To provide a landing guide system of an unmanned flying object which estimates a position on an x, y, z space from an image which is obtained by imaging a landmark group arranged at a landing part by a mounted camera by guiding the unmanned flying object to an upper part of a ground station, calculates a landing operation range, and accurately guiding the unmanned flying object to the landing part on the basis of the calculation.SOLUTION: When an unmanned flying object is guided to an upper part of a ground station, and a landmark group is imaged at an imaged image, a landing guide system of the unmanned flying object calculates an area which is occupied in a screen of the imaged image, sequentially switches the landmark group when the calculated area is not smaller than a prescribed area (S18, S20, S26 and S28), estimates a position on an x, y, z space of the unmanned flying object with respect to the ground station from the imaged image of the switched landmark group, calculates a landing operation range of the unmanned flying object from the estimation, and guides and controls the landing of the unmanned flying object to the landing part on the basis of the calculated landing operation range (S16, S24 and S32).SELECTED DRAWING: Figure 10
【課題】無人飛行体をグラウンドステーションの上方に誘導して登載カメラで着陸部に配置されるランドマーク群を撮像した画像からx,y,z空間上の位置を推定し、着陸動作範囲を算出し、それに基づいて着陸部に精度良く誘導する無人飛行体の着陸誘導システムを提供する。【解決手段】無人飛行体がグラウンドステーションの上方に誘導されて撮像画像にランドマーク群が撮像されるとき、撮像画像の画面全体に占める面積を算出し、算出された面積が所定面積以上のとき、ランドマーク群を順次切り替え(S18,S20,S26,S28)、切り替えられたランドマーク群の撮像画像からグラウンドステーションに対する無人飛行体のx,y,z空間上の位置を推定し、それから無人飛行体の着陸動作範囲を算出し、算出された着陸動作範囲に基づいて無人飛行体の着陸部への着陸を誘導制御する(S16,S24,S32)。【選択図】図10
LANDING GUIDE SYSTEM OF UNMANNED FLYING OBJECT
無人飛行体の着陸誘導システム
2019-04-04
Patent
Electronic Resource
Japanese
IPC: | B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64C AEROPLANES , Flugzeuge / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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