) and the second end (Eb1, Eb2, Eb3).

[0070] For example, a first end (Ea1) of a first individual corridor (C1) is connected to a first spatial vector point (P1), and the magnitude of the first end (Ea1) is determined corresponding to the magnitude information of the first spatial vector point (P1). A second end (Eb1) of the first individual corridor (C1) is connected to a second spatial vector point (P2), and the magnitude of the second end (Eb1) is determined corresponding to the magnitude information of the second spatial vector point (P2). In addition, the outer periphery of the first individual corridor (C1) is composed of a set of straight lines connecting the first end (Ea1) and the second end (Eb1).

[0071] For example, the first space vector point (P1) and the second space vector point (P2) are displayed as a sphere having a diameter corresponding to their size information, and when the size information of the first space vector point (P1) and the second space vector point (P2) differs, the first individual corridor (C1) is displayed in the form of a circular truncated cone. Also, the outer periphery of the first individual corridor (C1) is composed of a set of tangents connecting the first space vector point (P1) and the second space vector point (P2).

[0072] A first end (Ea2) of the second individual corridor (C2) is connected to a second spatial vector point (P2), and the magnitude of the first end (Ea2) is determined corresponding to the magnitude information of the second spatial vector point (P2). A second end (Eb2) of the second individual corridor (C2) is connected to a third spatial vector point (P3), and the magnitude of the second end (Eb2) is determined corresponding to the magnitude information of the third spatial vector point (P3). In addition, the outer periphery of the second individual corridor (C2) is composed of a set of straight lines connecting the first end (Ea2) and the second end (Eb2).

[0073] For example, the second space vector point (P2) and the third space vector point (P3) are displayed as spheres having diameters corresponding to their respective size information, and when the size information of the second space vector point (P2) and the third space vector point (P3) differs, the second individual corridor (C2) is displayed as a truncated cone. Also, the outer periphery of the second individual corridor (C2) is composed of a set of tangents connecting the second space vector point (P2) and the third space vector point (P3).

[0074] A first end (Ea3) of the third individual corridor (C3) is connected to a third spatial vector point (P3), and the magnitude of the first end (Ea3) is determined corresponding to the magnitude information of the third spatial vector point (P3). A second end (Eb3) of the third individual corridor (C3) is connected to a fourth spatial vector point (P4), and the magnitude of the second end (Eb3) is determined corresponding to the magnitude information of the fourth spatial vector point (P4). In addition, the outer periphery of the third individual corridor (C3) is composed of a set of straight lines connecting the first end (Ea3) and the second end (Eb3).

[0075] For example, the third space vector point (P3) and the fourth space vector point (P4) are displayed as spheres having diameters corresponding to their respective size information, and when the size information of the third space vector point (P3) and the fourth space vector point (P4) is the same, the third individual corridor (C3) is displayed in the form of a circular cylinder. Also, the outer periphery of the third individual corridor (C3) is composed of a set of tangents connecting the third space vector point (P3) and the fourth space vector point (P4).

[0076] As described above, each individual corridor (C1, C2, C3) has a shape corresponding to the magnitude information of a pair of adjacent spatial vector points (P1, P2, P3, P4), so each individual corridor (C1, C2, C3) is visualized and displayed in a more precise shape by reflecting surrounding environment information.

[0077] In Fig. 4, each space vector point (P1, P2, P3, P4) is displayed in a three-dimensional shape having a size that matches its own size information, but if necessary to improve visibility, the size of the space vector points (P1, P2, P3, P4) may be adjusted as shown in Fig. 5. For example, by applying a certain ratio to the size information of each space vector point (P1, P2, P3, P4), the size of each space vector point (P1, P2, P3, P4) may be enlarged or reduced for display. Also, if necessary, some space vector points may be inactivated and not displayed.

[0078] 6a to 6c are diagrams showing the form of space vector points according to an embodiment of the present invention, and FIG. 6d is a diagram showing space vector points on which visualization elements are displayed according to an embodiment of the present invention.

[0079] The method for displaying a corridor for an unmanned vehicle according to an embodiment of the present invention may further include changing at least one of the size, interval, and color of the space vector point (P) located in at least a part of the three-dimensional airspace (1). For example, referring to Fig. 6a, the size of the space vector point (Pb) located in the second area (B) is changed. Thus, the size of the space vector point (Pb) located in the second area (B) is set to be different from the size of the space vector point (Pa) located in the first area (A).

[0080] 6b, the interval (W2) of the space vector points (Pb) located in the second region (B) is changed so that the interval (W2) of the space vector points (Pb) located in the second region (B) is set to be different from the interval (W1) of the space vector points (Pa) located in the first region (A).

[0081] 6c, the hue of the space vector point (Pb) located in the second region (B) is changed, so that the hue of the space vector point (Pb) located in the second region (B) is set to be different from the hue of the space vector point (Pa) located in the first region (A).

[0082] At least one of the size, interval, and color of the space vector point (P) is changed based on the information of the space vector point (P). By changing and displaying the characteristics of the space vector point (P) in this manner, the state of the three-dimensional airspace (1) can be visualized in a more intuitive manner and provided to the user.

[0083] Meanwhile, referring to Fig. 6d, a visualization element 5 showing weather information can be displayed on the space vector point Pc according to an embodiment of the present invention. For example, the visualization element 5 is displayed in a three-dimensional form whose length and direction can be changed, and the length and direction are changed according to the wind speed and wind direction, which are sensitive weather information.

[0084] 7 is a diagram showing a method for displaying a route for an unmanned vehicle according to an embodiment of the present invention. Referring to FIG. 7, the method for displaying a route for an unmanned vehicle according to an embodiment of the present invention may include a three-dimensional airspace definition step (S200) and a flight route generation and display step (S210).

[0085] In the 3D airspace definition step (S200), a 3D airspace based on a point cloud can be defined to generate a flight path of an unmanned vehicle. In the flight path generation and display step (S210), a flight path of an unmanned vehicle can be generated and displayed using a point cloud in the 3D airspace.

[0086] The point cloud (2) is made up of a large number of spatial vector points that contain information that affects the movement of the unmanned vehicle. For example, the information that affects the movement of the unmanned vehicle can include weather information, size information, obstacle information, regulation information, and occupancy information by the unmanned vehicle.

[0087] In addition, the flight path of the unmanned vehicle is generated based on the selected spatial vector points among the spatial vector points and the individual corridor connecting the selected spatial vector points. At this time, the form of the individual corridor is determined based on the size information of a pair of adjacent spatial vector points. A method for determining the form of the individual corridor has been described in detail.

[0088] Fig. 8 is a diagram showing a 3D airspace definition step according to an embodiment of the present invention, and Fig. 9 is a diagram showing a flight route generation and display step according to an embodiment of the present invention. Referring to Fig. 8, the 3D airspace definition step (S200) according to an embodiment of the present invention may include a position data collection step (S201), a route generation area range determination step (S202), a 3D airspace generation step (S203), a point cloud characteristic modification step (S204), and a 3D airspace rendering step (S205).

[0089] In the location data collection step (S201), location data for a route generation area for generating a flight route for an unmanned vehicle can be collected. In this step (S201), location data for at least one region is collected, and the location data for the area for generating a route can be input directly from a user or input from a separate geographic information system (GIS). In addition, the location data for the route generation area is defined as data that can identify the location and range of the area, and is provided in the form of a coordinate system or administrative area (e.g., city, province, ward, county, etc.).

[0090] In the route generation area range determination step (S202), the range of the route generation area is determined based on the collected location data. For example, in this step (S202), the range of the route generation area is determined to include all the areas input in the previous step (S201). In the 3D airspace generation step (S203), a 3D airspace in which the point cloud (2) is placed is generated based on the determined range of the route generation area.

[0091] In the point cloud characteristic changing step (S204), the characteristics of the point cloud are changed according to the surrounding environment of the 3D airspace or a user request. For example, at least one of the size, interval, position, and color of the space vector points constituting the point cloud can be changed. For example, the size, interval, position, color, etc. of the space vector points can be controlled by adjusting parameter values ​​for controlling the corresponding components. The parameter values ​​are passively controlled by the user or automatically controlled according to the surrounding environment such as obstacles in the 3D airspace.

[0092] In the 3D airspace rendering step (S205), a 3D airspace is rendered based on the characteristics of the point cloud determined in the previous step. A number of space vector points are arranged in the 3D airspace, and the intervals between the space vector points are determined by a preset value or a preset algorithm. For example, the intervals between the space vector points are changed to reflect the surrounding environment, such as land features, located in the 3D airspace. Also, the intervals between the space vector points are adjusted in response to a user's input.

[0093] If a no-fly zone exists in the three-dimensional airspace, the no-fly zone and the permitted zone are displayed in different colors. Referring to Fig. 9, the step of generating and displaying a flight path (S210) according to an embodiment of the present invention may include a step of selecting a starting point (S211), a step of predicting a flight area (S212), a step of selecting a corridor configuration type and an obstacle avoidance type (S213), and a step of configuring a corridor (S214). In the step of selecting a starting point (S211), a starting point is selected from among space vector points in the three-dimensional airspace.

[0094] In the flight area prediction step (S212), the flight area is predicted based on the information of the selected starting point and the size information of the unmanned mobile unit. In addition, in this step (S212), the space vector points that the unmanned mobile unit will pass through within the flight area can be predicted based on the information of the space vector points (e.g., weather information, size information, obstacle information, regulation information, occupancy information by the unmanned mobile unit, etc.) and the size information of the unmanned mobile unit.

[0095] At this time, the magnitude of the space vector point through which the unmanned moving object passes is determined based on the wind speed, wind direction, the size and speed of the unmanned moving object, etc. Therefore, in this step (S212), if the magnitude of each space vector point is determined, the magnitude can be reflected in the space vector point in the three-dimensional airspace.

[0096] Also, the space vector points express certain information within the three-dimensional airspace. Basically, each space vector point has latitude, longitude, and altitude according to a coordinate system (e.g., EPSG:4326 (WGS84), etc.), and each space vector point displays information that affects the unmanned vehicle, such as coordinate information based on the three-dimensional airspace (1), identification information for search and visualization, mission type, mission command, and behavior pattern, etc. For example, the mission type means identification information of the flight route given according to the mission type of the unmanned vehicle, the mission command means the importance of the flight route according to the mission of the unmanned vehicle, and the behavior pattern means whether or not there is a restriction related to the operation of the unmanned vehicle (e.g., shooting, flying, etc.).

[0097] Meanwhile, the space vector point may additionally include a time vector. The space vector point indicates information that affects the movement of the unmanned vehicle, such as the time of occupancy of the flight path by the unmanned vehicle, the occupancy time, and the identification information of the occupying unmanned vehicle.

[0098] In the corridor construction type and obstacle avoidance type selection step (S213), one of the corridor construction types is selected from a user selection type and an automated type. For example, in the user selection type, a user clicks a desired direction to a destination point through an input means (e.g., a virtual keyboard, etc.) to generate a route (drone route) according to the selected point cloud, and linear interpolation is performed on the spatial coordinates located in the traveling direction between each spatial vector point to render the generated route. In the user selection type, if an obstacle, building, or terrain is present in the traveling direction during corridor construction, the user is notified of this and route construction in that direction is blocked.

[0099] The automated type can receive the start point and the end point and generate a route based on the spatial vector point with the shortest distance from all possible routes from the start point to the end point. If there are obstacles, buildings, or terrain in front of the route during corridor configuration in the automated type, the avoidance route is calculated according to the selected obstacle avoidance type and the final calculated route is rendered.

[0100] Obstacles are detected based on the location information of terrain features in the 3D airspace. In this case, when a route is constructed including space vector points located in close proximity to the location of the terrain features, obstacles are detected based on the route direction from the space vector points and the location of the terrain features.

[0101] Another method of detecting an obstacle is based on route information preoccupied by another unmanned mobile unit. At this time, a space vector point located at a position corresponding to a route preoccupied by another unmanned mobile unit is included and the space vector point is detected as an obstacle when constructing a route. In this regard, in this step (S213), one of the obstacle avoidance types, a corridor type and a curve type, can be selected.

[0102] The corridor type can avoid obstacles by using other space vector points in the vicinity when detecting obstacles in the direction of the path. The curve type can avoid obstacles by using Bezier curve interpolation points when detecting obstacles in the direction of the path. In the corridor construction step (S214), multiple corridors are constructed based on information on space vector points located within the flight area.

[0103] When the configuration of the multiple corridors is completed through this step (S214), the space vector points included in the multiple corridors are extracted. At this time, the extracted space vector points and their information are managed separately from the space vector points in the 3D airspace in order to generate and manage multiple flight routes separately.

[0104] If the starting point is changed during the construction of a corridor, the above-mentioned process is repeated to reconstruct multiple corridors. If a corridor is being constructed, the already constructed corridor can be deleted or reconstructed in the middle of the construction.

[0105] 10 is a diagram showing a route verification and simulation step and a database storage step according to an embodiment of the present invention. The method for displaying a route for an unmanned vehicle according to an embodiment of the present invention further includes a route verification and simulation step (S220) and a database storage step (S230). In the route verification and simulation step (S220), a route corresponding to a number of corridors configured in the previous step can be verified, and a flight route according to the speed and time of the unmanned vehicle can be simulated. For example, in this step (S220), a virtual route image and a virtual unmanned vehicle image for each route of a number of corridors can be displayed, and the position of the virtual unmanned vehicle image can be changed and displayed based on a flight plan according to the speed and time of the unmanned vehicle set for each route.

[0106] In addition, if the verification of the flight path fails in this step (S220), the corridor can be reconstructed. If some of the multiple flight paths fail verification, the corridor is reconstructed for the flight paths that failed verification. In the database storage step (S230), when the verification and simulation for all the paths are completed, the entire corridor can be output and the output information of the entire corridor can be stored in the database.

[0107] Figure 11 is a diagram showing a method for generating a corridor according to an embodiment of the present invention. Referring to Figure 11, if one of the space vector points (P) in the three-dimensional airspace is selected as a starting point (Ps), a flight path (F) based on the selected starting point (Ps) can be calculated to construct a corridor. At this time, the corridor is composed of individual corridors that connect space vector points located in the flight path (F), and the size and shape of the individual corridor are determined based on the size information of a pair of adjacent space vector points.

[0108] 12 is a diagram showing a state in which a plurality of corridors are displayed in a three-dimensional airspace according to an embodiment of the present invention. As shown in FIG. 12, a plurality of corridors are configured and displayed in a three-dimensional airspace. A plurality of corridors can be displayed in various forms, and as an example, the spatial vector points included in each corridor are displayed in different colors, transparency, etc. according to the time order in which they are occupied by unmanned vehicles.

[0109] 13 is a diagram showing a collision detection and avoidance type according to an embodiment of the present invention. Referring to FIG. 13, when a flight path is configured by a corridor, obstacles such as buildings, structures, topographical features, and paths pre-occupied by other unmanned vehicles are detected in the direction of the path. In this way, when an obstacle is detected in the direction of the flight path, a flight path can be configured to avoid the obstacle in order to prevent a collision with the obstacle during the flight of the unmanned vehicle.

[0110] As described above, the obstacle avoidance type can be selected from either the corridor type or the curve type. The corridor type (20) can prevent collision with an obstacle by selecting other space vector points in the vicinity to construct a path to avoid the obstacle when an obstacle is detected in the direction of the flight path and a collision is predicted.

[0111] The curve type (30) can prevent collisions with obstacles by constructing a route to avoid obstacles based on surrounding spatial vector points, rather than constructing a route based on interpolation points corresponding to a Bezier curve for the section where the obstacle exists.

[0112] Meanwhile, the method of constructing a path using a Bezier curve is applied not only when generating a path to avoid an obstacle but also when the direction of the flight path changes suddenly. For example, by applying the method of constructing a path using a Bezier curve to a part where the flight path turns, it is possible to realize smoother flight of the unmanned vehicle in that part.

[0113] 14 is a diagram showing a route verification and simulation operation according to an embodiment of the present invention. As shown in FIG. 14, multiple flight routes overlap each other in some sections. Therefore, when an unmanned moving object moves along multiple flight routes, a collision accident may occur in a certain section. In addition, when an unmanned moving object moves along a flight route, an accident of colliding with an obstacle may occur due to the influence of the surrounding environment, etc.

[0114] In order to prevent this, a virtual flight simulation is performed according to a plan set for each flight route to check in advance whether a collision accident between unmanned vehicles or a collision accident between an unmanned vehicle and an obstacle will occur. For example, the simulation operation for a flight route displays a virtual route image and a virtual unmanned vehicle image for each of a number of flight routes, and changes and displays the position of the virtual unmanned vehicle image based on a flight plan according to the speed and time of the unmanned vehicle previously set for each route, thereby making it possible to check the flight status of the unmanned vehicle for each route.

[0115] For example, if a collision occurs during the route simulation, it is determined that the verification has failed and the corridor route is reconfigured. Once route verification and simulation for multiple corridors are completed, output information for the entire corridor can be stored and managed in a database corresponding to flight route identification information.

[0116] According to the above-described embodiment of the present invention, a detailed flight path of an unmanned vehicle can be easily generated and displayed by defining a corridor using a point cloud in a three-dimensional airspace. In addition, according to the embodiment of the present invention, since a point cloud is used in generating a flight path in a three-dimensional airspace, multiple flight paths can be generated simultaneously, and a safe flight path can be provided by reflecting and interpolating environmental information of obstacles, buildings, and / or terrain located in the direction of the flight path, and verifying and simulating the same, thereby preventing collision accidents from occurring during the flight of an unmanned vehicle.

[0117] Those skilled in the art will understand that the present invention can be embodied in other specific forms without changing the technical idea or essential features of the present invention. Therefore, the above-described embodiments are illustrative in all respects and are not limiting. The scope of the present invention is defined by the claims below rather than the above description, and all modifications and variations derived from the meaning and scope of the claims and their equivalents should be understood to be included in the scope of the present invention. [Explanation of symbols]

[0118] 1 3D airspace 2. Point Cloud 5 Visualization elements 20 Corridor Type 30 Curved 100 Systems 110 Airspace Control Unit 120 Route Management Department 130 Corridor Generation Unit 140 Route Verification Department 150 Route Storage Unit A 1st area B 2nd area C Corridor C1, C2, C3 Individual Corridors Ea1, Ea2, Ea3 1st end Eb1, Eb2, Eb3 2nd end Ec1, Ec2, Ec3 outer surface F Flight Path P space vector point P1 First spatial vector point P2 Second spatial vector point P3 3rd spatial vector point P4 4th spatial vector point Pa Space vector point located in the first region A Pb Space vector point located in the second region B Pc Space Vector Point P.S. Starting point W1, W2 Spacing S100 3D Airspace Definition Stage S110 Point cloud display stage S120 Corridor display stage S200 3D Airspace Definition Stage S201 Location data collection step S202: Route generation area range determination step S203 3D airspace generation stage S204 Point cloud characteristic change step S205 3D Airspace Rendering Stage S210: Flight route generation and display step S211 Starting point selection step S212 Flight space prediction stage S213: Corridor configuration type and obstacle avoidance type selection step S214 Corridor configuration stage S220 Route verification and simulation stage S230 Database storage stage

Claims

1. 1. A method for displaying a corridor for an unmanned vehicle using a point cloud including a large number of spatial vector points, comprising: displaying the space vector points within a preset three-dimensional airspace; and generating and displaying individual corridors respectively connecting selected space vector points among the space vector points; Each of the space vector points includes position information and magnitude information; The individual corridor is displayed in a three-dimensional structure including an internal space in which the unmanned vehicle can fly, The shape of the individual corridor is determined based on magnitude information of a pair of adjacent space vector points; Each of the space vector points is displayed in a three-dimensional shape having a size that is consistent with the size information, or is displayed in a three-dimensional shape having a size that is a certain ratio of the size information, A method for displaying corridors for unmanned mobile vehicles using a point cloud, characterized in that each of the spatial vector points further includes weather information, and the magnitude information is calculated in response to the weather information, but is periodically updated in response to changes in the weather information.

2. The method for displaying a corridor for an unmanned vehicle using a point cloud according to claim 1, wherein the shape of the individual corridor is determined to be one of a first shape in which the cross-sectional area increases, a second shape in which the cross-sectional area is maintained constant, and a third shape in which the cross-sectional area decreases.

3. 3. The method for displaying a corridor for an unmanned vehicle using a point cloud as described in claim 2, wherein the individual corridor includes a first end and a second end that are respectively connected to the pair of adjacent spatial vector points, a size of the first end of the individual corridor is determined corresponding to magnitude information of the spatial vector point to which the first end is connected, and a size of the second end of the individual corridor is determined corresponding to magnitude information of the spatial vector point to which the second end is connected.

4. A method for displaying a corridor for an unmanned mobile vehicle using the point cloud described in claim 1, characterized in that each of the spatial vector points is displayed on a sphere having a diameter corresponding to the size information.

5. 5. A method for displaying a corridor for an unmanned vehicle using a point cloud according to claim 4, wherein the outer peripheral surface of the individual corridor is composed of a set of tangents connecting the pair of adjacent spatial vector points.

6. The method for displaying a corridor for an unmanned vehicle using a point cloud according to claim 3, characterized in that the outer peripheral surface of the individual corridor is composed of a set of straight lines connected between the first end and the second end.

7. The method for displaying a corridor for an unmanned mobile body using a point cloud, as described in claim 1, characterized in that the weather information includes wind speed information and wind direction information, and at least one of the spatial vector points includes a visualization element indicating the wind speed information and the wind direction information.

8. The method for displaying a corridor for an unmanned vehicle using a point cloud as described in claim 1, characterized in that the three-dimensional airspace includes a first area and a second area, and the intervals between the spatial vector points placed in the first area and the spatial vector points placed in the second area are set to be different.

9. The method for displaying a corridor for an unmanned vehicle using a point cloud as described in claim 1, characterized in that the three-dimensional airspace includes a first area and a second area, and the color of at least one spatial vector point placed in the first area and the color of at least one spatial vector point placed in the second area are set to be different.

10. The method for displaying a corridor for an unmanned vehicle using a point cloud as claimed in claim 1, further comprising a step of changing at least one of the magnitude, spacing, and color of space vector points located in at least a portion of the three-dimensional airspace.

11. A method for displaying a corridor for an unmanned mobile body using a point cloud as described in claim 1, characterized in that each of the spatial vector points includes the time and duration of occupancy by the unmanned mobile body, and identification information of the unmanned mobile body.

12. A method for displaying a corridor for an unmanned vehicle using a point cloud including a large number of spatial vector points, comprising: displaying the space vector points within a preset three-dimensional airspace; and displaying a corridor for the unmanned vehicle including n (n is an integer of 3 or more) space vector points among the space vector points and n-1 individual corridors connected between the n space vector points; Each of the space vector points includes position information and magnitude information; A shape of the (n-2)th individual corridor among the (n-1)th individual corridors is determined according to magnitude information of the (n-2)th space vector point and the (n-1)th space vector point among the n space vector points, A shape of an n-1-th individual corridor among the n-1 individual corridors is determined according to magnitude information of the n-1-th space vector point and the n-th space vector point among the n space vector points; A method for displaying corridors for unmanned mobile vehicles using a point cloud, characterized in that each of the spatial vector points further includes weather information, and the magnitude information is calculated in response to the weather information, but is periodically updated in response to changes in the weather information.

13. 13. The method for displaying a corridor for an unmanned mobile body using a point cloud according to claim 12, wherein the meteorological information includes wind direction information and wind speed information.

14. Defining a three-dimensional airspace based on a point cloud for generating a flight path of an unmanned vehicle; and generating and displaying a flight path of the unmanned vehicle using the point cloud in the three-dimensional airspace, The point cloud is composed of a large number of spatial vector points containing information that affects the movement of the unmanned vehicle, The flight path is generated based on selected space vector points among the space vector points and individual corridors connecting the selected space vector points, The shape of the individual corridor is determined based on magnitude information of a pair of adjacent space vector points; The step of generating and displaying a flight path of the unmanned mobile body includes the steps of selecting a starting point among spatial vector points in the three-dimensional airspace, predicting a flight area based on information of the selected starting point and size information of the unmanned mobile body, selecting a corridor configuration type and an obstacle avoidance type, and constructing a plurality of corridors based on information of spatial vector points located within the flight area.

15. The method for displaying a route for an unmanned vehicle using a point cloud according to claim 14, wherein the step of defining the three-dimensional airspace includes the steps of: collecting position data for a route generation area in which a flight route for the unmanned vehicle is generated; determining a range of the route generation area based on the collected position data; defining a three-dimensional airspace in which the point cloud is to be placed based on the range of the determined route generation area; modifying characteristics of the point cloud according to the surrounding environment of the three-dimensional airspace or a user request; and rendering the three-dimensional airspace.

16. The method for displaying a route for an unmanned vehicle using a point cloud according to claim 15, wherein the step of changing the characteristics of the point cloud changes at least one of the size, spacing, position, and color of the spatial vector points constituting the point cloud.

17. 15. The method for displaying a route for an unmanned vehicle using a point cloud as claimed in claim 14, wherein the step of selecting the corridor construction type and the obstacle avoidance type includes the steps of selecting one of a user selection type and an automated type construction type to construct a corridor for the flight route of the unmanned vehicle, and selecting one of an obstacle avoidance type and a corridor type to construct an avoidance route when an obstacle is detected in the direction of the flight route.

18. 20. The method of claim 17, further comprising: if a corridor type is selected in the step of selecting an obstacle avoidance type, constructing a route by avoiding an obstacle in a traveling direction of the route at a nearby space vector point when the obstacle is detected in the traveling direction of the route; and if a curve type is selected, constructing a route by avoiding an obstacle in a traveling direction of the route at a Bezier curve interpolation point when the obstacle is detected in the traveling direction of the route.

19. 15. The method of claim 14, further comprising: verifying routes corresponding to the configured multiple corridors and simulating a flight route of the unmanned vehicle based on a speed and time of the unmanned vehicle; and outputting an entire corridor based on a result of the verification and simulation for the multiple corridors and storing output information of the entire corridor in a database, wherein the step of simulating the flight route displays a virtual route image and a virtual unmanned vehicle image for each route of the multiple corridors, and variably displays the position of the virtual unmanned vehicle image based on a flight plan based on the speed and time of the unmanned vehicle set for each route.

Images