WO2021210138A1

WO2021210138A1 - Take-off and landing facility, flight vehicle, flight vehicle system, and landing control method

Info

Publication number: WO2021210138A1
Application number: PCT/JP2020/016764
Authority: WO
Inventors: 尚志水本; 山下　敏明
Original assignee: 日本電気株式会社
Priority date: 2020-04-16
Filing date: 2020-04-16
Publication date: 2021-10-21
Also published as: JP7343046B2; JPWO2021210138A1

Abstract

A take-off and landing facility (200) according to the present embodiment is where a flight vehicle (100) that is capable of autonomous flight lands. The take-off and landing facility (200) is provided with: a fence (201) that defines a take-off and landing place (203) of the flight vehicle (100); a sensor that is provided to the fence (201), for detecting the horizontal position and altitude of the flight vehicle (100); and a communication unit (213) that transmits, to the flight vehicle (100), positional information indicative of the horizontal position and altitude.

Description

Takeoff and landing facilities, aircraft, aircraft systems, and landing control methods

This disclosure relates to takeoff and landing facilities, air vehicles, air vehicle systems, and landing control methods.

Patent Document 1 discloses a system using an unmanned aerial vehicle. In Patent Document 1, the current position of the UAV (Unmanned Aerial Vehicle) is detected using GPS (Global Positioning System). Further, in Patent Document 1, the UAV is aligned with the landing platform based on infrared beacon communication.

Patent Document 2 discloses a heliport on which a helicopter lands. The heliport is provided with a tsuitate to prevent noise.

Special Table 2019-502195 Japanese Unexamined Patent Publication No. 5-195515

A method for properly landing an air vehicle such as an unmanned aerial vehicle is desired.

The purpose of the present disclosure is to solve such a problem, and to provide a takeoff and landing facility, an air vehicle, an air vehicle system, and a landing control method capable of appropriately landing and controlling an air vehicle.

The takeoff and landing facility according to the present disclosure is a takeoff and landing facility on which an autonomously capable aircraft takes off and landing, and is described above in order to detect a fence that defines the takeoff and landing location of the air vehicle and the horizontal position and altitude of the air vehicle. It includes a sensor provided on the fence and a communication unit that transmits position information indicating the horizontal position and the altitude to the flying object.

The air vehicle according to the present disclosure is an air vehicle capable of autonomous flight, and is for detecting the horizontal position and altitude of the air vehicle on a fence that defines a takeoff and landing location and a drive mechanism that generates lift for flight. From the ground side where the sensor is provided, the aircraft side communication unit that receives the position information indicating the horizontal position and altitude, and the drive mechanism so that the flying object lands at the takeoff and landing place based on the position information. It is equipped with a flight control unit to control.

The aircraft body system according to the present disclosure includes an air vehicle capable of autonomous flight, a fence that defines a takeoff and landing location of the air vehicle, a sensor provided on the fence to detect the horizontal position and altitude of the air vehicle, and the sensor. A communication unit that transmits position information indicating the horizontal position and the altitude detected in the above to the flying object, and the flying object has a driving mechanism that generates lift for flight.
It includes an aircraft-side communication unit that receives the position information, and a flight control unit that controls the landing at the takeoff and landing location of the takeoff and landing facility based on the position information.

The landing control method according to the present disclosure is a landing control method for controlling the landing of an autonomously flying aircraft, and the horizontal position of the aircraft is determined by a sensor provided on a fence that defines the takeoff and landing location of the aircraft. And a step of detecting the altitude, and a step of transmitting the position information indicating the horizontal position and the altitude to the flying object.

According to the present disclosure, it is possible to provide a takeoff and landing facility, an air vehicle, an air vehicle system, and a landing control method capable of appropriately landing and controlling an air vehicle.

It is a schematic diagram which shows the flying object system 1 which concerns on Embodiment 1. FIG. It is a control block diagram of an air vehicle system 1. It is a schematic diagram which shows the flying object system 1 which concerns on Embodiment 2. FIG. It is a schematic diagram which shows the flying body system which concerns on other embodiment.

Embodiment 1.
The takeoff and landing facility and the air vehicle system according to the first embodiment will be described with reference to FIG. FIG. 1 is a diagram schematically showing an air vehicle system 1. Note that FIG. 1 shows an XYZ three-dimensional Cartesian coordinate system for the sake of brevity. Z indicates the altitude (height), and the XY plane indicates the horizontal plane. Therefore, the Z coordinate corresponds to the altitude and the XY coordinate corresponds to the horizontal position.

The aircraft body system 1 includes an aircraft body 100 and a takeoff and landing facility 200. The takeoff and landing facility 200 includes a fence 201 and a sensor 202.

The flying object 100 is a rotary wing aircraft having a rotary wing 101. Lift and thrust are generated by rotationally driving the rotary blade 101. In FIG. 1, the flying object 100 has four rotor blades 101, but the number of rotor blades is not particularly limited.

The flying object 100 can fly autonomously. The aircraft body 100 includes a drone, an unmanned aerial vehicle (UAV), a flying car (car), and the like. The aircraft body 100 may be a vertical take-off and landing aircraft (Vtrol aircraft). The aircraft body 100 may be a tilt rotor aircraft. The aircraft body 100 may be a helicopter. The aircraft body 100 may be an unmanned vehicle carrying luggage or the like, or may be a manned vehicle on which a passenger is on board.

Fence 201 defines takeoff and landing location 203. The fence 201 is installed so as to surround the takeoff and landing site 203. That is, the inside of the fence 201 becomes the takeoff and landing place 203. The fence 201 is a soundproof fence and has a soundproof function to reduce noise during takeoff and landing. The fence 201 is made of transparent polycarbonate or the like. The upper part of the fence 201 is open.

A part of the fence 201 may have a structure or the like for letting out the wind generated by the rotation of the rotary blade 101. For example, a part of the fence 201 may have a mesh structure. Alternatively, an opening or the like may be provided in a part of the fence 201.

The fence 201 has a height of about 10 m. In FIG. 1, the fence 201 is formed in a circular shape (cylindrical shape) so as to surround the takeoff and landing place 203, but the shape of the fence 201 is not particularly limited. For example, the shape of the fence 201 in the top view may be a rectangle of about several tens of m in the X direction and several tens of m in the Y direction.

A fence 201 is attached to the sensor 202. The sensor 202 is, for example, a laser, a camera, a LiDAR (Light Detection and Ringing), a laser sensor, a distance sensor, or the like. The sensor 202 is arranged in the fence 201. The sensor 202 is provided on the fence 201 in order to detect the altitude and horizontal position of the flying object 100 in flight. The sensor 202 detects the position of the flying object 100 in flight within the fence 201. That is, during landing, the sensor 202 tracks the position of the flying object 100.

Further, in FIG. 1, one sensor 202 is arranged on the fence 201, but a plurality of sensors 202 may be arranged. The plurality of sensors may be installed at different positions in the fence 201. Further, different types of sensors may be combined to estimate the position of the flying object 100. By using a plurality of sensors, the position detection accuracy can be improved.

The aircraft 100 will land at the landing position 204 within the takeoff and landing site 203. For example, the aircraft 100 moves to just above the takeoff and landing site 203, and then gradually lowers its altitude. Then, the flying object 100 descends to the surface of the earth. The aircraft body 100 stores the position coordinates indicating the landing position 204. The altitude (Z coordinate) of the landing position 204 may be set to 0. Therefore, the aircraft 100 autonomously flies from the takeoff location toward the XY coordinates indicating the takeoff / landing location 203 or the landing position 204. Of course, the takeoff location and the landing location may be the same. In the present embodiment, the takeoff and landing includes at least one of landing and takeoff. Therefore, the takeoff / landing facility 200 and the takeoff / landing place 203 according to the present embodiment may be a landing facility or a landing place that only takes off, or may be a takeoff facility or a takeoff place that only takes off.

FIG. 2 shows a control block diagram of the air vehicle system 1. The flight body 100 includes a flight control unit 111, a drive mechanism 112, an airframe side communication unit 113, an airframe side sensor 114, a display unit 115, and a battery 116.

The flight control unit 111 controls each component. For example, the drive mechanism 112 includes a rotary wing 101 and a motor thereof, and generates lift and thrust for flight. The flight control unit 111 outputs a drive signal for controlling the drive mechanism 112. In the example shown in FIG. 1, the flight control unit 111 controls the drive mechanism 112 so that the drive mechanism 112 drives the four rotors 101 independently. The flight control unit 111 stores the coordinates of the landing position 204 in a memory or the like. The flight control unit 111 controls the drive mechanism 112 so that the flying object 100 autonomously flies over the landing position 204.

The aircraft side communication unit 113 wirelessly communicates with the ground side, that is, the takeoff and landing facility 200. The aircraft-side communication unit 113 performs processing in accordance with communication standards such as 5G, 4G, Wi-Fi (registered trademark), and Bluetooth (registered trademark). The aircraft side communication unit 113 transmits a radio signal to the ground side. The aircraft side communication unit 113 receives a radio signal from the ground side. As a result, data and information can be transmitted and received between the aircraft body 100 and the takeoff and landing facility 200.

The aircraft side sensor 114 detects information regarding the flight state of the flying object 100. The airframe side sensor 114 includes, for example, a gyro sensor that detects the attitude of the airframe. Further, it may have a position sensor that detects the position of the airframe. As the position sensor, for example, a satellite positioning sensor such as GPS can be used. The flight control unit 111 controls the drive mechanism 112 based on the detection of the airframe side sensor 114. As a result, the aircraft 100 can autonomously fly over the landing position 204. Further, the airframe side sensor 114 may include a camera that images the periphery of the airframe 100. The machine body side sensor 114 is not limited to one, and may include a plurality of sensors.

The display unit 115 displays a camera image during flight to passengers and users. The camera may be mounted on the airframe side or may be provided on the ground side. The camera may be included in the airframe side sensor 114 or may be included in the ground side sensor 202. The camera on the airframe side captures an image of the periphery of the airframe 100. For example, at the time of takeoff and landing, the aircraft 100 captures an image of the takeoff and landing facility 200 from the sky.

Alternatively, the camera on the ground side captures an image of the flying object 100 during takeoff and landing. That is, the camera on the ground side captures the state of descent of the flying object 100. Then, the display unit 115 displays the descent status to the passenger and the operator. The display unit 115 can also output the descent status by AR (Augmented Reality). Further, the display unit 115 may display not only the camera image but also information for assisting takeoff and landing. For example, the display unit 115 may display position information, a deviation amount, and the like. The position information or the amount of deviation of the sensor 202 is based on the detection result of the sensor 202, as will be described later. Further, the display unit 115 may display the sensor value of the sensor 202 or the machine body side sensor 114. Further, the displayed contents may be changed according to the information about the flying object 100. For example, the display unit 115 may change the display content according to the information on whether the flight is manned or unmanned. Alternatively, the display unit 115 may change the display content according to the information indicating that the vehicle is in automatic operation or manual operation (operation by the operator). In the case of an unmanned aerial vehicle, the display unit 115 can be omitted. The battery 116 supplies power to each device.

The takeoff and landing facility 200 is a place where the aircraft 100 lands. Further, the landing facility 200 may be a place where the aircraft 100 takes off. For example, the aircraft 100 takes off from the landing facility 200 after landing at the takeoff and landing facility 200. The landing facility 200 includes a sensor 202, a control unit 211, and a communication unit 213. As described above, the sensor 202 detects the position of the flying object 100 in flight. The sensing range of the sensor 202 is within the takeoff / landing location 203 and above the takeoff / landing location 203. Therefore, the sensor 202 detects the horizontal position and altitude of the flying object 100 during landing.

The control unit 211 generates the position information of the flying object 100 based on the detection result of the sensor 202. For example, the control unit 211 estimates the horizontal position and altitude of the flying object 100 based on the detection results of the plurality of sensors 202, and uses them as position information. The communication unit 213 transmits position information indicating the horizontal position and altitude of the aircraft 100 to the aircraft 100. The control unit 211 and the communication unit 213 may be an integrally formed circuit. The communication unit 213 may be installed in the fence 201.

The position information is data indicating the altitude and horizontal position of the flying object 100. For example, the control unit 211 calculates the amount of deviation from the landing position 204 in the fence 201 to the flying object 100 based on the detection signal from the sensor 202. The control unit 211 obtains the amount of deviation in each of the X direction and the Y direction. Further, the control unit 211 may obtain a deviation amount (altitude difference) in the Z direction. Then, the communication unit 213 transmits the deviation amount as position information to the flying object 100. The aircraft side communication unit 113 receives the deviation amount which is the position information.

The flight control unit 111 controls the drive mechanism 112 based on the position information so that the flight body 100 lands at the landing position 204. For example, the flight control unit 111 controls the drive mechanism 112 so that the amount of deviation is small. By doing so, the aircraft 100 can land at the landing position 204 with high accuracy. Similarly, at the time of takeoff, the aircraft 100 can take off accurately from the landing position 204.

Alternatively, the control unit 211 calculates the relative position of the flying object 100 with respect to the fence 201 based on the detection signal from the sensor 202. The control unit 211 obtains the relative position of the flying object 100 with respect to the fence 201 in each of the X direction and the Y direction. That is, the control unit 211 calculates the relative positions of the fence 201 and the flying object 100 in the XY plane. By doing so, the aircraft 100 can descend to the landing position 204 while maintaining a sufficient distance from the fence 201. Therefore, it is possible to prevent the fence 201 from approaching. Therefore, the influence of the wind reflected from the rotary blade 101 by the fence 201 can be reduced.

By doing so, it is possible to properly land the flying object 100 capable of autonomous flight. Specifically, the sensor 202 provided on the fence 201 detects the position information of the flying object 100 during landing. Therefore, the position can be detected with higher accuracy than the case where the position information is detected by using the satellite positioning system. For example, in a satellite positioning system, the position measurement error is large. Further, if the fence 201 is provided so as to surround the takeoff and landing place 203, the satellite signal may not be received. In addition, it is difficult to detect the horizontal position and altitude with high accuracy using a beacon. Furthermore, the sensing range is also limited.

In the present embodiment, since the sensor 202 is provided in the fence 201, the horizontal position and altitude of the flying object during takeoff and landing can be accurately detected in the takeoff and landing facility. Further, since the fence 201 is provided so as to surround the takeoff and landing place 203, the noise at the time of takeoff and landing can be reduced. In addition, safety can be enhanced. Since it can take off and land efficiently, fuel consumption can be suppressed.

Embodiment 2.
The flying object system 1 according to the second embodiment will be described with reference to FIG. FIG. 3 is a schematic view showing the flying object system 1. In FIG. 3, the takeoff and landing facility 200 has a takeoff and landing platform 206 and a blower mechanism 207. The configurations other than the blower mechanism 207 and the takeoff and landing platform 206 are the same as those in the first embodiment, and thus the description thereof will be omitted as appropriate.

The takeoff and landing platform 206 constitutes the takeoff and landing place 203. That is, the upper surface of the takeoff / landing platform 206 becomes the takeoff / landing place 203. The aircraft 100 lands on the takeoff and landing platform 206. The takeoff and landing platform 206 has a structure that allows air to pass through. For example, at least part of the takeoff and landing platform 206 has a mesh structure. Alternatively, an opening may be provided in a part of the takeoff and landing platform 206.

A blower mechanism 207 is provided below the takeoff and landing site 203. The blower mechanism 207 includes a fan and the like, and blows air to the landing aircraft 100. That is, the blower mechanism 207 generates an upward (+ Z direction) wind.

The control unit 211 controls the ventilation mechanism 207 based on the position information. By doing so, the landing of the aircraft 100 can be assisted. For example, the rotation speed of the fan is controlled according to the altitude of the flying object 100. The aircraft body 100 can be gradually lowered. In this way, the air blowing mechanism 207 that blows air to the flying object 100 is provided on the landing facility 200 side. Therefore, landing control can be performed more easily and appropriately. Further, the blower mechanism 207 may blow air to the flying object 100 even at the time of takeoff. Takeoff control can be performed more easily and appropriately.

Other embodiments.
The flight object 100 and the takeoff and landing facility 200 according to the other embodiments will be described with reference to FIG. FIG. 4 is a diagram showing an air vehicle system 1 having an air vehicle 100 and a takeoff and landing facility 200.

At the takeoff and landing facility 200, an air vehicle capable of autonomous flight takes off and landing. The takeoff and landing facility 200 includes a fence 201, a sensor 202, and a communication unit 213. The fence 201 defines the takeoff and landing location 203 of the aircraft 100. The sensor 202 is provided on the fence 201 in order to detect the horizontal position and altitude of the flying object 100. The communication unit 213 transmits position information indicating the horizontal position and altitude to the aircraft body 100.

The aircraft 100 is an autonomous flight capable of landing at the takeoff and landing site 203. The aircraft body 100 includes a drive mechanism 112, a flight control unit 111, and an airframe side communication unit 113. The drive mechanism 112 generates lift for flight. The aircraft side communication unit 113 receives position information indicating the horizontal position and altitude from the ground side where the sensor 202 for detecting the horizontal position and altitude of the aircraft 100 is provided on the fence 201 defining the takeoff and landing place 203. .. The flight control unit 111 controls the drive mechanism 112 so that the aircraft lands at the takeoff and landing location 203 based on the position information. With this configuration, landing control can be performed appropriately. With this configuration, landing control can be performed appropriately.

Note that at least a part of the control of the flight control unit 111 and the control unit 211 may be realized by the processor executing a computer program. In the above example, the program can be stored and supplied to a computer using various types of non-transitory computer readable medium. Non-temporary computer-readable media include various types of tangible storage mediums. Examples of non-temporary computer-readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, It includes a CD-R / W and a semiconductor memory (for example, a mask ROM, a PROM (Programmable ROM), an EPROM (Erasable PROM), a flash ROM, and a RAM (RandomAccessMemory)). The program may also be supplied to the computer by various types of temporary computer readable medium. Examples of temporary computer-readable media include electrical, optical, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

Although the invention of the present application has been described above with reference to the embodiments, the invention of the present application is not limited to the above. Various changes that can be understood by those skilled in the art can be made within the scope of the invention in the configuration and details of the invention of the present application.

Some or all of the above embodiments may also be described, but not limited to:
(Appendix 1)
It is a takeoff and landing facility where autonomous flying objects take off and land.
A fence that defines the takeoff and landing location of the aircraft,
A sensor provided on the fence to detect the horizontal position and altitude of the flying object,
A takeoff and landing facility including a communication unit that transmits position information indicating the horizontal position and the altitude to the flying object.
(Appendix 2)
Further provided with a blower mechanism provided below the takeoff and landing site to blow air to the aircraft during landing.
The takeoff and landing facility according to Appendix 1, wherein the ventilation mechanism is controlled based on the position information.
(Appendix 3)
A control unit for calculating the amount of deviation from the landing position in the fence to the flying object based on the detection signal from the sensor is provided.
The takeoff and landing facility according to Appendix 1 or 2, wherein the communication unit transmits the deviation amount as the position information.
(Appendix 4)
Further provided with a control unit for calculating the relative position of the flying object with respect to the fence.
The takeoff and landing facility according to Appendix 1 or 2, wherein the communication unit transmits the relative position as the position information.
(Appendix 5)
An air vehicle capable of autonomous flight
A drive mechanism that generates lift for flight,
A communication unit on the aircraft side that receives position information indicating the horizontal position and altitude from the ground side provided with a sensor for detecting the horizontal position and altitude of the aircraft on a fence that defines a takeoff and landing location.
An air vehicle including a flight control unit that controls the drive mechanism so that the air vehicle lands at the takeoff and landing location based on the position information.
(Appendix 6)
The airframe according to Appendix 5, wherein the airframe-side communication unit receives the amount of deviation from the landing position in the fence to the airframe as the position information.
(Appendix 7)
The flying object according to Appendix 5, which receives the relative position of the flying object with respect to the fence as the position information.
(Appendix 8)
An air vehicle capable of autonomous flight and
A fence that defines the takeoff and landing location of the aircraft,
A sensor provided on the fence to detect the horizontal position and altitude of the flying object, and
A communication unit that transmits position information indicating the horizontal position and the altitude detected by the sensor to the flying object is provided.
The flying object
A drive mechanism that generates lift for flight,
With the communication unit on the aircraft side that receives the location information,
An air vehicle system including a flight control unit that controls the drive mechanism so as to land at the takeoff and landing location based on the position information.
(Appendix 9)
Further provided with a blower mechanism provided below the takeoff and landing site to blow air to the aircraft.
The flying object system according to Appendix 8, which controls the blowing mechanism based on the position information.
(Appendix 10)
A control unit for calculating the amount of deviation from the landing position in the fence to the flying object based on the detection signal from the sensor is provided.
The flying object system according to Appendix 8 or 9, wherein the communication unit transmits the deviation amount as the position information.
(Appendix 11)
Further provided with a control unit for calculating the relative position of the flying object with respect to the fence.
The flying object system according to Appendix 8 or 9, wherein the communication unit transmits the relative position as the position information.
(Appendix 12)
It is a landing control method that controls the landing of an autonomous flying object.
A step of detecting the horizontal position and altitude of the aircraft by a sensor provided on a fence that defines the takeoff and landing location of the aircraft, and
A landing control method comprising a step of transmitting position information indicating the horizontal position and the altitude to the flying object.
(Appendix 13)
A ventilation mechanism provided below the takeoff and landing site further provides a step of blowing air to the aircraft during landing.
The landing control method according to Appendix 12, wherein the ventilation mechanism is controlled based on the position information.
(Appendix 14)
Based on the detection signal from the sensor, the amount of deviation from the landing position in the fence to the flying object is calculated.
The landing control method according to Appendix 12 or 13, wherein the deviation amount is transmitted as the position information.
(Appendix 15)
The landing control method according to Appendix 12 or 13, wherein the relative position of the flying object with respect to the fence is calculated and the relative position is transmitted as the position information.

100 Aircraft 101 Rotorcraft 111 Flight control unit 112 Drive mechanism 113 Airframe side communication unit 114 Airframe side sensor 115 Display unit 116 Battery 200 Takeoff and landing facility 201 Fence 202 Sensor 203 Takeoff and landing location 204 Landing position 206 Takeoff and landing platform 207 Blower 213 Communication department

Claims

It is a takeoff and landing facility where autonomous flying objects take off and land.
A fence that defines the takeoff and landing location of the aircraft,
A sensor provided on the fence to detect the horizontal position and altitude of the flying object,
A takeoff and landing facility including a communication unit that transmits position information indicating the horizontal position and the altitude to the flying object.
Further provided with a blower mechanism provided below the takeoff and landing site to blow air to the aircraft during landing.
The takeoff and landing facility according to claim 1, wherein the ventilation mechanism is controlled based on the position information.
A control unit for calculating the amount of deviation from the landing position in the fence to the flying object based on the detection signal from the sensor is provided.
The takeoff and landing facility according to claim 1 or 2, wherein the communication unit transmits the deviation amount as the position information.
Further provided with a control unit for calculating the relative position of the flying object with respect to the fence.
The takeoff and landing facility according to claim 1 or 2, wherein the communication unit transmits the relative position as the position information.
An air vehicle capable of autonomous flight
A drive mechanism that generates lift for flight,
A communication unit on the aircraft side that receives position information indicating the horizontal position and altitude from the ground side provided with a sensor for detecting the horizontal position and altitude of the aircraft on a fence that defines a takeoff and landing location.
An air vehicle including a flight control unit that controls the drive mechanism so that the air vehicle lands at the takeoff and landing location based on the position information.
An air vehicle capable of autonomous flight and
A fence that defines the takeoff and landing location of the aircraft,
A sensor provided on the fence to detect the horizontal position and altitude of the flying object, and
A communication unit that transmits position information indicating the horizontal position and the altitude detected by the sensor to the flying object is provided.
The flying object
A drive mechanism that generates lift for flight,
With the communication unit on the aircraft side that receives the location information,
An air vehicle system including a flight control unit that controls the drive mechanism so as to land at the takeoff and landing location based on the position information.
Further provided with a blower mechanism provided below the takeoff and landing site to blow air to the aircraft.
The flying object system according to claim 6, wherein the blowing mechanism is controlled based on the position information.
A control unit for calculating the amount of deviation from the landing position in the fence to the flying object based on the detection signal from the sensor is provided.
The flying object system according to claim 6 or 7, wherein the communication unit transmits the deviation amount as the position information.
Further provided with a control unit for calculating the relative position of the flying object with respect to the fence.
The flying object system according to claim 6 or 7, wherein the communication unit transmits the relative position as the position information.
It is a landing control method that controls the landing of an autonomous flying object.
A step of detecting the horizontal position and altitude of the aircraft by a sensor provided on a fence that defines the takeoff and landing location of the aircraft, and
A landing control method comprising a step of transmitting position information indicating the horizontal position and the altitude to the flying object.