JP2016175490A - Taking-off/landing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set a landed flight device at a normal position by correcting the position of the flight device and connect it to a device side in a taking-off/landing device enabling the flight device to take off/land.SOLUTION: A base 3 having a movable body 25 provided in its peripheral edge to be opened/closed and a ramp 20 connected to the base are freely lifted in a frame 15. A moving base 30 having a power supply terminal 8 and a pressing body 31 is provided between both bases. A flight device takes off/lands in the open state of the movable body having the base above. When the base is lowered to hold the movable body in a stored state, the flight device is pushed to move, locked in a guide part 11 projected on the base to be corrected in position or the like, and the power reception terminal of the flight device is connected to the power supply terminal of the device side.SELECTED DRAWING: Figure 2

Description

    The present invention relates to a take-off / landing device that serves as a base for a flying device to take off / land, and in particular, a take-off / landing device capable of correcting a position where a flying device has landed and guiding and positioning the flying device to a predetermined normal position. It is about.

  Conventionally, unmanned flying devices have been used for various purposes. For example, Patent Document 1 below discloses an invention relating to a security imaging system that uses a flying device having an imaging function.

  In this imaging system, when an approaching object is detected by a laser sensor in the monitoring area and becomes in an abnormal state, the mission is to fly the flying robot as a flying device from the predetermined landing standby position to the position of the approaching object and photograph the approaching object. Let it run. When the abnormal state is cleared, the flying robot is made to fly to the landing standby place and land.

JP 2014-150483 A

  In a system that automatically executes a predetermined mission using an unmanned flying device as described above, it is necessary to automatically perform a predetermined operation while the flying device is waiting at a landing standby place. This necessary work includes, for example, charging the battery of the flying device, transmitting information acquired by the flying device during the mission to the ground facility, and inputting new setting information from the ground facility to the flying device, etc. is there. These are important tasks related to the operation of the unmanned flying device. In order to ensure the effectiveness of the system that operates the flying device, it is necessary to execute these operations automatically and reliably. For this purpose, a take-off and landing device equipped with devices that automatically perform various operations is installed at the landing standby place where the flying device lands, and the charging unit and the communication unit of these devices, The flying device must be accurately landed so that the charging unit and the communication unit corresponding to the flying device have a positional relationship in which charging and communication can be performed by wire or wirelessly. However, since unmanned flying devices are affected by wind and other factors, especially outdoors, it is not always easy to land without errors to achieve such a positional relationship, and there is a possibility of landing with slight errors. Can not be excluded.

  The present invention aims to solve the problems in the conventional technology described above, and in a take-off and landing device serving as a base for the flying device to take off and land, the position where the flying device has landed is corrected to be a predetermined regularity. The purpose is to ensure that the flying device can be guided and positioned in position.

The take-off and landing device according to claim 1 is:
A base on which the normal position of the flying device is set on the upper surface;
A movable body provided movably on the edge of the base;
A drive unit that moves the movable body between an open state in which the movable body spreads outward from the base and a storage state in which the movable body has moved from the open state toward the inside of the base. When,
Comprising
The landing position of the flying device is guided in the direction of the normal position by moving the movable body toward the storage state.

The take-off and landing device according to claim 2 is the take-off and landing device according to claim 1,
It has a guide part for guiding the flying device to the normal position by projecting from the base and engaging with the flying device on the base.

The take-off and landing device according to claim 3 is the take-off and landing device according to claim 2,
A control mechanism for performing an interlocking operation in which the guide portion starts to protrude from the base after the movable body starts moving toward the stored state, and the flying device on the base is moved to the normal state by the interlocking operation; It is characterized by guiding to a position.

The take-off and landing device according to claim 4 is the take-off and landing device according to claim 2,
The control mechanism is
A frame having an opening on the upper surface;
A movable movable table provided with a pressing body for projecting the guide part;
A stopper for fixing the movable table to the frame;
It has
The guide part is movably provided on the base,
The drive unit raises and lowers the base with respect to the frame,
When the base is lowered by the drive unit, the movable body slides with respect to the opening to enter the storage state, the movable base is fixed to the frame by the stopper, and the base is further The guide body is protruded by the pressing body of the fixed moving table by being lowered.

  According to the take-off and landing device described in claim 1, when the movable body is in the open state, the flying device is landed on the base. Even if the flying device does not land at the normal position on the base, if the movable body is moved to the stowed state by the drive unit after that, the flying device moves on the base by being pushed by the moving movable body. The position is closer to the normal position on the base.

  According to the take-off and landing device described in claim 2, when the flying device approaches the normal position on the base by the movable body that moves from the open state to the stored state as described above, the guide portion of the base becomes the base. It can move to the direction which protrudes from, can engage with a flight apparatus, and can guide a flight apparatus to a regular position.

  According to the take-off and landing device described in claim 3, after the movable body starts to move from the open state to the stowed state, and the flying device starts to move toward the normal position, the guide portion starts to protrude from the base. Since the flying device is guided to the regular position, positioning of the flying device to the regular position by cooperation of the movable body and the guide unit can be executed smoothly and reliably.

According to the take-off and landing apparatus described in claim 4, when the base is located above the frame, the movable body is in an open state. In this state, the flying device is landed on the base. After that, when the base is lowered by the drive unit and the opened movable body is drawn into the frame, the movable body hits against the opening of the frame and moves into the housed state. Accordingly, since the flying device is pushed by the moving movable body, the flying device can move to a position closer to the normal position on the base even if it does not land at the normal position.

  Further, when the base is lowered into the frame and moved downward as described above, the moving base is fixed to the frame in the middle of the movement, and the pressing body included in the moving base is relatively guided by the guide portion of the base. Lift from below. Then, the guide unit engages with the flying device in the vicinity of the normal position on the base, and the guide unit is lifted and protrudes from the base, so that the flying device moves and is positioned at the normal position on the base. Is done.

  According to the take-off and landing device described in claim 4, both the operation of moving the movable body and the operation of moving the guide portion can be realized with a simple configuration by one drive unit that moves the base up and down.

It is a perspective view of a part of take-off and landing device of an embodiment, and a flying device landing on this. It is a schematic structure diagram of the take-off and landing device of the embodiment showing an open state. It is a schematic structure diagram of the take-off and landing device of the embodiment showing the stored state. It is a schematic structure diagram of the take-off and landing device of the embodiment showing a state where the guide portion protrudes. It is a perspective view of the take-off and landing device of the embodiment showing the open state and the flying device just before landing. It is a perspective view of the take-off and landing device of an embodiment showing a storage state. In the take-off and landing device of the embodiment, it is an operation diagram (1) illustrating an operation in which a guide unit guides the flying device to a normal position on a base on which the flying device lands. In the take-off and landing device of the embodiment, it is an operation diagram (2) illustrating an operation in which the guide unit guides the flying device to the normal position on the base on which the flying device lands. In the take-off and landing device of the embodiment, it is an operation diagram (3) for explaining the operation in which the guide unit guides the flying device to the normal position on the base on which the flying device lands.

An embodiment of the present invention will be described with reference to FIGS.
The take-off and landing device 1 of this embodiment is a device that serves as a base on which a flying device 2 flying unattended takes off and landing, and automatically guides the landing flying device 2 to a predetermined regular position and automatically performs a connection operation according to the purpose. Is what you do. This connection operation is, for example, charging of a battery built in the flying device 2, or information communication between the flying device 2 and the ground facility by wired or short-range wireless communication. As will be described in detail later, as shown in FIG. 1, the take-off and landing device 1 includes a base 3 in which a normal position where the landing flying device 2 is positioned is set at the center of the upper surface. Usually, flight control is performed so as to land with the center of the base 3 as a target position.

1. About the flying device 2 The flying device 2 shown in FIG. 1 will be described.
The flying device 2 includes a round main body 4, four holding parts 5 provided in the shape of a cross in a plan view near the top of the main body 4, and a rotary wing 6 provided at the tip of each holding part 5. Have. The four holding portions 5 protrude obliquely downward from the main body 4 toward the outside, and are arranged at equiangular intervals in the circumferential direction as described above. Further, the rotating blade 6 provided at the tip of each holding portion 5 has a substantially horizontal rotation surface. Therefore, if the rotor blade 6 generates an air flow downward, the air pressure on the upper side of the rotating surface is lower than the lower side, lift is generated, and the flying device 2 can fly and fly.

  Although not shown, the flying device 2 includes a battery that can be charged inside, and can supply a current to a motor (not shown) that drives the rotor 6. And this battery is connected to the receiving terminal 7 provided in the bottom face of the main body 4 as shown in FIG. 1 through the charging circuit which is not shown in figure. As will be described in detail later, the power receiving terminal 7 of the flying device 2 that has landed on the takeoff and landing device 1 and positioned at the normal position is connected to a power supply terminal 8 that is an example of a connection portion of the takeoff and landing device 1.

  Further, the flying device 2 is equipped with various devices according to the purpose. For example, in the case of the security flying device 2, a monitoring camera, a lighting device for illuminating the field of view, a communication device, a speaker, and the like may be mounted. The flying device 2 includes a control unit (not shown) that controls these devices and the motor. It is to be noted that another transmission / reception terminal portion is provided in the flying device 2 in place of the power receiving terminal 7, and a transmission / reception terminal portion which is another connection portion is provided in the take-off and landing device 1 in place of the power supply terminal 8. Between the control unit of the device 1 and the control unit of the flying device 2, some communication or information exchange such as reading and writing of information may be performed. That is, the purpose of connection between the take-off and landing device 1 and the flying device 2 does not matter.

  As shown in FIG. 1, landing legs 10 are attached to the bottom surface side of the main body 4 of the flying device 2 via two pairs of connecting members 9. The landing leg 10 is a regular hexagonal annular plate. As will be described in detail later, as shown in FIG. 1, a base 3 on which the flying device 2 lands is provided with a pair of members called guide portions 11, which project upward and are located inside the landing legs 10. The landing gear 10 is operated according to the hook and the operation of the guide portion 11 to position the flying device 2 at the normal position in the center of the base 3.

2. Configuration of Takeoff / Landing Device 1 The configuration of the takeoff / landing device 1 will be described with reference to FIGS.
The takeoff and landing device 1 has a frame 15 as a device main body. The frame 15 has a hollow box shape, and a cylindrical guide portion 16 is integrally provided on the upper surface. The guide portion 16 communicates the inside and the outside of the frame 15 through a substantially circular opening 17. A drive unit 18 is provided on the bottom of the frame 15. The drive unit 18 includes a link mechanism 19 that expands and contracts in the vertical direction and an actuator (not shown) that operates the link mechanism 19. Although not shown, a device, a mechanism, a control unit, and the like for controlling each part of the apparatus are provided inside the frame 15 and connected to each part.

  A lifting platform 20 is fixed to the upper end of the link mechanism 19. If the link mechanism 19 is expanded and contracted, the lifting platform 20 can be raised and lowered within the guide portion 16 and the frame 15. A stopper 21 is provided on the inner surface side of the lower half portion of the guide portion 16 in which the lifting platform 20 moves up and down. The function of the stopper 21 will be described later. The stopper 21 is a single ring-shaped member or a plurality of members provided over the entire circumference at equal intervals in the circumferential direction, and protrudes inward from the inner circumferential surface of the guide portion 16, and its inner diameter is It is larger than the outer diameter of the lifting platform 20. Therefore, as shown in FIG. 3, even if the lifting platform 20 moves up and down inside the guide portion 16 and the frame 15 by the link mechanism 19, it does not interfere with the stopper 21.

  A plurality of support pillars 22 are erected vertically on the upper surface of the lift 20 along the outer periphery. A substantially circular base 3 is fixed to the upper ends of the support pillars 22 in parallel with the lift 20. ing. That is, the lifting platform 20 and the base 3 are integrally configured via the support pillar 22. Accordingly, when the driving unit 18 is operated, the lifting platform 20 and the base 3 are integrally moved up and down in the guide unit 16 as shown in FIGS. The outer diameter of the base 3 is slightly smaller than the inner diameter of the guide part 16, and even if the base 3 enters the guide part 16, it does not interfere with the inner surface of the guide part 16. However, when the elevator 20 and the base 3 having an integral structure are moved up and down in the guide portion 16 by the drive unit 18, as shown in FIGS. 3 and 4, the elevator 20 disposed relatively below. Is lowered from the inside of the guide portion 16 to the inside of the frame 15 through the lower end of the guide portion 16. However, as shown in FIGS. 2 and 3, the base 3 disposed relatively above moves up and down between the outside of the guide portion 16 and the inside of the guide portion 16 above the stopper 21. .

  On the outer periphery of the base 3, a movable body 25 is provided over the entire periphery. The movable body 25 is a petal-shaped member composed of a frame made of an elongated plate as shown in FIGS. 5 and 6 to be referred to later. The movable body 25 is attached to the outer peripheral portion as the edge portion of the base 3 at the small end portion of the petal shape by a movable structure such as a hinge, and can swing with the large end portion of the petal shape as a free end. As shown in FIG. 2 (or FIG. 5), when the movable body 25 is not subjected to an external force, the movable body 25 is inclined outward at an angle of approximately 45 degrees from the plane of the base 3, but no more outside. Cannot spread out. Further, as shown in FIG. 3 (or FIG. 6), when the base 3 is drawn into the guide portion 16, the movable body 25 hits the edge of the opening 17 of the guide portion 16 and is repelled inward. The posture stands up at an angle of approximately 90 degrees with respect to the surface of the base 3. In addition, the movable body 25 is not a plate shape but is configured by a framework and has a gap. For this reason, since the downdraft is released when the flying device 2 is landed, the landing state of the flying device 2 is stabilized.

  The central portion of the base 3 is a normal position where the landing flight device 2 should be coupled to the take-off and landing device 1 for power supply and information exchange. At a normal position of the base 3, a hole portion 26 is formed in which a power supply terminal 8 to be described later appears and disappears. The hole 26 has a rectangular shape. Moreover, the guide part 11 is provided in two positions which oppose on both sides of the hole part 26 so that rocking | fluctuation is possible. As shown in FIGS. 7 to 9 to be referred to later, the guide portion 11 is an equilateral triangular or trapezoidal plate whose top is notched horizontally at the bottom, and has a tip in a state of sandwiching the hole 26 described above. The sides are arranged to face each other and form a part of the base 3. The guide portion 11 is connected to the base 3 only at the bottom portion, and can swing upward with the bottom side as the center and the tip side as the free end. That is, the guide portion 11 closes the same-shaped hole formed in the base 3 and does not fall below this position. However, if the guide portion 11 is pressed from below, the guide portion 11 swings upward with the bottom as the center of rotation. It can move and protrude above the surface of the base 3. At this time, as shown in FIGS. 7 to 9 to be referred to later, the hole closed by the guide portion 11 and the hole portion 26 are connected.

  A substantially circular moving table 30 is provided between the lifting platform 20 and the base 3. A plurality of through holes are formed on the outer periphery of the movable table 30, and a plurality of support columns 22 that connect the lifting platform 20 and the base 3 are inserted through the through holes. 22 can be moved up and down between the elevator 20 and the base 3 using the guide 22 as a guide. The outer diameter of the movable table 30 is smaller than the inner diameter of the guide portion 16, but larger than the inner diameter of the stopper 21. Therefore, as shown in FIG. 2, it is possible to move above the stopper 21 together with the lifting platform 20 inside the guide portion 16, but as shown in FIGS. 3 and 4, the lifting platform within the guide portion 16. When lowered with 20, the lifting platform 20 can descend below the stopper 21 without interfering with the stopper 21, but the moving platform 30 is caught by the stopper 21 and cannot move below this.

  In the center of the upper surface of the movable table 30, a power supply terminal 8 is provided as a connection portion. The power supply terminal 8 has a longitudinal direction in the direction perpendicular to the paper surface of FIGS. 2 to 4, and the planar shape thereof is substantially the same rectangular shape as the hole portion 26 provided in the base 3. In addition, a pressing body 31 is provided at the center of the two long sides of the power supply terminal 8. Each pressing body 31 is located directly below the two guide portions 11 of the base 3. Although not shown, the power supply terminal 8 is connected to a power supply device and a control unit provided in the frame 15, and can be connected to the power reception terminal 7 of the flying device 2 to supply power as necessary. . Instead of the power supply terminal 8, an information terminal or the like for transmitting / receiving information to / from the flying device 2 connected thereto may be provided.

When the flying device 2 has landed on the base 3, the flying device 2 does not always land correctly at the normal position in the normal direction as expected. There may be cases where landing is made at another position on the base 3 that deviates from the normal position, and there may be variations in orientation even at the normal position. Even in such a case, according to the take-off and landing device 1, the flying device 2 can be positioned at the normal position in the normal direction by the continuous operation of the movable body 25 and the guide unit 11 described above.
Below, operation | movement of the movable body 25 and the guide part 11 is demonstrated.

3. As shown in FIGS. 2 and 5, when the take-off and landing device 1 waits for the landing of the flying device 2, the base 3 has an opening 17 of the guide unit 16. It is located in the upper position which is above. The movable body 25 falls outward due to its own weight, and the movable body 25 is in an open state in which the movable body 25 spreads outward about the entire circumference of the base 3.

  At this time, the movable table 30 is in a position overlapping the elevator table 20, and the power supply terminal 8 is below the base 3 and does not protrude from the base 3. Moreover, the pressing body 31 is also below the base 3, and the guide part 11 of the base 3 is not lifted.

  In this state, the flying device 2 lands on the upper surface of the base 3 of the take-off and landing device 1. The flying device 2 is instructed to land at the normal position so that the power feeding terminal 8 and the power receiving terminal 7 of the take-off and landing device 1 are aligned. Here, it is assumed that the normal position is slightly deviated and landed between the normal position and the movable body 25 or in a state where a part of the aircraft is in contact with the movable body 25.

As shown in FIG. 3, the drive part 18 act | operates and the link mechanism 19 is degenerated below. The elevating table 20, the moving table 30, and the base 3 start to descend. When the base 3 enters the opening 17 of the guide portion 16, the movable body 25 slides while being hooked on the edge of the opening 17 of the guide portion 16, and from the open state spreading outward from the base 3. 3 moves toward the inside of the base plate 3 and is narrowed so as to surround the upper surface of the base 3 to be in a substantially vertical storage state. At this time, the movable member 25 moves from the open state to the storage state, press the flying device 2 on the base 3 from the outside. The flying device 2 moves to a location closer to the inner normal position.

  FIG. 7 shows only the landing leg 10 and the power receiving terminal 7 of the flying device 2 in order to show the position of the flying device 2 on the base 3 in a state immediately before the power feeding terminal 8 protrudes on the base 3. It is a figure. Even if the flying device 2 is pushed out to the normal position at the center of the base 3 as shown in FIG. 7 by the operation of the movable body 25 described above, in this state, the position of the power receiving terminal 7 is the same as that of the power feeding terminal 8. The positions are not completely matched, and even if the power supply terminal 8 rises as it is, it cannot be connected to the power receiving terminal 7 of the flying device 2.

  As shown in FIG. 3, at this time as well, the moving table 30 is still in a position overlapping the lifting table 20, and the power supply terminal 8 is below the base 3 and does not protrude from the base 3. Moreover, the pressing body 31 is also below the base 3, and the guide part 11 of the base 3 is not lifted.

  When the lifting platform 20 is further lowered from the state of FIG. 3 toward the state of FIG. 4, the lifting platform 20 passes through the stopper 21 and moves further downward. Since the position is fixed with respect to the frame 15 by being caught, the moving table 30 comes relatively close to the base 3 that moves down in conjunction with the lifting table 20. Then, as shown in FIG. 4, when the lifting platform 20 reaches the lowest lower position in the frame 15, the base 3 is overlapped on the movable platform 30 stopped on the stopper 21, and the power supply terminal 8 of the movable platform 30. Protrudes upward from the hole 26 of the base 3, and the pressing body 31 pushes up the guide portion 11 of the base 3 and protrudes above the base 3.

With reference to FIGS. 7-9, the effect | action which the electric power feeding terminal 8 and the guide part 11 protrude above the base 3 is demonstrated.
As described above, even if the flying device 2 is pushed out to the normal position shown in FIG. 7 by the movable body 25, the position of the power receiving terminal 7 does not exactly match the position of the power feeding terminal 8 in this state. However, as shown in FIG. 8, when the power supply terminal 8 and the pressing body 31 protrude above the base 3, the tip of the guide portion 11 pushed up by the pressing body 31 enters the inside of the landing leg 10. The landing leg 10 is rotated, and the orientation of the flying device 2 is corrected so that the pair of opposite sides of the landing leg 10 are positioned at the two bottom sides of the pair of guide portions 11 as shown in FIG.

  In order for the flying device 2 to land on the base 3 in which the movable body 25 is in the open state and then the movable body 25 is in the retracted state, the flying device 2 moves to the normal position. 3, a diameter when the movable body 25 is in an open state, and a size of the flying device 2 are required to have a certain relationship. That is, when the flying device 2 has landed at any position on the base 3, the flying device 2 is pushed by the movement of the movable body 25, and the flying device 2 moves in the direction of a predetermined normal position. It is necessary to be. For example, the diameter of the base 3 substantially matches the passing dimension including the rotor blades 6 of the flying device 2, and there is an obstacle to the transition of the movable body 25 to the housed state with the flying device 2 mounted. Any dimensional relationship may be employed so that the base 3 can be retracted into the guide portion 16 without occurring.

  Further, the shape and size of the guide portion 11 for further correcting the position or orientation of the flying device 2 in the vicinity of the normal position of the base 3 has a certain relationship with the shape and size of the landing leg 10 of the flying device 2. In the embodiment, the landing leg 10 has a regular hexagonal shape, but the length of one side thereof is substantially equal to the length of the bottom side of the guide portion 11. In other words, in the regular hexagon of the landing leg 10, when six triangles are formed by connecting the center and each vertex, at least two triangles that are 180 degrees opposite to each other across the center are connected to the landing leg 10. This corresponds to the pair of guide portions 11 in terms of arrangement and dimensions. The reason why the guide portion 11 of the present embodiment has such a shape dimension is that it is adapted to the regular hexagonal landing leg 10. If the shape dimension of the landing leg 10 is different, the shape of the guide portion 11 is different. Of course, it is desirable to appropriately change the dimensions accordingly.

  In addition, in order to correct the direction of the flying device 2 having the regular hexagonal landing legs 10 with the pair of guide portions 11 as described above to align the directions of the terminals, the power receiving terminal 7 of the landing flying device 2 is used. Must be within an error of ± 30 degrees with respect to the power supply terminal 8.

  Moreover, in embodiment described above, the guide part 11 which finally corrects the direction and position of the flying apparatus 2 is made into a pair of triangle shape arrange | positioned facing, The landing leg of the flying apparatus 2 engaged with this 10 is a regular hexagon, but this is only an example. As described above, the shape and structure of the landing leg are arbitrary as long as the configuration can further correct the position and orientation of the flying device 2 pushed out in the vicinity of the normal position according to the power supply terminal 8 on the take-off and landing device side. The shape and structure of the guide portion can also be appropriately configured according to the landing leg.

  Furthermore, although the control mechanism which implement | achieves operation | movement of the movable body 25 and operation | movement of the guide part 11 using one drive part 18 was shown in the above-mentioned embodiment, it does not need to be restricted to this. For example, after one drive unit that performs the operation of the movable body 25 and another drive unit that performs the operation of the guide unit 11 are separately provided, and further, the operation of the movable body 25 is performed by the one drive unit. It is good also as a control mechanism which provides the control part which performs operation | movement of the guide part 11 to another drive part, and implement | achieves the operation | movement similar to the above-mentioned embodiment.

  As described above, according to the present embodiment, the movement of the movable body 25 when the movable body 25 is opened and the flying device 2 landing is received, and then the movable body 25 is squeezed and deformed to the retracted state. Thus, the flying device 2 can be guided to a normal position where the power supply terminal 8 is located. Further, the direction and position of the flying device 2 can be further corrected by causing the guide portion 11 to protrude and engage with the flying device 2. Thus, even if an error occurs in the landing position due to environmental factors such as wind or performance factors of the flying device 2, the flying to the normal position of the base 3 provided at the normal position of the take-off and landing device 1 The effect which can guide and connect the apparatus 2 reliably is acquired.

DESCRIPTION OF SYMBOLS 1 ... Take-off and landing apparatus 2 ... Flight apparatus 3 ... Base 8 ... Power supply terminal as a connection part 11 ... Guide part 15 ... Frame 18 ... Drive part 19 ... Link mechanism of a drive part 21 ... Stopper 25 ... Movable body 30 ... Moving stand 31 ... Pressing body that presses the guide

Claims (4)

A base on which the normal position of the flying device is set on the upper surface;
A movable body provided movably on the edge of the base;
A drive unit that moves the movable body between an open state in which the movable body spreads outward from the base and a storage state in which the movable body has moved from the open state toward the inside of the base. When,
Comprising
A take-off and landing device that guides the landing position of the flying device in the direction of the normal position by moving the movable body toward the stored state. The take-off and landing device according to claim 1, further comprising a guide portion that protrudes from the base and engages the flying device on the base to guide the flying device to the normal position. A control mechanism for performing an interlocking operation in which the guide portion starts to protrude from the base after the movable body starts moving toward the stored state, and the flying device on the base is moved to the normal state by the interlocking operation; The take-off and landing device according to claim 2, wherein the take-off and landing device guides to a position. The control mechanism is
A frame having an opening on the upper surface;
A movable movable table provided with a pressing body for projecting the guide part;
A stopper for fixing the movable table to the frame;
Comprising
The guide part is movably provided on the base,
The drive unit raises and lowers the base with respect to the frame,
When the base is lowered by the drive unit, the movable body slides with respect to the opening to enter the storage state, the movable base is fixed to the frame by the stopper, and the base is further The take-off and landing device according to claim 3, wherein the pressing body of the fixed moving table causes the guide portion to protrude by descending.

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