| 摘要 |
PROBLEM TO BE SOLVED: To provide a take-off and landing method for an unmanned helicopter to fly autonomously without requiring any maneuver command from above, capable of accomplishing an automatic safe take-off and landing and suppressing the cost likely to increase for building a control system, whereby it is possible to achieve an automatic safe taking-off and an automatic safe landing. SOLUTION: The unmanned helicopter 20 is equipped with an altitude controlling means to control the altitude of the fuselage by giving a command for the collective pitch steering angle on the basis of an altitude change rate command etc., a take-off means which makes taking-off of the fuselage in the course of increasing the collective pitch steering angle without making the altitude control by the altitude controlling means upon receiving the take-off start command from the ground and starts the altitude control by the altitude control means after raising to the first altitude, and a descending means which descends the fuselage to the second altitude in the course of altering the descending rate command of the altitude controlling means and descends the fuselage from the second altitude to the ground by giving a descend rate command smaller than the descend rate command till the second altitude to the altitude controlling means. COPYRIGHT: (C)2004,JPO
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