Disclosed is an apparatus for generating flight paths of unmanned aerial vehicles in the present invention. The apparatus for generating flight paths of unmanned aerial vehicles of the present invention comprises: a grid map generating unit which converts lidar point cloud data input from a sensing unit into 3D point cloud data in an absolute coordinate system, and then generates a 3D grid map based on the 3D point cloud data; a grid map synthesizing unit which synthesizes a grid map into the same coordinate system based on feature factors for a 3D grid map generated from a coordinate system different from the 3D grid map generated from the grid map generating map; a flyable area selecting unit which applies the 3D grid map synthesized in the grid map synthesizing unit and flight conditions stored in a storing unit to select a flyable area; and a path generating unit which generates an optimum path point based on the flyable area selected by the flyable area selecting unit to generate a flight path. The purpose of the present invention is to provide an apparatus for generating flight paths of unmanned aerial vehicles which, based on 3D point cloud data around power transmitting lines, synthesizes a 3D grid map, generates an optimum path considering prescription, avoiding area, and access-denied area, performs operation stability and path equalization which minimizes rapid movements, and generates a final flight path.

    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 :

    2022-09-06


    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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