JP7190699B2 - Flight system and landing control method - Google Patents

Description

The present invention relates to flight systems and landing control methods.

In recent years, unmanned aerial vehicles (so-called drones) have dramatically expanded their range of applications, such as delivery systems, surveillance systems, and agricultural support such as pesticide spraying.

This unmanned aerial vehicle includes, for example, a body sensor consisting of a gyro sensor, a speed sensor, a navigation sensor, etc. for detecting the position and flight status of the unmanned aerial vehicle, detection sensors for detecting threats on the ground that threaten safe landing, weather forecasting, and so on. It has a communication unit that acquires the movement information of other aircraft and other aircraft from ground equipment and other aircraft, and lands based on the information obtained from this aircraft sensor, detection sensor, and communication unit (for example, see Japanese Patent Application Laid-Open No. 2018-165870 ).

For example, the unmanned aerial vehicle described in the above publication can select the safest landing point from a plurality of candidate landing points set on the ground based on the information obtained from the sensors and the like, and land safely.

On the other hand, in recent years, attention has been paid to the use of drones that are linked to mobile objects, such as automobiles. In a flight system including this moving body and a drone, for example, the roof of an automobile serves as a takeoff and landing pad, and it is necessary to land the drone during flight on this takeoff and landing pad. This take-off and landing pad is generally smaller in area than a stationary landing site set on the ground. In addition, since the takeoff/landing platform itself moves, the landing environment is likely to change. In the conventional unmanned aerial vehicle described above, landing control is performed assuming a stationary landing site, so landing control to a takeoff/landing platform provided on such a moving object is not easy.

Furthermore, the drone that has landed on the takeoff/landing platform provided on the mobile body is charged in preparation for re-flight. As this charging method, a non-contact charging system provided on the takeoff/landing platform is generally used. In such a contactless charging system, the relative position of the coil provided on the drone with respect to the coil provided on the takeoff/landing pad greatly affects the charging efficiency. In order to improve this charging efficiency, it is required to land the drone with high positional accuracy.

JP 2018-165870 A

SUMMARY OF THE INVENTION The present invention has been made based on the circumstances described above, and provides a flight system and landing control method capable of landing an unmanned aerial vehicle on a take-off/landing platform provided on a mobile body easily and with high positional accuracy. With the goal.

A flight system of the present invention, which has been made to solve the above problems, includes an unmanned aerial vehicle and a mobile body having a takeoff and landing platform on which the unmanned aerial vehicle can take off and land, and the takeoff and landing platform has a display device that can be identified from the sky. wherein the moving object has a display control unit that displays an image including landing environment information on the display device, and the unmanned aerial vehicle displays the landing environment information of the image displayed on the display device with the camera. It has an image recognition unit that recognizes with a camera, and a landing control unit that performs landing control based on the landing environment information acquired by the image recognition unit.

In this flight system, a takeoff/landing platform provided on a moving object has a display device that can be identified from above, and an image including landing environment information is displayed on the display device. Therefore, in the flight system, the image can be updated according to the change in the landing environment of the takeoff/landing platform, so the change in the landing environment can be easily followed. Further, in the flight system, the unmanned aerial vehicle recognizes the image displayed on the display device by the camera, and performs landing control using landing environment information obtained from the image. Therefore, the image updated according to changes in the landing environment of the takeoff/landing pad can be used accurately, so that the unmanned aerial vehicle can be easily landed on the takeoff/landing pad. In addition, such flight systems use images to communicate information between vehicles and unmanned aerial vehicles. Since image-based feedback control can be performed at a higher speed than wireless feedback control, the flight system enables fine-grained flight control of the unmanned aerial vehicle and improves landing position accuracy.

The landing environment information may include at least one of the position, altitude, wind speed and illuminance of the takeoff/landing platform, and the speed and direction of travel of the moving body. By including at least one of the position, altitude, wind speed and illuminance of the takeoff/landing platform, and the speed and direction of travel of the moving object as the landing environment information, information that is likely to change as the moving object moves. Since it can be used for the landing control of an unmanned aerial vehicle, the landing control becomes easier and the accuracy of the landing position can be further improved.

It is preferable that the moving object has a plurality of takeoff/landing pads, and a landing pad identifier is displayed on a display device of each of the takeoff/landing pads. Thus, in a mobile object having a plurality of takeoff/landing pads, by displaying the takeoff/landing pad identifier on the display device of each of the takeoff/landing pads, the unmanned aerial vehicle can be guided to land more reliably.

The landing environment information may be updated substantially in real time when the unmanned aerial vehicle lands using the image displayed by the display control unit. In this way, by updating the landing environment information substantially in real time when the unmanned aerial vehicle lands using the image displayed by the display control unit, the accuracy of the landing position can be further improved.

The image displayed by the display control unit preferably includes a two-dimensional barcode. Two-dimensional barcodes can transmit a large amount of information, and their specifications are open to the public, making them highly versatile. By including a two-dimensional barcode in the image displayed by the display control unit in this way, a large amount of information can be transmitted simultaneously between the moving object and the unmanned aerial vehicle. Flight system development and manufacturing costs can be reduced. In this specification, the term "two-dimensional barcode" refers to a QR code (registered trademark). Hereinafter, the "two-dimensional bar code" is also simply referred to as "QR code".

A landing control method of the present invention, which has been made to solve the above problems, is a landing control method for landing an unmanned aerial vehicle having a camera on a takeoff/landing platform of a mobile object, wherein the takeoff/landing platform is identifiable from the sky. a step of guiding the unmanned aerial vehicle to a position where a camera of the unmanned aerial vehicle can recognize the image of the display device of the takeoff/landing platform by the moving body; a step of displaying the moving object on the display device; a step of obtaining, by the camera, the image displayed on the display device by the unmanned aerial vehicle after the guiding step; and a landing environment of the image obtained in the image obtaining step. and performing landing control by the unmanned aerial vehicle based on the information.

In the landing control method, after the moving body guides the unmanned aerial vehicle to a position where the camera of the unmanned aerial vehicle can recognize the image on the display device of the takeoff/landing pad, the moving body displays the image including the landing environment information on the display device. do. Further, in the landing control method, the unmanned aerial vehicle recognizes the image displayed on the display device with a camera, and performs landing control using landing environment information obtained from the image. With this landing control method, the image can be updated in accordance with changes in the landing environment of the takeoff/landing platform, so that changes in the landing environment can be easily followed. Therefore, in the landing control method, the image updated according to changes in the landing environment of the takeoff/landing pad can be used appropriately, so that the unmanned aerial vehicle can be easily landed on the takeoff/landing pad. Further, the landing control method uses images to convey information between the mobile object and the unmanned aerial vehicle. Feedback control using images can be performed at a higher speed than feedback control using radio, so by using the landing control method, detailed flight control of the unmanned aerial vehicle is possible, and the accuracy of the landing position can be improved.

Here, "unmanned aerial vehicle" is a general term for aircraft that fly autonomously by remote control by radio or patterns pre-programmed in the on-board computer without a human on board, typically equipped with an autonomous navigation device. A small multi-rotor helicopter (drone). A "moving body" refers to a vehicle capable of self-propelled on land or water, and includes automobiles, motorcycles, ships, and the like. The term “upper sky” refers to a range in which the angle between a reference point on the ground and the zenith is within 45 degrees and the relative altitude from the reference point is within 5 m. The phrase "substantially updated in real time" includes updating at predetermined intervals, and the predetermined interval is 10 minutes or less, preferably 5 minutes or less.

As described above, the flight system and landing control method of the present invention can land an unmanned aerial vehicle on a takeoff/landing platform provided on a mobile body easily and with high positional accuracy.

FIG. 1 is a schematic diagram showing the configuration of the flight system of the present invention. 2 is a block diagram showing the configuration of the unmanned aerial vehicle of FIG. 1. FIG. FIG. 3 is a block diagram showing the configuration of the automobile of FIG. FIG. 4 is an example of an image displayed on the display device of the take-off/landing platform of the automobile of FIG. FIG. 5 is a sequence diagram showing landing control of the flight system of FIG. FIG. 6 is an explanatory diagram illustrating calculation of the magnification of the image of the camera of the unmanned aerial vehicle.

Hereinafter, a flight system and a landing control method according to an embodiment of the present invention will be described with reference to the drawings as appropriate.

[Flight system]
The flight system shown in FIG. 1 includes an unmanned aerial vehicle 1 and an automobile 2 that is a mobile object. The unmanned aerial vehicle 1 and the car 2 also have a takeoff/landing pad 3 on which the unmanned aerial vehicle 1 can take off and land. The installation position of the takeoff/landing platform 3 is not particularly limited as long as the unmanned aerial vehicle 1 can land thereon, and as shown in FIG. Also, the take-off/landing platform 3 has a size that allows the unmanned aerial vehicle 1 to land thereon.

In this flight system, an unmanned aerial vehicle 1 is mounted on a takeoff/landing platform 3 of an automobile 2 and transported to a destination. After arriving at the destination, the unmanned aerial vehicle 1 takes off from the takeoff/landing pad 3 and moves to a predetermined position. The unmanned aerial vehicle 1A that has moved to a predetermined position performs predetermined activities such as delivery, surveillance, and agricultural chemical spraying. Meanwhile, the car 2 is moving. The unmanned aerial vehicle 1A that has completed a predetermined activity moves to the vehicle 2B after movement and lands on the takeoff/landing pad 3 thereof. FIG. 1 shows a state in which the unmanned aerial vehicle 1B has landed on the takeoff/landing pad 3. As shown in FIG.

[Unmanned aerial vehicles]
As shown in FIG. 2, the unmanned aerial vehicle 1 includes a storage unit 11, a camera 12, an image recognition unit 13, a sensor unit 14, a landing control unit 15, an aircraft control signal transmission/reception unit 16, and a video data A radio transmission/reception unit 17 and a communication control unit 18 are provided.

<Memory unit>
The storage unit 11 temporarily or permanently stores various types of information. The storage unit 11 is composed of, for example, a semiconductor memory, a fixed disk, a removable disk, or the like.

Examples of information stored in the storage unit 11 include ID information of the unmanned aerial vehicle 1 (own aircraft), ID information of the automobile 2 to be landed, and the like. Further, for example, when the image recognition unit 13 performs image processing, the storage unit 11 may be used to temporarily store the processed data.

<Camera>
As shown in FIG. 1, the camera 12 is installed so that the unmanned aerial vehicle 1 can take an image below when it lands. Although the specific position is not particularly limited, for example, as shown in FIG.

A known camera that can be mounted on an unmanned aerial vehicle can be used as the camera 12 . The camera 12 may be used in common with, for example, a camera for photographing landscapes and topography, monitoring the surroundings during flight, and the like.

The camera 12 can capture an image including landing environment information displayed on a display device 31 of the takeoff/landing platform 3, which will be described later. The captured image is stored in the storage unit 11 via the communication control unit 18, which will be described later.

<Image recognition unit>
The image recognition unit 13 uses the camera 12 to recognize the landing environment information of the image displayed on the display device 31 . The image recognition unit 13 can be configured by an arithmetic processing unit such as a CPU (Central Processing Unit). A processor dedicated to image processing such as a DSP (Digital Signal Processor) may be used as the arithmetic processing device.

Specifically, the image recognizing unit 13 reads an image captured by the camera 12 stored in the storage unit 11 via the communication control unit 18, which will be described later, and performs arithmetic processing (so-called image processing) on the image. to extract the landing environment information. The extracted landing environment information will be described later.

<Sensor part>
The sensor unit 14 has known body sensors such as a gyro sensor, a speed sensor, and a navigation sensor for detecting the position and flight state of the unmanned aerial vehicle 1 .

Moreover, the sensor unit 14 may include an environment sensor that measures the environment around the unmanned aerial vehicle 1 . Examples of the environmental sensors include sensors that detect the relative motion (position, speed, and direction of travel) of the vehicle 2 as seen from the unmanned aerial vehicle 1, and sensors that detect obstacles between the unmanned aerial vehicle 1 and the takeoff/landing pad 3. can be mentioned. The unmanned aerial vehicle 1 has an altitude difference from the takeoff/landing pad 3 until it lands on the takeoff/landing pad 3. - 特許庁Especially in the stage where the altitude difference is large, the wind speed and direction of the airflow are different from those of the takeoff/landing platform 3 on the ground. Since the unmanned aerial vehicle 1 is flying, these wind speeds and air currents can cause errors in flight control for landing. becomes easier to correct. In addition, by providing a sensor for detecting obstacles and the like, it becomes easier to search for a safe landing route.

<Landing control unit>
The landing control unit 15 determines the flight path based on the information obtained from the image recognition unit 13, the sensor unit 14, and the aircraft control signal transmission/reception unit 16, which will be described later, and safely lands the unmanned aerial vehicle 1 on the takeoff/landing platform 3. The attitude, speed, and traveling direction of the unmanned aerial vehicle 1 are controlled so that

The landing control unit 15 includes an arithmetic processing unit such as a CPU for calculating the flight path and the attitude that the unmanned aerial vehicle 1 should take, and a flight control device for the unmanned aerial vehicle 1 . The arithmetic processing unit may serve as part or all of other arithmetic processing units such as the arithmetic processing unit of the image recognition unit 13, or may be provided independently of each other. Since the flight control device for the unmanned aerial vehicle 1 is well known, detailed description thereof will be omitted.

<Signal transmitting/receiving section for aircraft control>
The body control signal transmission/reception unit 16 is an antenna for transmitting and receiving body control signals between the vehicle 2 and the unmanned aerial vehicle 1 .

If the unmanned aerial vehicle 1 is to land, the aircraft control signal may be a known landing signal such as a landing request signal from the unmanned aerial vehicle 1 to the automobile 2 or a landing permission signal from the automobile 2 to the unmanned aerial vehicle 1. Signals necessary for operation are mentioned.

The aircraft control signal transmission/reception unit 16 is also configured to be able to communicate with a GPS (Global Positioning System) satellite for confirming the position information of the unmanned aircraft 1 .

<Wireless transmitter/receiver for video data>
The video data radio transmission/reception unit 17 is an antenna for transmitting video data captured by the camera 12 to the vehicle 2 and for receiving video data captured by the vehicle 2 .

The video data radio transmitting/receiving section 17 may serve as one antenna as well as the body control signal transmitting/receiving section 16, but it is preferable to provide it separately from the viewpoint of efficiency of data transmission/reception. In addition, by providing the video data radio transmission/reception unit 17 as a separate unit, it is possible to easily add functions by attaching the video data radio transmission/reception unit 17 to the existing unmanned aerial vehicle 1, thereby realizing the flight system. It also has the advantage of being easy.

<Communication control unit>
The communication control unit 18 performs modulation/demodulation, encoding, and decoding for communicating with the automobile 2 by the body control signal transmission/reception unit 16 and the video data wireless transmission/reception unit 17, and also controls the storage unit 11, the camera 12, and the image recognition unit. It controls the exchange of data among the unit 13 , the sensor unit 14 , the landing control unit 15 , the aircraft control signal transmission/reception unit 16 , and the video data wireless transmission/reception unit 17 .

The communication control unit 18 can be configured by an arithmetic processing device such as a CPU. The arithmetic processing unit may serve as part or all of other arithmetic processing units such as the arithmetic processing units of the image recognition unit 13 and the landing control unit 15, or may be provided independently of each other.

Also, the line through which the communication control unit 18 communicates with the automobile 2 is not particularly limited, and is a known line, such as a 3G band or 4G band used for mobile, WiFi (IEEE 802.11 standard wireless LAN), ITS (Intelligent Transport Systems: DSRC (Dedicated Short Range Communications) used in intelligent transportation systems can be used.

[Automobile]
The automobile 2 has an on-vehicle device 4 for controlling the unmanned aerial vehicle 1 . The in-vehicle device 4 includes a display control unit 40, a storage unit 41, a camera 42, an image recognition unit 43, a sensor unit 44, a distance and direction calculation unit 45, a command generation unit 46, and a body control signal transmission/reception unit. 47 , a radio transmission/reception unit 48 for video data, and a communication control unit 49 . Further, as described above, the automobile 2 includes the takeoff/landing pad 3 , and the takeoff/landing pad 3 has the display device 31 .

<Display control part>
The display control unit 40 displays an image including the landing environment information on the display device 31 . Specifically, the display control unit 40 creates image information data to be displayed on the display device 31 of the takeoff/landing platform 3 to be described later, and transmits the image information data to the display device 31 . The display control unit 40 can be configured by an arithmetic processing unit such as a CPU, for example.

<Memory section>
The storage unit 41 temporarily or permanently stores various information. The storage unit 41 can be configured similarly to the storage unit 11 of the unmanned aerial vehicle 1 .

A database may be stored in part of the area of the storage unit 41 . This database stores the ID of the unmanned aerial vehicle 1, various information such as sequence procedures for control, voice recognition data necessary for HMI (Human Machine Interface), etc., and realizes control of multiple types of unmanned aerial vehicles 1. , and to recognize instructions by voice from the passenger.

<Camera>
The camera 42 is used to photograph the unmanned aerial vehicle 1 that is in a landing posture on the takeoff/landing pad 3 of the automobile 2 from the automobile 2 side.

The type of the camera 42 is not particularly limited as long as it can photograph the unmanned aerial vehicle 1 . In addition, the camera 42 is installed above the vehicle 2, preferably on the takeoff/landing platform 3, so as to photograph the unmanned aerial vehicle 1 in the sky.

Images captured by the camera 42 are stored in the storage unit 41 via a communication control unit 49, which will be described later.

<Image recognition unit>
The image recognition unit 43 recognizes the unmanned aerial vehicle 1 photographed by the camera 42 as described above. This image recognition unit 43 can be configured in the same manner as the image recognition unit 13 of the unmanned aerial vehicle 1 except that the recognition target is the unmanned aerial vehicle 1 .

<Sensor part>
The sensor unit 44 has a measuring device and the like for acquiring the position, altitude, wind speed and illuminance of the takeoff/landing platform 3 and the speed and traveling direction of the automobile 2 .

The position of the takeoff/landing pad 3 can be acquired based on information from GPS satellites. The altitude of the take-off/landing platform 3 may be based on information from GPS satellites, or an altimeter may be provided as the sensor section 44 . The wind speed and illuminance of the takeoff/landing pad 3 can be obtained by providing an anemometer and an illuminance meter as the sensor unit 44 . The speed of the automobile 2 can be obtained by using a speedometer that the automobile 2 has for self-running. The traveling direction of the automobile 2 may be determined based on information from GPS satellites, or a compass may be provided as the sensor section 44 .

<Distance and direction calculator>
The distance and direction calculation unit 45 calculates the distance and direction between the unmanned aerial vehicle 1 and the vehicle 2 during flight in the landing posture. The distance/azimuth calculation unit 45 can be configured by a calculation processing device such as a CPU, for example. This arithmetic processing unit may serve as part or all of other arithmetic processing units such as the arithmetic processing unit of the image recognition unit 43, or may be provided independently of each other. The same applies to the following that are configured by the arithmetic processing unit.

Since the unmanned aerial vehicle 1 is relatively small, the base point for measuring the distance and direction can be represented by the center of gravity of the unmanned aerial vehicle 1, for example. On the other hand, since the automobile 2 is relatively large, it is preferable to set the base point for measuring the distance and direction on the takeoff/landing pad 3 where the unmanned aerial vehicle 1 actually lands. It is more preferable to set it to the center position when landing on the ground. By determining the base point in this way, the accuracy of the distance and bearing required for landing can be improved.

The distance and direction between the unmanned aerial vehicle 1 and the vehicle 2 can be calculated using drone image data captured by the camera 42 and the direction captured by the camera 42 . Alternatively, image data transmitted from the unmanned aerial vehicle 1 via the wireless transmission/reception unit 17 for image data may be used. Furthermore, positional information of the unmanned aerial vehicle 1 and the automobile 2 from GPS satellites can also be used. These may be used alone or in combination of two or more. By using them in combination, it is possible to improve the calculation accuracy of the distance and direction.

<Command generator>
The command generation unit 46 generates information including landing environment information to be displayed on the display device 31 of the takeoff/landing platform 3 and generates control commands to the unmanned aerial vehicle 1 corresponding to the information. The command generator 46 can be configured by an arithmetic processing device such as a CPU, for example.

Information including the landing environment information is transmitted to the display control unit 40 via the communication control unit 49 to be described later, and image information data is created by the display control unit 40 and displayed on the display device 31 . The command generation unit 46 uses the position, altitude, wind speed and illuminance of the takeoff/landing platform 3 and the speed and traveling direction of the automobile 2, which are the information acquired by the sensor unit 44, as the landing environment information. That is, the landing environment information includes at least one of the position, altitude, and illuminance of the takeoff/landing pad 3 and the speed and traveling direction of the vehicle 2 . By including at least one of these as the landing environment information, it is possible to use the information, which is likely to change as the vehicle 2 moves, for the landing control of the unmanned aerial vehicle 1, thereby further facilitating the landing control. In addition, the accuracy of the landing position can be further improved.

Also, the command generation unit 46 generates a command for the display device 31 so as to change the size of the image to be displayed according to the distance of the unmanned aerial vehicle 1 from the vehicle 2 calculated by the distance/azimuth calculation unit 45. may Specifically, the larger the distance, the larger the image. By changing the size of the image according to the above distance in this manner, the visibility of the image from the unmanned aerial vehicle 1 during landing can be enhanced. Further, by reducing the size of the image when the distance is small, the image recognition speed of the unmanned aerial vehicle 1 can be improved.

The size of the image may be changed continuously according to the above distance, or the size of the image may be changed stepwise for each fixed distance. As a method for changing the size of the image stepwise, for example, when the distance falls below a predetermined distance threshold value (when the distance becomes smaller), the area of the image is reduced to 1/4 (length is 1/2).

The command generator 46 generates information to be displayed on the display device 31 substantially in real time when the unmanned aerial vehicle 1 lands. Image information data is created by the display control unit 40 based on information from the command generation unit 46, and displayed on the display device 31. Therefore, the image displayed by the display control unit 40 can be used to determine the landing environment when the unmanned aerial vehicle 1 lands. Information is updated substantially in real time. By using the image displayed by the display control unit 40 in this way, the landing environment information is updated substantially in real time when the unmanned aerial vehicle 1 lands, thereby further improving the accuracy of the landing position.

On the other hand, the control command is transmitted from the aircraft control signal transmission/reception unit 47 to the unmanned aerial vehicle 1 via the communication control unit 49 . The control command transmitted to the unmanned aerial vehicle 1 is received by the body control signal transmitting/receiving section 16 of the unmanned aerial vehicle 1 and sent to the landing control section 15 . Note that this control command is mainly a command for machine control, but may include other commands.

<Signal transmitting/receiving section for aircraft control>
The body control signal transmission/reception unit 47 is an antenna for transmitting and receiving body control signals between the vehicle 2 and the unmanned aerial vehicle 1 . The body control signal transmission/reception unit 47 is configured similarly to the body control signal transmission/reception unit 16 of the unmanned aerial vehicle 1 .

<Wireless transmitter/receiver for video data>
The video data wireless transmission/reception unit 48 is an antenna for transmitting video data captured by the camera 42 to the unmanned aerial vehicle 1 and for receiving video data captured by the unmanned aerial vehicle 1 . The video data wireless transmission/reception unit 48 is configured similarly to the video data wireless transmission/reception unit 17 of the unmanned aerial vehicle 1 .

<Communication control unit>
The communication control unit 49 performs modulation/demodulation, encoding, and decoding for communicating with the unmanned aerial vehicle 1 by the body control signal transmission/reception unit 47 and the video data wireless transmission/reception unit 48, and also controls the display control unit 40 and the storage unit 41. , camera 42, image recognition unit 43, sensor unit 44, distance and direction calculation unit 45, command generation unit 46, aircraft control signal transmission/reception unit 47, and video data wireless transmission/reception unit 48. .

The communication control unit 49 can be configured by an arithmetic processing unit such as a CPU. A line corresponding to the communication control unit 18 of the unmanned aerial vehicle 1 is used as a line for communication.

<Display device>
The display device 31 is arranged on the upper surface side of the takeoff/landing platform 3 . The display device 31 can be arranged on the outermost surface of the takeoff/landing platform 3, and the unmanned aerial vehicle 1 can be landed on the display device 31 itself. It is preferable that the display device 31 is formed of a hollow plate-shaped member having an air hole that flows out sideways, and that the display device 31 is arranged in the hollow portion of the member at a position that does not hinder the sideward flow of air. With such a configuration, the unmanned aerial vehicle 1 lands on the mesh-like portion of the member. When the unmanned aerial vehicle 1 lands, a strong downward air current is generated, and this downward air current passes through the mesh and flows out sideways through the air holes. Therefore, it is possible to reduce the influence of the reflected airflow from the takeoff/landing pad 3 that is likely to occur immediately before the unmanned aerial vehicle 1 lands, thereby enhancing the stability of the landing control of the unmanned aerial vehicle 1 . In addition, by arranging the display device 31 in the hollow portion of the member, the unmanned aerial vehicle 1 does not land directly, so that the display device 31 can be prevented from malfunctioning or being damaged. In this configuration, the diameter of the mesh is made coarse enough to make the display on the display device 31 recognizable from above.

A known liquid crystal display or the like can be used as the display device 31, but a flexible display is particularly preferable. By using the flexible display, it can be appropriately arranged on the take-off/landing pad 3 when image display is required, and by storing it when not needed, the occurrence of failure or damage to the display device 31 can be reduced. Moreover, since the flexible display is thin, it does not easily affect the downward air current when the unmanned aerial vehicle 1 lands.

FIG. 4 illustrates an image displayed by the display device 31. As shown in FIG. The image displayed by the display device 31 in FIG. 4 includes a heliport mark 31a and a pair of landing environment information (QR code 31b).

The heliport mark 31a is an H mark, and in this embodiment, it is used as a target mark on which the unmanned aerial vehicle 1 lands. The unmanned aerial vehicle 1 lands toward the landing center point M of this heliport mark 31a.

A pair of landing environment information are placed point-symmetrically with the landing center point M as the center. The distance between a pair of landing environment information (the distance between the centers of the areas displaying the landing environment information) is a distance that can be identified from the sky. By configuring a pair of landing environment information in this way, the unmanned aerial vehicle 1 can land at the landing center point M by descending aiming at the midpoint of the line connecting the pair of landing environment information with a straight line. .

A pair of landing environment information is displayed as a QR code 31b in FIG. That is, the image displayed by the display control unit 40 includes the QR code 31b. The QR code 31b has a large amount of information that can be transmitted, and its specifications are open to the public, making it highly versatile. By including the QR code 31b in the image displayed by the display control unit 40 in this way, a large amount of information can be simultaneously transmitted between the automobile 2 and the unmanned aerial vehicle 1, and assets such as existing information conversion programs can be utilized. Therefore, development and manufacturing costs of the flight system can be reduced.

The QR code 31b has finder patterns A (position detection patterns) arranged at three corners according to its specifications. For example, in FIG. 4, the finder pattern A is arranged other than the lower right corner of the QR code 31b in FIG. Here, if the position where the finder pattern A is not arranged is determined, for example, to the rear right with respect to the traveling direction of the automobile 2, the unmanned aerial vehicle 1 recognizes the position of the finder pattern A of the QR code 31b, and the position of the automobile 2 is detected. It can be read that the traveling direction is the direction of the arrow in FIG. The method of displaying the traveling direction of the automobile 2 is not limited to this, and may be displayed as data in the data portion of the QR code 31b.

The landing environment information may include the position, altitude, and illumination of the takeoff/landing platform 3 and the speed of the vehicle 2. In the case of the QR code 31b, these can be displayed as data in the data section.

Since the QR code 31b can store information of up to 7089 numerical characters, it is possible to include other information as necessary. Such other information may include the ID of the vehicle 2 and the ID of the unmanned aerial vehicle 1 to land. These pieces of information do not change in real time, but by displaying them directly on the display device 31 and collating the IDs on the side of the unmanned aerial vehicle 1, for example, it is possible to prevent the unmanned aerial vehicle 1 from landing on the wrong mobile object.

The following description is based on the display device 31 that displays the image shown in FIG. 4, but the image and the like displayed by the display device 31 are not limited to this. For example, the landing environment information is not limited to being displayed by the QR code 31b, and part or all of it may be displayed by other display methods. The heliport mark 31a is not limited to the H mark, and may be another display. Further, the heliport mark 31a does not necessarily have to be displayed on the display device 31, and can be drawn directly on the takeoff/landing pad 3. FIG. Furthermore, the heliport mark 31a is not an essential display and can be omitted.

<Advantages>
In this flight system, a take-off/landing pad 3 provided on a vehicle 2, which is a moving body, has a display device 31 that can be identified from above, and displays an image including landing environment information on the display device 31. FIG. Therefore, in the flight system, the image can be updated in accordance with changes in the landing environment of the takeoff/landing platform 3, so that changes in the landing environment can be easily followed. In the flight system, the unmanned aerial vehicle 1 recognizes the image displayed on the display device 31 by the camera 12, and performs landing control using landing environment information obtained from the image. Therefore, the image updated according to changes in the landing environment of the takeoff/landing platform 3 can be used accurately, so that the unmanned aerial vehicle 1 can be easily landed on the takeoff/landing platform 3 . Furthermore, the flight system uses images to convey information between the vehicle 2 and the unmanned aerial vehicle 1 . Since image-based feedback control can be performed at a higher speed than radio-based feedback control, the flight system enables fine-grained flight control of the unmanned aerial vehicle 1 and improves landing position accuracy.

[Landing control method]
Next, the landing control method will be explained using FIG. The landing control method is used in the flight system. In other words, the landing control method is a landing control method for landing the unmanned aerial vehicle 1 having the camera 12 on the take-off/landing platform 3 of the moving object (automobile 2). The takeoff/landing platform 3 also has a display device 31 that can be identified from above.

First, the flight of the unmanned aerial vehicle 1 using the landing control method will be briefly described. The unmanned aerial vehicle 1 is used for delivery systems, monitoring systems, agricultural support, and the like. For example, when using an unmanned aerial vehicle 1 as a monitoring system to acquire a landscape image around the automobile 2 from the automobile 2 , the unmanned aerial vehicle 1 takes off from the automobile 2 , rises, and then hovers above the automobile 2 . Next, after quickly moving to the destination by horizontal flight, while hovering in the vicinity of the destination, it moves to the final shooting point at a relatively low speed while adjusting the altitude and position. After acquiring a landscape image at the shooting point, the aircraft returns to a level flight altitude and quickly moves to the vicinity of the landing site. After moving to the vicinity of the landing site, descend and land. In the above description, the case of photographing only at the photographing point is described, but it is also possible to acquire images during level flight.

This landing control method is used in the process of quickly moving to the vicinity of the landing site, descending, and landing after returning to a level flight altitude.

The landing control method includes, as shown in FIG. 5, a guidance step (STEP1), an image display step (STEP2), an image acquisition step (STEP3), and a landing control step (STEP4).

<Induction step>
In the guidance step (STEP 1 ), the vehicle 2 guides the unmanned aerial vehicle 1 to a position where the camera 12 of the unmanned aerial vehicle 1 can recognize the image on the display device 31 of the takeoff/landing pad 3 .

Specifically, the control command related to the landing instruction generated by the command generation unit 46 of the vehicle-mounted device 4 of the automobile 2 is transmitted to the unmanned aerial vehicle 1 via the body control signal transmission/reception unit 47 . This control command includes, for example, the ID of the automobile 2 (hereinafter referred to as "vehicle ID"), the ID of the unmanned aerial vehicle 1 (hereinafter referred to as "aircraft ID"), the landing point position, and the estimated time of arrival.

The vehicle ID is a unique ID of the vehicle 2, and the unmanned aerial vehicle 1 can specify the vehicle 2 on which it should land based on this vehicle ID. The aircraft ID is a unique ID of the unmanned aerial vehicle 1, and the unmanned aerial vehicle 1 can recognize whether or not it is a control command directed to itself based on this aircraft ID.

The landing point position is a point where the unmanned aerial vehicle 1 is scheduled to land, and is also a destination for the vehicle 2 to accommodate the unmanned aerial vehicle 1 . This landing point position may use position information defined by GPS, is determined in advance between the unmanned aerial vehicle 1 and the automobile 2, and is stored in the storage unit 11 of the unmanned aerial vehicle 1 and the storage unit 41 of the automobile 2. Names may be used. Also, the estimated arrival time is the estimated time when the automobile 2 will complete the movement to the landing point position.

In this landing control method, the vehicle 2 from which the unmanned aerial vehicle 1 takes off and lands can be moved while the unmanned aerial vehicle 1 is working. Therefore, the position where the unmanned aerial vehicle 1 is taken off and the position where it is landed are not always the same. Also, the automobile 2 is not always at the landing position of the unmanned aerial vehicle 1 when this control command is transmitted. For this reason, it is necessary to share the information on the landing point position and estimated arrival time with the unmanned aerial vehicle 1 .

When the unmanned aerial vehicle 1 receives the control command related to the landing instruction via the aircraft control signal transmitting/receiving unit 16, the communication control unit 18 confirms the vehicle ID and the aircraft ID, confirms that the command is for the own aircraft, and determines that the command is for landing. It recognizes the position of the landing point of the vehicle 2 and its own aircraft.

The unmanned aerial vehicle 1 adds its current position and expected landing time acquired from the information of the sensor unit 14 to the vehicle ID and aircraft ID, and transmits them to the automobile 2 via the aircraft control signal transmission/reception unit 16 . For example, the expected landing time can be calculated using the current position of the aircraft, the scheduled landing point, and the scheduled flight speed of the aircraft. It should be noted that it is not essential to transmit these pieces of information to the automobile 2, and for example, only a signal indicating that a control command for landing instruction has been received may be transmitted.

After exchanging these control commands, the unmanned aerial vehicle 1 and the automobile 2 head for the scheduled landing point. Information such as the landing point position and the estimated arrival time is information that can change during movement, so it may be updated periodically, or may be updated each time a certain change occurs. This information can be updated by performing the guidance step (STEP1) again.

<Image display step>
In the image display step (STEP2), the automobile 2 displays an image including the landing environment information on the display device 31 after the guidance step (STEP1).

This step is performed after the car 2 and the unmanned aerial vehicle 1 have moved to the landing point position. Whether or not the unmanned aerial vehicle 1 has moved to the landing point may be determined based on the estimated time of arrival transmitted from the unmanned aerial vehicle 1 in the guidance step (STEP 1). The image recognition unit 43 may determine whether or not the unmanned aerial vehicle 1 is recognized in the captured video. Alternatively, the image data of the camera 12 of the unmanned aerial vehicle 1 transmitted from the unmanned aerial vehicle 1 via the video data wireless transmission/reception unit 17 may be used for determination.

First, the vehicle 2 obtains the position, altitude, and illuminance of the takeoff/landing platform 3 as well as the speed and traveling direction of the vehicle 2 from the sensor unit 44 of the vehicle-mounted device 4 . Further, the distance/azimuth calculator 45 calculates the distance and the azimuth between the unmanned aerial vehicle 1 and the vehicle 2 in flight, which are in the landing posture, based on information obtained from the camera 42 and the like.

The position, altitude, wind speed and illuminance of the takeoff/landing pad 3, the speed and traveling direction of the vehicle 2, and the distance and direction between the unmanned aerial vehicle 1 and the vehicle 2 are displayed on the display device 31 via the display control unit 40 as a pair of QR codes. 31b. The information displayed on the pair of QR codes 31b may be partially or entirely overlapped. Also, the QR code 31b can include information other than the above information, such as a vehicle ID and an aircraft ID.

The images may be updated substantially in real time. That is, the image displayed by the display control unit 40 substantially updates the landing environment information in real time when the unmanned aerial vehicle 1 lands.

<Image acquisition step>
In the image acquisition step (STEP3), the unmanned aerial vehicle 1 acquires the image displayed on the display device 31 by the camera 12 after the guidance step (STEP1).

This image acquisition step (STEP 3) may be performed before the image display step (STEP 2) and waits until the image is displayed on the display device 31, but after the image display step (STEP 2) is performed. may start. Whether or not the image display step (STEP 2) has been performed is determined by, for example, the image display step (STEP 2) being performed from the display control unit 40 of the automobile 2 via the communication control unit 49 and the body control signal transmission/reception unit 47. can be used.

Another method for determining the start of the image acquisition step (STEP 3) is a method of starting when the distance between the position of the aircraft and the position of the landing point becomes a certain distance or less (for example, 5 m or less). . The above distance may be a distance in plan view, but is preferably an actual distance (distance in real space considering altitude difference). Since it is known that the landing point position is on the ground surface, the actual distance can be easily calculated by adding the altitude at the landing point position and the altitude of the aircraft.

The unmanned aerial vehicle 1 extracts the landing environment information from the image with the camera 12 by the image recognition unit 13 . An example of the procedure is shown below, but the procedure is not limited to this example.

(magnification adjustment)
The unmanned aerial vehicle 1 first adjusts the magnification of the camera 12 so that the landing environment information can be preferably extracted. It is thought that the higher the magnification of the camera 12, the easier it is to extract the landing environment information. Therefore, the unmanned aerial vehicle 1 preferably selects a high magnification that enables acquisition of all necessary information based on the image recognized by the image recognition unit 13 . By adjusting the magnification of the camera 12 in this way, image recognition can be easily performed, so that the recognition processing time can be shortened, enabling highly accurate landing control.

(Calculation of actual distance)
Since the distance in the image captured by the camera 12 is different from the distance in the real space, first, the magnification of the distance between the image and the real space is calculated. A specific calculation method will be described with reference to FIG. The viewing angle θ of the camera 12 of the unmanned aerial vehicle 1 is known and determined by the selected magnification. Also, the size of the image S captured by the camera 12 of the unmanned aerial vehicle 1 (for example, L in FIG. 6) is known. In this case, the difference (H in FIG. 6) between the altitude of the takeoff/landing pad 3 and the altitude of the aircraft itself, which is included in the QR code 31b transmitted as the landing environment information, is used to determine the actual The spatial magnification can be calculated by H×tan(θ/2)/L. Using this magnification, the distance on the image captured by the camera 12 is converted into the distance in real space.

(ID verification)
If the QR code 31b contains vehicle ID or aircraft ID information, the image recognition unit 13 checks whether the aircraft should land or not based on the vehicle ID and aircraft ID information. If the collation is not possible, for example, by communicating with the vehicle-mounted device 4 of the vehicle 2, the guidance step (STEP 1) is re-executed to move to the correct landing place. If the verification is successful, continue extracting the landing environment information.

(Distance and direction between unmanned aerial vehicles and automobiles)
The distance and azimuth between the unmanned aerial vehicle 1 and the landing center point M of the takeoff/landing pad 3 are calculated by image analysis based on the images captured by the camera 12 of the unmanned aerial vehicle 1 . In this calculation, the illuminance of the takeoff/landing pad 3 included in the QR code 31b transmitted as the landing environment information is used to adjust the image of the camera 12, thereby increasing the recognition accuracy of the landing center point M. Also, in order to specify the reference point of the vehicle 2, the position of the takeoff/landing pad 3 included in the QR code 31b transmitted as the landing environment information is used. Furthermore, it is possible to finely modify the landing attitude based on the actual wind speed at the landing point by the wind speed of the takeoff/landing platform 3 included in the QR code 31b transmitted as the landing environment information.

The distance and azimuth between the unmanned aerial vehicle 1 and the vehicle 2 can be calculated only from the images captured by the camera 12 of the unmanned aerial vehicle 1, but errors may occur due to atmospheric conditions and the like. This error is reduced by referring to the distance and direction information between the unmanned aerial vehicle 1 and the vehicle 2 measured from the vehicle 2 side, which is included in the QR code 31b transmitted as the landing environment information. As a result, the landing accuracy of the unmanned aerial vehicle 1 can be improved.

(Vehicle speed and direction of travel)
The speed and direction of movement of the vehicle 2 can be obtained from the change over time of the image captured by the camera 12 of the unmanned aerial vehicle 1, but the speed and direction of movement of the vehicle 2 included in the QR code 31b transmitted as the landing environment information are used. By doing so, the accuracy can be improved.

<Landing control step>
In the landing control step (STEP4), the unmanned aerial vehicle 1 performs landing control based on the landing environment information of the image acquired in the image acquisition step (STEP3).

As shown in FIG. 5 , when the unmanned aerial vehicle 1 is in a landing posture, its position is not necessarily directly above the landing center point M of the takeoff/landing pad 3 . Also, the attitude of the unmanned aerial vehicle 1 is not always appropriate with respect to the traveling direction of the automobile 2 . In the landing control step (STEP4), the unmanned aerial vehicle 1 descends while controlling its position and attitude.

(Posture control)
As shown in FIG. 4, on the display device 31, a pair of QR codes 31b (landing environment information) are arranged point-symmetrically with the landing center point M as the center. Since the angle formed by the straight line connecting the QR codes 31b with respect to the traveling direction of the vehicle 2 is always constant, the attitude of the vehicle can be controlled so that the angle of the straight line seen from the vehicle itself becomes a predetermined angle. It is possible to take an appropriate posture with respect to the 2 traveling directions. Since the above-mentioned predetermined angle is known, for example, a method of transmitting from the vehicle-mounted device 4 of the vehicle 2 via the body control signal transmitting/receiving unit 47 or a method of storing in advance in the storage unit 11 of the unmanned aerial vehicle 1 can be used. By using it, the unmanned aerial vehicle 1 can be referred to.

(Control of landing position)
As described above, the bisector of the line segment connecting the pair of QR codes 31b is the landing center point M. 1 should be controlled. At this time, it is preferable to correct the speed and traveling direction of the automobile 2 at the same time. In addition, it is preferable to consider the influence of the wind velocity, air current, etc. obtained from the sensor unit 14 of the unmanned aerial vehicle 1 . Landing accuracy can be improved by taking these into consideration.

Landing control must be performed at the actual distance, but by correcting the distance obtained from the image of the camera 12 according to the magnification calculated in the image acquisition step (STEP 3), control at the actual distance becomes possible. Specific control can be performed by a known method using the landing control unit 15 of the unmanned aerial vehicle 1 .

Also, the occupant of the automobile 2 may give appropriate instructions as necessary. Voice input by HMI is suitable as a method of giving such instructions. Able to give prompt instructions in an emergency.

Note that the image acquisition step (STEP3) and the landing control step (STEP4) may land the unmanned aerial vehicle 1 by executing the image acquisition step (STEP3) and the landing control step (STEP4) once. It is preferred to land the aircraft 1 . By repeating such operations, the landing accuracy of the unmanned aerial vehicle 1 can be further improved. The repetition of the image acquisition step (STEP3) and the landing control step (STEP4) may be controlled so as to synchronize with the update of the image display step (STEP2). may be asynchronous.

<Advantages>
In the landing control method, after the vehicle 2, which is a moving object, guides the unmanned aerial vehicle 1 to a position where the camera 12 of the unmanned aerial vehicle 1 can recognize the image on the display device 31 of the takeoff/landing pad 3, an image including the landing environment information is displayed. The car 2 is displayed on the device 31 . Further, in the landing control method, the unmanned aerial vehicle 1 recognizes an image displayed on the display device 31 by the camera 12, and performs landing control using landing environment information obtained from the image. In this landing control method, the image can be updated in accordance with changes in the landing environment of the takeoff/landing platform 3, so that changes in the landing environment can be easily followed. Therefore, in the landing control method, the image updated according to the change in the landing environment of the takeoff/landing pad 3 can be used appropriately, so that the unmanned aerial vehicle 1 can be easily landed on the takeoff/landing pad 3. can. Furthermore, the landing control method uses images to convey information between the vehicle 2 and the unmanned aerial vehicle 1 . Since image-based feedback control can be performed at a higher speed than wireless feedback control, the use of this landing control method enables fine-tuned flight control of the unmanned aerial vehicle 1 and improves the accuracy of the landing position.

[Other embodiments]
The above embodiments do not limit the configuration of the present invention. Therefore, in the above embodiment, the components of each part of the above embodiment can be omitted, replaced, or added based on the description of the present specification and common general technical knowledge, and all of them are interpreted as belonging to the scope of the present invention. should.

In the above embodiment, the mobile object is an automobile, but the mobile object is not limited to an automobile. The mobile body may be a vehicle capable of self-propelled on land or water, such as an automobile, a motorcycle, or a ship.

In the above embodiment, the case where the unmanned aerial vehicle is equipped with a radio transmitting/receiving unit for video data has been described. may Similarly, it may have only a reception function, or may not have a wireless transmission/reception unit for video data.

Further, in the above embodiment, the description has been given of the case where the vehicle is equipped with an in-vehicle device having a camera, but the camera of the vehicle is not an essential component and may be omitted. The distance between the unmanned aerial vehicle and the automobile may be calculated using only the image transmitted from the camera of the unmanned aerial vehicle instead of the image captured by the camera of the vehicle. Note that if the vehicle does not have a camera, the image recognition section can also be omitted.

In the above embodiments, the case where the unmanned aerial vehicle and the automobile are configured to communicate with GPS satellites has been described, but the present invention is also applicable to flight systems that do not communicate with GPS satellites. As such a flight system, for example, there is a system in which an unmanned aerial vehicle flies while recognizing the position (azimuth and distance) of a vehicle by receiving radio waves emitted from the vehicle.

In the above embodiment, the sensor unit of the vehicle acquires the position, altitude, wind speed and illuminance of the takeoff/landing pad, as well as the speed and traveling direction of the vehicle, and displays all of these information on the display device of the takeoff/landing pad as the landing environment information. , the landing environment information displayed on the display device may be part of this information. If the position, altitude, wind speed and illuminance of the takeoff/landing pad, and the speed and direction of travel of the vehicle are not used as landing environment information in part or in whole, the sensors corresponding to the information not used shall be omitted. can be done.

In the above embodiment, the case where the distance and bearing between the unmanned aerial vehicle and the automobile calculated by the distance and bearing calculation unit is displayed in the image as the landing environment information has been described. Display is optional and optional.

In the flight system, the unmanned aerial vehicle and the mobile object do not need to correspond one-to-one, and one or both of them may be plural. For example, in the case of a flight system having multiple unmanned aerial vehicles and multiple moving bodies, each unmanned aerial vehicle uses its own identifier to determine the validity of a control command from the moving body (control of own unmanned aerial vehicle). ) can be determined. Further, from the mobile object, it is possible to guide an individual unmanned aerial vehicle to land on its own mobile object by combining its own identifier and the identifier of the target unmanned aerial vehicle. Although conflicting control commands may be transmitted from a plurality of moving bodies to the same unmanned aerial vehicle, such a situation can be avoided by performing communication control between the plurality of moving bodies. Alternatively, a group of a plurality of unmanned aerial vehicles and a group of a plurality of moving bodies are prepared in advance, and an arbitrary one unmanned aerial vehicle and one moving body selected from each are combined to configure the flight system. good too. This method of configuring the flight system in combination also makes it possible to avoid transmission of contradictory control commands from a plurality of moving bodies to the same unmanned aerial vehicle.

In the above embodiment, the case where the moving object has one takeoff/landing pad has been described, but the present invention also intends for the case where the moving object has a plurality of takeoff/landing pads. In such a mobile body, a plurality of unmanned aerial vehicles can be landed on one mobile body at the same time or one after another with a time lag. In such a configuration, a plurality of takeoff and landing pads exist within a narrow range, so it is preferable to use takeoff and landing pad identifiers so that it is possible to accurately control which takeoff and landing pad each individual unmanned aerial vehicle should land on. In other words, a different takeoff/landing pad identifier is given to each takeoff/landing pad, and each takeoff/landing pad is distinguished by this takeoff/landing pad identifier. The unmanned aerial vehicle acquires the takeoff/landing pad identification of the takeoff/landing pad to land by a control command from the mobile body, and lands on the takeoff/landing pad having the specified takeoff/landing pad identification. At this time, it is preferable that the landing pad identifier is displayed on the display device of each takeoff/landing pad. By displaying the landing pad identifier on the display device of the takeoff and landing pad in this way, the unmanned aerial vehicle can easily recognize from the image that it is the correct takeoff and landing pad that it is actually going to land on. Aircraft can be guided to land.

As described above, the flight system and landing control method of the present invention can land an unmanned aerial vehicle on a takeoff/landing platform provided on a mobile body easily and with high positional accuracy.

1, 1A, 1B Unmanned aerial vehicle 11 Storage unit 12 Camera 13 Image recognition unit 14 Sensor unit 15 Landing control unit 16 Aircraft control signal transmission/reception unit 17 Video data wireless transmission/reception unit 18 Communication control unit 2, 2B Automobile 3 Takeoff/landing platform 31 Display Device 31a Heliport mark 31b QR code 4 In-vehicle device 40 Display control unit 41 Storage unit 42 Camera 43 Image recognition unit 44 Sensor unit 45 Distance and direction calculation unit 46 Command generation unit 47 Aircraft control signal transmission/reception unit 48 Video data wireless transmission/reception unit 49 Communication control unit M Landing center point A Viewfinder pattern S Image L Image size H Altitude difference

Claims (7)

an unmanned aerial vehicle and
a mobile body having a takeoff and landing platform on which the unmanned aerial vehicle can take off and land;
The takeoff and landing platform has a display device that can be identified from the sky,
The moving body
Having a display control unit for displaying an image including landing environment information on the display device,
The unmanned aerial vehicle
camera and
an image recognition unit that uses the camera to recognize landing environment information in the image displayed on the display device;
a landing control unit that performs landing control based on the landing environment information acquired by the image recognition unit;
wherein the landing environment information includes the speed and direction of travel of the mobile body so that the unmanned aerial vehicle can take an appropriate attitude with respect to the direction of travel of the mobile body;
A flight system in which the size of the displayed image changes according to the distance of the unmanned aerial vehicle from the moving object. The flight system according to claim 1 , wherein the image displayed by the display control unit includes a two-dimensional barcode. 2. The flight system according to claim 1, wherein the image includes a pair of two-dimensional barcodes , and the pair of two-dimensional barcodes are displayed on the display device in point symmetry about a landing center point. 4. A flight system according to claim 1, claim 2 or claim 3 , wherein the landing environment information includes wind speed and illumination. the moving object has a plurality of takeoff/landing platforms,
5. A flight system according to any one of claims 1 to 4, wherein a platform identifier is displayed on the display device of each platform. 6. The flight system according to any one of claims 1 to 5 , wherein the image containing the landing environment information is updated by the display control unit at intervals of 10 minutes or less when the unmanned aerial vehicle lands. A landing control method for landing an unmanned aerial vehicle having a camera on a takeoff/landing platform of a mobile object,
The takeoff and landing platform has a display device that can be identified from the sky,
the moving body guiding the unmanned aerial vehicle to a position where the camera of the unmanned aerial vehicle can recognize the image of the display device of the takeoff/landing platform;
a step of causing the moving object to display an image including landing environment information on the display device after the guidance step;
After the guiding step, the unmanned aerial vehicle acquires an image displayed on the display device by the camera;
a step of performing landing control of the unmanned aerial vehicle based on the landing environment information of the image acquired in the image acquisition step;
wherein the landing environment information includes the speed and direction of travel of the mobile body so that the unmanned aerial vehicle can take an appropriate attitude with respect to the direction of travel of the mobile body;
A landing control method in which a size of an image to be displayed is changed according to a distance of the unmanned aerial vehicle from the moving body.

Images