Automatic taking-off and landing system

The invention provides an automatic taking-off and landing system, comprising a flying object and a taking-off and landing target, wherein the flying object has an image pickup device 21 for taking images found in downward direction, navigation means 4, 5, 6, 8, 9, 10 and 11, and a control unit for processing images acquired by the image pickup device and for controlling the navigation means, and wherein the control unit calculates a positional relation between the taking-off and landing target and the flying object based on the image of the taking-off and landing target as acquired by the image pickup device and controls taking-off and landing operations of the flying object based on a result of the calculation.

BACKGROUND OF THE INVENTION

The present invention relates to an automatic taking-off and landing system, according to which a flying object can take off and land automatically.

In photographing or surveying operation from a position high up in the sky, it is possible to acquire such types of information, which cannot be obtained by photographing from ground surface or by surveying operation on the ground surface, or such types of information can be obtained on a place where no person can enter and where it is difficult to perform photographing or surveying operation. In recent years, with the progress of performance characteristics of a flying object such as a small type airplane under remote control or a small type helicopter etc., with the improvement of remote control technique, further, with the improvement of performance characteristics of image pickup device and with technical promotion to miniaturize devices and instruments, it is now possible to provide an image pickup device on a small type flying object and to perform the completely automated photographing from a position high up in the sky by remote control.

For instance, a small type flying object is taken off from a predetermined position (e.g. from a taking-off and landing deck) by remote control or according to a program incorporated in the small type flying object. Then, the small type flying object is flown in a predetermined range to take photographs. After the completion of the photographing, the flying object is operated to return to a preset position where taking-off and landing deck is placed, and further, the flying object is landed automatically on the taking-off and landing deck.

When a small type flying object is operated to take off, to fly and to land automatically, taking-off and landing is difficult to operate, in particular, it is difficult to make a small flying object land at a predetermined position. Therefore, to make the small flying object fly autonomously, it is necessary to establish a technique to perform automatic taking-off and landing in safe and reliable manner by simple control.

In the Japanese Patent Publication JP-A-2000-85694, a landing support system is disclosed, which describes an operation to perform landing of a small type flying object at a predetermined position. In the Japanese Patent Gazette No. 4253239, a navigation system is disclosed, which is used to accomplish landing of a helicopter at a point as desired according to image recognition. The Japanese Patent Gazette No. 2662111, an automatic landing guidance method is disclosed, which describes a procedure for guidance of vertical taking-off and landing operation by using a plurality of image sensors. Also, the Japanese Patent Publication JP-A-9-302628 discloses a movable type taking-off and landing facility for taking-off and landing operation of a small type flying object.

SUMMARY OF THE INVENTION

It is an object of the present invention to provide an automatic taking-off and landing system, by which it is possible to perform taking-off and landing operation in reliable and safe manner to make the flying object fly autonomously.

To attain the above object, the automatic taking-off and landing system according to the present invention, comprising a flying object and a taking-off and landing target, wherein the flying object has an image pickup device for taking images found in downward direction, navigation means, and a control unit for processing images acquired by the image pickup device and for controlling the navigation means, and wherein the control unit calculates a positional relation between the taking-off and landing target and the flying object based on the image of the taking-off and landing target as acquired by the image pickup device and controls taking-off and landing operations of the flying object based on a result of the calculation.

Also, the invention provides the automatic taking-off and landing system as described above, wherein the taking-off and landing target has a target mark, the control unit obtains a reference position of the target mark through image processing of the target mark taken by the image pickup device and guides taking-off and landing operations of the flying object based on a relation between the reference position of the target mark and a reference position of the flying object.

Further, the invention provides the automatic taking-off and landing system as described above, wherein the taking-off and landing target has a target mark, the control unit has a recognition pattern to recognize a target mark image, the control unit recognizes the target mark image based on the recognition pattern from the image taken by the image pickup device and guides the flying object so that the center of the target mark image will be the center of the image on the image.

Also, the invention provides the automatic taking-off and landing system as described above, wherein an altitude of the flying object is measured according to a size of the target mark image as recognized.

Further, the invention provides the automatic taking-off and landing system as described above, wherein a GPS device is provided on the flying object, the taking-off and landing target is disposed at a known position, the control unit determines a positional relation between a position of the flying object and a position of the taking-off and landing target based on a position of the flying object acquired by the GPS device and on the known position and controls the flight.

Also, the invention provides the automatic taking-off and landing system as described above, wherein a first GPS device is provided on the flying object, a second GPS device is provided on the taking-off and landing target, and the control unit determines a positional relation between a position of the flying object and a position of the taking-off and landing target based on a position of the flying object acquired by the first GPS device and on a position acquired by the second GPS device and controls the flight.

Further, the invention provides the automatic taking-off and landing system as described above, wherein a GPS device is provided on the flying object, the taking-off and landing target is disposed at a known position, the control unit determines a positional relation between a position of the flying object and a position of the taking-off and landing target based on a position of the flying object acquired by the GPS device and on the known position and controls the flight, and the control unit determines a reference position of the target mark through image processing of an image of a target mark taken by the image pickup device, and controls the taking-off and landing operation of the flying object based on a relation between the reference position of the target mark and a reference position of the flying object.

Also, the invention provides the automatic taking-off and landing system as described above, wherein the target mark has similar patterns disposed at concentric multiple positions, and at least one pattern can be recognized from an image acquired by the image pickup device in a process when the flying object lands on the taking-off and landing target.

Further, the invention provides the automatic taking-off and landing system as described above, wherein the taking-off and landing target has light-emitting means.

Also, the invention provides the automatic taking-off and landing system as described above, wherein the taking-off and landing target is provided on a mobile object.

Further, the invention provides the automatic taking-off and landing system as described above, wherein the taking-off and landing target is provided on a mobile object, the control unit determines a reference position of a target mark at real time through image processing of an image of the target mark taken by the image pickup device and controls flight of the flying object based on a relation between the reference position of the target mark and a reference position of the flying object so that the flying object tracks the mobile object.

Also, the invention provides the automatic taking-off and landing system as described above, wherein the taking-off and landing target is provided on a mobile object, the flying object has a first communication unit, the mobile object has a second communication unit, the second communication unit can transmit positional information acquired by the second GPS device to the control unit via the first communication unit, the control unit controls flight of the flying object based on a position acquired by the first GPS device and on a position acquired by the second GPS device so that the flying object tracks the track of the mobile object.

The invention provides the automatic taking-off and landing system as described above, comprising a flying object and a taking-off and landing target, wherein the flying object has an image pickup device for taking images found in downward direction, navigation means, and a control unit for processing images acquired by the image pickup device and for controlling the navigation means, and wherein the control unit calculates a positional relation between the taking-off and landing target and the flying object based on the image of the taking-off and landing target as acquired by the image pickup device and controls taking-off and landing operations of the flying object based on a result of the calculation. As a result, there is no need to have a special type of detecting device or the like for automatic landing and it is possible to guide the flying object in reliable manner to a target mark and to make the flying object land and it is possible to provide the taking-off and landing system which can be produced in simple manner and at lower cost.

Also, the invention provides the automatic taking-off and landing system as described above, wherein the taking-off and landing target has a target mark, the control unit obtains a reference position of the target mark through image processing of the target mark taken by the image pickup device and guides taking-off and landing operations of the flying object based on a relation between the reference position of the target mark and a reference position of the flying object. As a result, it is possible to perform the guidance of landing operation with high accuracy.

Further, the invention provides the automatic taking-off and landing system as described above, wherein a GPS device is provided on the flying object, the taking-off and landing target is disposed at a known position, the control unit determines a positional relation between a position of the flying object and a position of the taking-off and landing target based on a position of the flying object acquired by the GPS device and on the known position and controls the flight. As a result, autonomous (self-controlled) flight of the flying object can be accomplished in simple configuration.

Also, the invention provides the automatic taking-off and landing system as described above, wherein a first GPS device is provided on the flying object, a second GPS device is provided on the taking-off and landing target, and the control unit determines a positional relation between a position of the flying object and a position of the taking-off and landing target based on a position of the flying object acquired by the first GPS device and on a position acquired by the second GPS device and controls the flight. As a result, autonomous flight of the flying object can be accomplished in simple configuration.

Further, the invention provides the automatic taking-off and landing system as described above, wherein a GPS device is provided on the flying object, the taking-off and landing target is disposed at a known position, the control unit determines a positional relation between a position of the flying object and a position of the taking-off and landing target based on a position of the flying object acquired by the GPS device and on the known position and controls the flight, and the control unit determines a reference position of the target mark through image processing of an image of a target mark taken by the image pickup device, and controls the taking-off and landing operation of the flying object based on a relation between the reference position of the target mark and a reference position of the flying object. As a result, it is possible to ensure autonomous flight in flexible manner and to perform guidance for landing operation with high accuracy.

Also, the invention provides the automatic taking-off and landing system as described above, wherein the target mark has similar patterns disposed at concentric multiple positions, and at least one pattern can be recognized from an image acquired by the image pickup device in a process when the flying object lands on the taking-off and landing target. As a result, regardless of the altitude of the flying object and of field angle of the image pickup device, it is possible to perform guidance for landing operation by means of a target mark in reliable manner.

Further, the invention provides the automatic taking-off and landing system as described above, wherein the taking-off and landing target has light-emitting means. As a result, when the amount of light is not sufficient and it is difficult to recognize the target for the taking-off and landing operation, or even at nighttime, it is possible to perform guidance of the flying object for the landing in reliable manner.

Also, the invention provides the automatic taking-off and landing system as described above, wherein the taking-off and landing target is provided on a mobile object. As a result, the taking-off and landing operation of the flying object can be performed at any position as desired.

Further, the invention provides the automatic taking-off and landing system as described above, wherein the taking-off and landing target is provided on a mobile object, the control unit determines a reference position of a target mark at real time through image processing of an image of the target mark taken by the image pickup device and controls flight of the flying object based on a relation between the reference position of the target mark and a reference position of the flying object so that the flying object tracks the mobile object. As a result, it is possible to accomplish autonomous flight of the flying object in wider range.

Also, the invention provides the automatic taking-off and landing system as described above, wherein the taking-off and landing target is provided on a mobile object, the flying object has a first communication unit, the mobile object has a second communication unit, the second communication unit can transmit positional information acquired by the second GPS device to the control unit via the first communication unit, the control unit controls flight of the flying object based on a position acquired by the first GPS device and on a position acquired by the second GPS device so that the flying object tracks the track of the mobile object. As a result, it is possible to accomplish autonomous flight of the flying object in wider range.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Description will be given below on embodiments of the present invention by referring to the attached drawings.

First, by referring toFIG. 1andFIG. 2, description will be given on general features of an automatic taking-off and landing system according to the present invention.

FIG. 1shows a basic configuration of an automatic taking-off and landing system according to a first embodiment of the present invention. The automatic taking-off and landing system primarily comprises a flying object1and a taking-off and landing target2provided on a base station side. The flying object1is a helicopter, which executes an autonomous (self-controlled) flight as a small type flying object, for instance. Further, the helicopter1is designed so that it can be remotely controlled. InFIG. 1, numeral40represents a remote controller for remote control, for instance.

The helicopter1primarily comprises a helicopter body3, propellers as required which are mounted on the helicopter body3. For instance, there are provided four sets of propellers4,5,6and7on front, rear, left and right positions respectively. The propellers4,5,6and7are connected to a first motor8, a second motor9, a third motor10, and a fourth motor11(to be described later) independently. Also, as described later, the driving of each of the first motor8, the second motor9, the third motor10, and the fourth motor11are controlled independently from each other. The propellers4,5,6and7and the first motor8, the second motor9, the third motor10, and the fourth motor11, etc. make up together navigation means of the flying object.

On the helicopter body3of the helicopter1, there is provided a control device13. As shown inFIG. 2, the control device13primarily comprises a flight guiding unit14, a flight control unit15, a main arithmetic control unit16, a communication unit17, and a power supply unit18.

The flight guiding unit14has a GPS device20as a position measuring device, an image pickup device21, which is installed on an undersurface of the helicopter body3, a flight guiding CPU22and a first storage unit23. The image pickup device21is a digital camera or a video camera for taking digital images and takes images under the helicopter1.

The GPS device20is designed so as to determine a reference position of the helicopter1, for instance, a mechanical center. Because values measured by the GPS device20represent coordinates (position) of a geocentric coordinate system (absolute coordinates system), and the GPS device20determines the coordinates of the reference position on the geocentric coordinate system. Also, the image pickup device21has an optical axis19, which passes through the reference position, and the optical axis19coincides with the vertical line when the helicopter1is at horizontal position. Therefore, the image pickup device21can acquire images within a field angle θ as required directly under the helicopter1(hereinafter referred as “background image”). Further, it is designed that the center of the background image coincides with the reference position.

The images acquired by the image pickup device21and positions and time, at which images have been acquired, are stored in the first storage unit23, and the images, the positions and the time are associated. Further, flight planning data or the like to be used for performing autonomous flight are stored in the first storage unit23. The images and the position, the time of the acquisition of the images may be stored in a third storage unit31as to be described later. In the first storage unit23, a pattern for recognition is stored, which is used to recognize a pattern of a target mark36as to be described later. The pattern for recognition may be stored in the third storage unit31as to be described later.

In the first storage unit23, various types of programs are stored. These programs include, for instance: an image processing program for image processing to extract the target mark36(to be described later) from images acquired at the image pickup device21, a pattern recognition program for recognizing the target mark36by comparing the extracted target mark36with the pattern for recognition and for judging difference of direction between the target mark36and the pattern for recognition or the like, a flight guiding program for preparing flight guiding data from the flight planning data and from position information as measured by the GPS device20, an image pickup control program for controlling pickup of images by the image pickup device21, and other programs.

The flight control unit15comprises the first motor8, the second motor9, the third motor10, and the fourth motor11, and a motor controller25for driving and controlling these motors individually, and a flight control CPU26for controlling the motor controller25, a second storage unit27, and a gyro unit28, which issues a posture status signal by detecting posture status of the helicopter1with respect to the horizontal position.

In the second storage unit27, the following programs are stored: a flight control program for calculating flight conditions such as flying speed, ascending speed, descending speed, flying direction, flying altitude, etc. based on the flight guiding data from the flight guiding unit14, a posture control program for calculating information for posture control based on the posture status signal from the gyro unit28, and other programs. The flight control CPU26issues a flight control command to the motor controller25according to the flight control program, controls the first motor8, the second motor9, the third motor10, and the fourth motor11via the motor controller25, and executes the flight thus determined. Also, the flight control CPU26issues a posture control command to the motor controller25according to the posture control program, controls the first motor8, the second motor9, the third motor10, and the fourth motor11via the motor controller25, and controls the posture of the helicopter1in a condition as desired (e.g. in horizontal condition, i.e. a condition where the optical axis19of the image pickup device21runs in vertical direction).

The main arithmetic control unit16comprises a main CPU30, a third storage unit31, and a switching unit32. In the third storage unit31, the following programs are stored: a coordination program for coordinating and controlling the flight guiding unit14and the flight control unit15, the image processing program for processing images acquired by the image pickup device21, the flight control program, a communication control program, etc.

The communication unit17comprises a wireless communication unit33, an information communication unit34, etc. The wireless communication unit33receives a remote flight control command from a base station on the ground and sends communication on the flying condition of the helicopter1to the base station. Also, the information communication unit34gives and takes information between the base station and the helicopter1by using communication means such as wireless LAN or Bluetooth (registered trademark), etc. For instance, under conditions where the helicopter1is landed on the base station, the flight planning data are transmitted from the base station to the helicopter1, or information such as image, position, time, etc., which have been taken during the flight, are transmitted from the helicopter1to the base station.

The power supply unit18is a rechargeable battery, for instance. Electric power is charged in the battery under conditions where the helicopter is landed at the base station, and electric power is supplied as necessary to the flight guiding unit14, the flight control unit15, the main arithmetic control unit16, and the communication unit17during the flight.

The taking-off and landing target2is installed at a known point. As shown inFIG. 3, the target mark36is marked on a surface, where the helicopter1is to be landed (hereinafter referred as “landing surface2a”, of the taking-off and landing target2.

The target mark36is a mark where figures in similar shape (such as circular shape, rectangular shape, triangular shape, etc; circular shape is shown in the figure) are arranged in form of concentric multiple circles. The shape of the target mark36can be recognized from the helicopter1at any arbitrary altitude. Each of these shapes is in a known size. If the target mark36is designed in multiple circles, diameter of each of the circles has a known value. The target mark36has a reference position, and the reference position is the center of the figure, for instance.

Specifically, when the helicopter1is at the highest altitude or at a designated altitude at the time of landing and when the target mark36is within a range of a field angle θ of the image pickup unit21, (preferably when the target mark36is positioned directly under or nearly directly under the helicopter1), the image pickup device21can recognize at least the outermost pattern of the target mark36. Also, at any altitude when the helicopter1is descended from the highest altitude or at a designated altitude and touches down the landing surface2a,it is so designed that at least one of the patterns to constitute the target mark36can be perfectly recognized.

Therefore, under the condition where the image pickup device21touches down the ground, at least the innermost pattern, i.e. the smallest pattern, is included within the range of the field angle θ, and the innermost pattern is recognized by the image pickup device21.

Further, the target mark36has a central marking to indicate the central position of the target mark36, e.g. a dot mark or a cross mark. When the center of the pattern can be obtained according to the shape, the central marking can be omitted. The target mark36has a directional indexing portion36ato indicate direction or a shape to indicate the direction. For instance, in the pattern as shown inFIG. 3, each of the circular shapes has a lacking portion as a directional indexing portion36aon the same radius.

The image pickup device21to be installed on the helicopter body3is not limited to a device, which is used to acquire the images found in downward direction along the vertical line, but one or a plurality of image pickup devices can be provided. The other image pickup devices21are installed each at a predetermined angle with respect to the vertical line, and it may be so designed that the other image pickup device21may acquire images deviated in a direction running perpendicularly with respect to the advancing direction. The information collecting devices to be installed on board the helicopter1are not limited to the image pickup devices21, and various types of devices such as distance measuring device, infrared image pickup device, etc. may be conceived.

Next, description will be given on operation according to the present embodiment.

First, description will be given on autonomous flight.

The main CPU30operates the switching unit32and sets up the switching unit32so that flight guiding data from the flight guiding unit14are inputted to the flight control unit15.

With the helicopter in landed condition, flight planning data are transmitted to the control device13via the information communication unit34, and the flight planning data are inputted to the first storage unit23via the main CPU30. Also, positional data (absolute coordinates) of the taking-off and landing target are inputted. When all of the flight planning data are completely transmitted, autonomous flight is started based on the flight planning data.

Based on the inputted flight planning data, the flight guiding unit14prepares flight guiding data and inputs the flight guiding data to the flight control unit15via the switching unit32. Then, based on the flight guiding data thus inputted, the flight control CPU26starts the flight by driving and controlling the first motor8, the second motor9, the third motor10, and the fourth motor11via the motor controller25. During the flight, positional information of the helicopter1is obtained from the GPS device20. Then, based on the flight planning data and the positional information, the flight guiding CPU22corrects the flight guiding data as adequate and inputs the data to the flight control unit15.

During the flight, the flight control CPU26controls the posture of the helicopter1by adequately driving and controlling the first motor8, the second motor9, the third motor10, and the fourth motor11via the motor controller25based on the posture status signal from the gyro unit28.

Also, during the flight, the flight guiding unit14executes operation as planned such as photographing, surveying etc. as necessary by controlling the image pickup device21based on the flight planning data.

When the scheduled operation has been completed, a return command is issued from the flight guiding unit14. The helicopter1returns to the base station and is landed on the taking-off and landing target2. Now, referring toFIG. 4, description will be given on the landing operation.

Based on the positional information acquired by the GPS device20and on the coordinates of the taking-off and landing target2, the position of the helicopter1with respect to the taking-off and landing target2can be identified. Based on the position of the helicopter1, the flight guiding unit14corrects the flight guiding data so as to guide the helicopter1to the base station and transmits the flight guiding data to the flight control unit15via the switching unit32.

When the helicopter1arrives at a position in the sky above the taking-off and landing target2, it is searched by image processing as to whether the taking-off and landing target2is included in the images taken by the image pickup device21or not (Step01). Therefore, the relation between the accuracy of the measurement in the horizontal direction of the GPS device20and the field angle θ of the image pickup device21is the relation in such manner that at a position obtained based on the measurement result of the GPS device20and at a predetermined altitude (at an altitude where the landing operation is to be started), the image pickup device21can identify the taking-off and landing target2(i.e. the taking-off and landing target2is within a range of the field angle θ).

The recognizing of the taking-off and landing target2means the recognizing of the target mark36concretely. The recognizing of the target mark36is carried out by pattern recognition based on comparison with the pattern of the target mark36stored in the first storage unit23. When the target mark36is recognized, the guiding operation of the helicopter1is executed according to the recognition of the target mark36.

Then, a deviation of the position of the center of the target mark36on background image (recognized by the pattern recognition) from the center of the background image is obtained. This deviation is reflected on the flight guidance data, and the helicopter1is guided in such manner that the center of the target mark36as recognized coincides with the center of the background image.

When the center of the target mark36coincides with the center of the background image, altitude is determined from the size of the image of the target mark36. The altitude thus determined is reflected in the flight guidance data. When the center of the target mark36coincides with the center of the background image, the helicopter1is descended, and during the descending process, position control in the horizontal direction can be carried out with high accuracy by image processing of the target mark36.

By performing edge processing on the image of the target mark36, the size on the image, e.g. diameter, is measured. Actual dimension of the target mark36is already known and is stored in the first storage unit23in advance. Thus, by comparison with the dimension stored, a distance to the helicopter1, i.e. an altitude, is determined. Further, in case the diameters (perpendicularly crossing each other) of the target mark36are not equal to each other, the circle is recognized as an ellipse. By a ratio of major axis to minor axis, deviation of angle and direction of deviation of the flying object with respect to the vertical line, which passes the reference position of the target mark36, can be determined, and the position of the helicopter1can be corrected according to the deviation of angle and to the direction of deviation thus determined. It may be so designed that the center of the target mark36is detected, and that the position of the helicopter1may be corrected based on the deviation from the center of the background image (Step02and Step03).

By continuously measuring the altitude and through differentiation by time, descending speed can be determined. Then, it is judged whether the descending speed coincides with the flight planning data or not. The flight guidance data based on this judgment are sent to the flight control unit15. Based on the flight guidance data, the flight control CPU26drives and controls the first motor8, the second motor9, the third motor10, and the fourth motor11via the motor controller25, and the descending speed is controlled (Step04and Step05).

During the descending operation, the target mark36is continuously recognized by image processing. By detecting a deviation of the center of the target mark36from the optical axis19of the image pickup device21(i.e. a deviation from the center of the background image), a positional relation between the target mark36and the helicopter body3in the horizontal direction can be determined with higher accuracy, and the helicopter1can be accurately landed at the center of the target mark36.

During the landing process, from relation of the field angle θ of the image pickup device21and the size of the target mark36, the target mark36goes gradually beyond the range of image pickup from the outer pattern of the target mark36while the altitude of the helicopter1is descending. As described above, in the target mark36, similar patterns are arranged in concentric multiple circles. Thus, at any altitude during the process when the helicopter is going to touch the landing surface2a,at least one of the patterns, which constitutes the target mark36, can be perfectly recognized, and the continuity of the guidance by the target mark36can be ensured.

By the image processing of the target mark36, the directional indexing portion36acan be detected, and it is also possible to correct the direction of the helicopter body3with respect to the target mark36.

As a result, the helicopter can be landed on the target mark36with high accuracy in the autonomous flight. The image pickup device21for acquiring the image to detect the target mark36can be commonly used as a device, by which aerial photograph is taken by the helicopter1. Because final positioning is carried out by image processing of the taken target mark36, the GPS device20provided on board the helicopter1need not be with high accuracy, and it may be a device less costly with measurement accuracy of about10meters, for instance.

Therefore, no specific device is needed for operating the automatic taking-off and landing system in the present embodiment, and the landing guidance with high accuracy can be accomplished by simple configuration and at lower cost.

In the embodiment as described above, if the burden on the flight guiding CPU22is heavy such as the case of image processing in the flight guiding unit14, the burden of the processing may be shared by the main CPU30, or the storage of the data and the program may be shared by the first storage unit23and the third storage unit31.

In the description as given above, it may be so arranged that the coordinates of the target mark36is inputted as a part of the flight planning data, while it may be arranged so that the GPS device and the communication device are provided on the base station, and that the position of the target mark36is measured by the GPS device on the base station side, and also, that positional information of the target mark36may be transmitted to the communication unit17on the helicopter1side. The GPS device on the base station side may not necessarily be used to measure the position of the target mark36, but it would suffice if the position (absolute coordinates) to be measured by the GPS device on the base station side may be in a known relation with the position of the target36. With regard to the position of the taking-off and landing target2as acquired based on the measurement value of the GPS device on the base station side, when the target mark36is fixed, there is no change in the position of the target mark36, and the position of the taking-off and landing target2may be inputted to the control device13as the flight planning data. In this case, the communication device on the base station side may be omitted.

When the helicopter1takes off, an operation procedure reverse to the operation procedure of the landing as described above is carried out. That is, under the condition that the image pickup device21can take the image of the target mark36, the target mark36is recognized from the acquired image, and ascending speed and altitude are calculated and then, the ascending operation can be controlled. In case the helicopter1reaches a predetermined altitude, autonomous flight is executed based on the flight planning data, and also based on positional information acquired at the GPS device20.

Next, description will be given on the flight of the helicopter1by remote control operation.

The switching unit32is operated via the main CPU30, and the main arithmetic control unit16is connected with the flight control unit15so that the flight guiding data can be sent to the flight control unit15from the main arithmetic control unit16.

A remote control signal is transmitted from the remote controller40on the base station side, and the remote control signal is received via the wireless communication unit33. The main CPU30starts the flight control program, prepares the flight guiding data based on the remote operation signal, and inputs the flight guiding data to the flight control unit15via the switching unit32.

The flight control CPU26controls the flight via the motor controller25based on the flight guiding data, and controls posture of the helicopter body3based on a posture status signal from the gyro unit28.

In landing the helicopter1, similarly to the case of autonomous flight, the image pickup device21takes the image of the target mark36. Then, by the image processing on the target mark36, positioning is carried out between the helicopter body3and the target mark36. The image of the target mark36as taken by the image pickup device21is displayed on a display unit (not shown) of the remote controller40, and the landing operation may be carried out by manual remote-control operation according to the image.

FIG. 5shows an application example of the embodiment.

In this application example, the taking-off and landing target2is installed on a mobile object, e.g. on ceiling of an automobile43, and a tracking system using the automatic taking-off and landing system is configured.

If the flight planing data is so designed that the helicopter1is positioned at all times directly above the target mark36, the flight guiding unit14recognizes the target mark36, and the flight guiding unit14calculates a deviation of the center of the target mark36from the optical axis19of the image pickup device21(i.e. the center of the background image). Then, the flight guiding data is prepared so that the center of the target mark36coincides with the optical axis19of the image pickup device21, and the data are transmitted to the flight control unit15. The flight control unit15controls the helicopter body3so that the helicopter body3is directly above the target mark36based on the flight guiding data, i.e. based on recognition of the position of the target mark36on the image.

When the automobile43is moved, the helicopter1is also moved to follow the movement of the target36. Therefore, if the automobile43is moved along a route where information is required, information such as image data within the range where the automobile43is moved can be acquired.

In the application example, it is so arranged that a first GPS device20is provided on the helicopter1, a second GPS device44is provided on the automobile43, and a position of the automobile43(i.e. a position of the taking-off and landing target2) is measured at real time by the GPS device44. Then, the result of the measurement by the GPS device44is transmitted to the control device13, and the control device13controls the flight of the helicopter1based on the result of the measurement by the GPS device20of the helicopter1, and based on the result of the measurement by the GPS device44. Further, in case the helicopter1is controlled to land on the taking-off and landing target2, if it is so arranged that control is performed based on the image processing of the taken image of the target mark36, it is possible to acquire images in wide range by the image pickup device21of the helicopter1or to acquire the measurement data in wide range by other measuring instrument which is installed on the helicopter body3.

FIG. 6shows another example of the taking-off and landing target2.

The taking-off and landing target2comprises a light emitting means, for instance, light-emitting diodes41and42, in addition to the target mark36.

The light-emitting diode41is disposed as many as required and at adequate arrangement at a position separated by a distance as necessary from the center. In the figure, an example is shown where the light-emitting diode41is disposed at a vertex of an isosceles triangle. Further, the light-emitting diode42is provided at the center of the taking-off and landing target2. With the light-emitting diode42arranged at such position, the center of the target mark36can be detected immediately when the light-emitting diode42is detected. Accordingly, there is no need to obtain the center by calculation from the arrangement of the light-emitting diode41. Many light-emitting diodes41may be arranged so that the light-emitting diodes41themselves form the target mark36.

By providing the light-emitting diode41, the taking-off and landing target2can be reliably recognized even under the condition that the amount of light is not sufficient to identify the target mark36, e.g. when it is cloudy, or in the evening or at night, etc.

In case the light-emitting diodes41and42are provided, the target mark36may be omitted.

FIG. 7shows another embodiment. InFIG. 7, the same component as shown inFIG. 2is referred by the same symbol, and detailed description is not given here.

In this another embodiment, the flight guiding CPU22and the flight control CPU26of the above embodiment are put together in the main CPU30, and a first storage unit23and a second storage unit27are put together in a third storage unit31.

In this another embodiment, CPU's and the storage units are put together. As a result, it is possible to provide an automatic taking-off and landing system with simple configuration and in more convenient arrangement.

It is needless to say that the present invention can be applied for the purposes such as investigation of agricultural products, soil quantity control, construction work control, topographical investigation, investigations on buildings and constructions, investigations on electric power transmission towers, dams, and bridges, investigation on conditions of dangerous areas, monitoring and surveillance, etc.