Automatic landing system for vertical takeoff landing machine, landing control method of vertical takeoff lander and vertical takeoff landing gear

摘要

The purpose of this study is to make the vertical takeoff landing land land land landing lantern landing lantern.A photographic device mounted on a vertical takeoff landing machineImage processing is performed on an image taken by the marker on the target.A relative position acquisition section which acquires the relative position between a vertical takeoff landing plane and landing target pointA relative altitude acquisition section which acquires the relative altitude between a vertical takeoff landing plane and landing target point andSo that the relative position becomes zeroA control section for controlling a vertical takeoff plane in a plurality of control modesEquipped withControl modeHovering mode andIncludes landing mode andHovering modeIf the relative position is within the first thresholdThe relative altitude of the vertical takeoff plane is lowered to a predetermined relative altitudeWhen a predetermined condition including that the relative position is within a predetermined threshold value smaller than the first threshold value is established, the operation proceeds to the landing mode.Landing modeThe relative altitude of the vertical takeoff plane is further lowered to land at the landing target point.Diagram