To more accurately land a vertical takeoff/landing aircraft on a target landing point.SOLUTION: An automatic landing system includes: an imaging device mounted on a vertical takeoff/landing aircraft; a relative position acquiring unit that performs image processing on an image in which a marker provided to a landing target point is captured by the imaging device, and that acquires a relative position between the vertical takeoff/landing aircraft and the landing target point; a relative altitude acquiring unit for acquiring a relative altitude between the vertical takeoff/landing aircraft and the landing target point; and a control unit for controlling the vertical takeoff/landing aircraft in a plurality of control modes so that the relative position becomes zero. The control modes include a hovering mode and a landing mode. In the hovering mode, the relative altitude of the vertical takeoff/landing aircraft is lowered to a predetermined relative altitude when the relative position is within a first threshold value. When predetermined conditions including a condition in which the relative position is within a predetermined threshold value which is less than the first threshold value are satisfied, the control mode shifts to the landing mode. In the landing mode, the relative altitude of the vertical takeoff/landing aircraft is further lowered so as to make a landing on the landing target point.SELECTED DRAWING: Figure 4

    【課題】垂直離着陸機を着陸目標点へと、より精度良く着陸させることを目的とする。【解決手段】垂直離着陸機に搭載された撮影装置と、撮影装置で着陸目標点に設けられたマーカーを撮影した画像に画像処理を施し、垂直離着陸機と着陸目標点との相対位置を取得する相対位置取得部と、垂直離着陸機と着陸目標点との相対高度を取得する相対高度取得部と、相対位置がゼロになるように、垂直離着陸機を複数の制御モードで制御する制御部と、を備え、制御モードは、ホバリングモードと、着陸モードとを含み、ホバリングモードは、相対位置が第1しきい値以内であるとき、垂直離着陸機の相対高度を所定相対高度まで降下させ、相対位置が第1しきい値よりも小さい所定しきい値以内であることを含む所定条件が成立すると着陸モードに移行し、着陸モードは、垂直離着陸機の相対高度をさらに降下させて着陸目標点に着陸させる。【選択図】図4


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    Title :

    AUTOMATIC LANDING SYSTEM FOR VERTICAL TAKEOFF/LANDING AIRCRAFT, VERTICAL TAKEOFF/LANDING AIRCRAFT, AND CONTROL METHOD FOR LANDING OF VERTICAL TAKEOFF/LANDING AIRCRAFT


    Additional title:

    垂直離着陸機の自動着陸システム、垂直離着陸機および垂直離着陸機の着陸制御方法


    Contributors:

    Publication date :

    2021-04-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64C AEROPLANES , Flugzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS