Patent ID: 11972389
Assignee: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. An apparatus for managing unmanned delivery, the apparatus comprising:
at least one processor; and
at least one of a memory and a storage including commands that when processed by the at least one processor, cause the at least one processor to:
confirm delivery mission information provided by a user terminal;
set a delivery waypoint based on the delivery mission information;
set a travel route comprising a takeoff segment waypoint for a takeoff segment, a landing segment waypoint for a landing segment and a flight segment waypoint for a flight segment;
correct the travel route according to a travel condition of an unmanned aerial vehicle (UAV);
manage delivery mission information comprising a delivery destination of an article and a delivery method of the article and that provides the delivery mission information;
monitor a location and status information of the UAV;
analyze an obstacle of the UAV;
generate UAV control information necessary for travel control of the UAV and delivery control of the article based on the travel route;
provide the information to the UAV;
divide the flight segment into a sub-segment unit;
set a sub-segment waypoint corresponding to the sub-segment unit according to at least one setting criterion, the sub-segment waypoint having a plurality of different altitude values;
generate a plurality of candidate travel routes corresponding to the at least one setting criterion, each of the plurality of candidate travel routes including the sub-segment waypoint at a different one of the plurality of different altitude values; and
determine an ultimate travel route by combining a plurality of candidate waypoints comprised in the plurality of candidate travel routes,

wherein the at least one setting criterion is set using at least one method among a method of setting the sub-segment waypoint using a change of topographic altitude as criterion, a method of setting the sub-segment waypoint using a point of intersection of altitude values as criterion, a method of setting the sub-segment waypoint using horizontal movement as criterion, and a method of setting the sub-segment waypoint using a difference from a previous topographic altitude value as criterion, and
wherein the sub-segment waypoint is set by considering whether or not a difference between a topographic altitude value of the sub-segment unit and a topographic altitude value of a previous waypoint exceeds a predetermined threshold value.