Landing system for unmanned aerial vehicles

Abstract

To enable a drone to continue landing motion, even if a marker for landing cannot be temporarily recognized.SOLUTION: A landing system of a drone, which enable a drone mounted with a camera 14 to land on a charging port in which a marker is installed, comprises: a marker recognizing part 21 that recognizes a marker photographed with the camera and calculates position information on the charging port in a coordinate system of the drone; a self-position estimating part 22 that calculates position information on the drone in a reference coordinate system; and a command speed generating part 23 that calculates position information on the charging port in the reference coordinate system, using the position information on the drone in the reference coordinate system and the position information on the charging port in the coordinate system of the drone, and generates a command speed for enabling the drone descend toward the charging port. When the marker recognizing part cannot recognize the marker, the command speed generating part generates a command speed for enabling the drone descend toward the charging port, on the basis of the position information on the charging port in the reference coordinate system calculated when the marker has been lastly recognized.SELECTED DRAWING: Figure 3

Images