Disclosed is an apparatus for generating the flight path of an unmanned aerial vehicle. The apparatus for generating the flight path of an unmanned aerial vehicle comprises: a grid map generating unit for converting LiDAR point cloud data, input from a sensing unit, into 3D point cloud data of absolute coordinates and generating a 3D grid map based on the 3D point cloud data; a grid map synthesis unit for synthesizing a 3D grid map, generated by the grid map generating unit, and a 3D grid map, generated in different coordinate systems, with the same coordinate system based on feature factors; a flyable area selection unit for selecting a flyable area by applying the 3D grid map, synthesized by the grid map synthesis unit, and flight conditions stored in a storage unit; and a path generating unit for generating a flight path by generating optimal path points based on the flyable area selected by the flyable area selection unit. Therefore, the reliability of flight can be increased.

    본 발명은 무인항공기의 비행경로 생성장치가 개시된다. 본 발명의 무인항공기의 비행경로 생성장치는, 센싱부로부터 입력된 라이다 점군 데이터를 절대 좌표의 3차원 점군 데이터로 변환한 후 3차원 점군 데이터를 기반으로 3차원 격자맵을 생성하는 격자맵 생성부; 격자맵 생성부에서 생성된 3차원 격자맵과 서로 다른 좌표계에서 생성된 3차원 격자맵에 대해 특징인자를 기반으로 동일 좌표계로 격자맵을 합성하는 격자맵 합성부; 격자맵 합성부에서 합성된 3차원 격자맵과 저장부에 저장된 비행 조건을 적용하여 비행 가능한 영역을 선정하는 비행 가능영역 선정부; 및 비행 가능영역 선정부에서 선정된 비행 가능영역을 기반으로 최적 경로 점을 생성하여 비행경로를 생성하는 경로 생성부;를 포함하는 것을 특징으로 한다.


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    Titel :

    APPARATUS FOR GENERATING FLIGHT PATH OF UNMANNED AERIAL VEHICLE


    Weitere Titelangaben:

    무인항공기의 비행경로 생성장치


    Beteiligte:
    WOO JUNG WOOK (Autor:in) / KIM TAE YONG (Autor:in) / OH KI YONG (Autor:in) / JEONG SI HEON (Autor:in) / PARK JOON YOUNG (Autor:in) / LEE JAE KYUNG (Autor:in) / CHOI MIN HEE (Autor:in) / HAM JI WAN (Autor:in)

    Erscheinungsdatum :

    2022-09-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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