Parachute device, flight device, and flying body ejection mechanism

Abstract

Provided is a parachute device that can reliably deploy a parachute. The parachute device (4) of the present invention includes: a parachute (400); a parachute housing portion (40) that is open at one end and formed into a bottomed cylindrical shape at the other end, and houses the parachute therein; at least one flying body (43) that is open at one end and formed into a bottomed cylindrical shape at the other end, and is connected to the parachute; a cylindrical ejection portion (41) that is fixed to the parachute housing portion, holds the flying body, and ejects the held flying body; a gas generating device (44) that is fixed to the parachute housing portion and generates gas; and a gas introduction passage (45) that guides the gas generated by the gas generating device to the inside of the ejection portion. With respect to the ejection portion, one end portion (410) of the opening of the ejection portion is inserted into the inside of the flying body, and the other end portion (411) of the opening of the ejection portion communicates with the gas introduction passage.

Description

Technical Field

[0001] The present invention relates to a parachute device, a flight device, and a flying body ejection mechanism. For example, it relates to a parachute device installed in a flight device of a multi-rotor helicopter type capable of remote operation and autonomous flight. Background Art

[0002] In recent years, the practical application in the industrial field of a flight device of a multi-rotor helicopter type (hereinafter also simply referred to as "helicopter") capable of remote operation and autonomous flight has been studied. For example, in the transportation industry, the transportation of goods and passengers by a helicopter (so-called unmanned aerial vehicle) has been studied.

[0003] A transportation helicopter has an autonomous flight function of flying while determining its own position based on a GPS (Global Positioning System) signal or the like. However, when the helicopter malfunctions for some reason and cannot fly autonomously, accidents such as the fall of the helicopter may occur. Therefore, it is desired to improve the safety of the helicopter.

[0004] In particular, it is expected that in the future, transportation helicopters will be made larger in body size in order to transport larger goods and more passengers. In the case where such a large helicopter falls due to some reason and cannot be controlled, compared with conventional helicopters, it is likely to cause great damage to people and buildings. Therefore, when aiming for the enlargement of a helicopter, safety needs to be emphasized more than ever.

[0005] Therefore, in order to improve the safety of a helicopter, the inventors of the present application have studied, for example, installing a parachute device for a flying body as disclosed in Patent Document 1 below on a helicopter.

[0006] Prior Art Documents

[0007] Patent Documents

[0008] Patent Document 1: Japanese Patent No. 4785084 Summary of the Invention

[0009] Problems to be Solved by the Invention

[0010] However, the inventors have found through research that since conventional parachutes for flying bodies are designed to easily open the parachute by the airflow generated during flight, when falling from a stationary state in the air, the effect of the airflow cannot be immediately obtained, and the parachute may not open immediately.

[0011] In view of the above problems, an object of the present invention is to provide a parachute device that can reliably deploy the parachute even when the effect of air flow cannot be immediately obtained during the flight or fall of the flying device.

[0012] Solution to the problem

[0013] The parachute device according to a representative embodiment of the present invention is characterized by having: a parachute; a parachute housing part, one end of which is open and the other end is formed into a bottomed cylindrical shape, and the parachute is housed therein; at least one flying body, one end of which is open and the other end is formed into a bottomed cylindrical shape, and is connected to the parachute; a cylindrical ejection part, fixed to the parachute housing part, for holding the flying body and ejecting the held flying body; a gas generating device, fixed to the parachute housing part, for generating gas; and a gas introduction path for guiding the gas generated from the gas generating device to the inside of the ejection part. One end of the opening of the ejection part is inserted into the inside of the flying body, and the other end of the opening of the ejection part communicates with the gas introduction path.

[0014] Effect of the invention

[0015] According to one aspect of the present invention, a parachute device can be provided that can reliably deploy the parachute even when the effect of air flow cannot be immediately obtained during the flight or fall of the flying device. Description of the drawings

[0016] Figure 1 It is a view schematically showing the appearance of a flying device equipped with the parachute device of the present embodiment.

[0017] Figure 2 It is a functional block diagram of the flying device of the parachute device of the present embodiment.

[0018] Figure 3 It is a top view of the parachute device of the present embodiment.

[0019] Figure 4 It is of the parachute device of the present embodiment Figure 3 Partial sectional view taken along line A-A.

[0020] Figure 5 It is a view schematically showing the state where the parachute is opened.

[0021] Figure 6 It is a view schematically showing the state where the parachute of the flying device of the present embodiment is opened. Detailed description of the invention

[0022] 1. Outline of the embodiment

[0023] First, a summary of a representative embodiment of the invention disclosed in the present application will be described. It should be noted that, in the following description, as an example, reference numerals on the drawings corresponding to the constituent elements of the invention are described with parentheses added.

[0024] 〔1〕The parachute device (4) of a representative embodiment of the present invention is characterized by having: a parachute (400); a parachute housing part (40) having one end open and the other end formed into a bottomed cylindrical shape, and accommodating the parachute therein; at least one flying body (43) having one end open and the other end formed into a bottomed cylindrical shape, and connected to the parachute; a cylindrical ejection part (41) fixed to the parachute housing part for holding the flying body and ejecting the held flying body; a gas generating device (44) fixed to the parachute housing part for generating gas; and a gas introduction path (45) for guiding the gas generated by the gas generating device to the inside of the ejection part, one end of the opening of the ejection part being inserted into the inside of the flying body, and the other end of the opening of the ejection part communicating with the gas introduction path.

[0025] 〔2〕In the above-mentioned parachute device (4), it may also be that the gas generating device includes: a gas generating agent (441) for generating the gas; and a housing (444) fixed to the inner bottom surface (404a) of the parachute housing part, accommodating the gas generating agent in a non-detachable manner, and forming a gas release chamber (446) for releasing the gas generated by the gas generating agent through the housing and the inner bottom surface of the parachute housing part, and the gas release chamber and the inside of the ejection part communicate with each other via the gas introduction path.

[0026] 〔3〕In the above-mentioned parachute device (4), it may also be that, inside the parachute housing part, between the parachute and the flying body, there is also a cover member (47) arranged so as to surround and hold the flying body held by the ejection part.

[0027] 〔4〕In the above-mentioned parachute device (4), it may also be that there is a lid (49) covering the opening part of the parachute housing part.

[0028] 〔5〕In the above-mentioned parachute device (4), it may also be that there are a plurality of the flying bodies, the ejection part and the gas introduction path are respectively provided corresponding to each flying body, the parachute housing part is a cylindrical container, the gas generating device is arranged at the central part (P) of the parachute housing part when viewed from the opening part side of the parachute housing part, and the plurality of ejection parts are arranged at equal intervals in the circumferential direction of a circle centered on the central part when viewed from the opening part side of the parachute housing part.

[0029] 〔6〕The flight device (1) according to a representative embodiment of the present invention is characterized by comprising: a fuselage unit (2); a driving force generating unit (3, 3_1 to 3_n) connected to the fuselage unit to generate a driving force; a flight control unit (14) for controlling the driving force generating unit; an abnormality detection unit (15) for detecting an abnormality during flight; the parachute device (4) according to any one of the above [1] to [5]; and a descent control unit (16) for ejecting the flying body from the ejection unit according to the detection of the abnormality by the abnormality detection unit.

[0030] 〔7〕The flying body ejection mechanism (50) according to a representative embodiment of the present invention is characterized by having: a flying body (43) capable of being connected to a parachute (400); a parachute accommodating part (40) with one end open and the other end formed into a bottomed cylindrical shape, and the parachute can be accommodated inside it; a cylindrical ejection part (41) fixed to the parachute accommodating part for holding the flying body and ejecting the held flying body; a gas generating device (44) fixed to the parachute accommodating part for generating gas; and a gas introduction path (45) for guiding the gas generated by the gas generating device to the inside of the ejection part. One end of the flying body is open and the other end is formed into a bottomed cylindrical shape. One end (410) of the open end of the ejection part is inserted into the inside of the flying body, and the other end (411) of the open end of the ejection part communicates with the gas introduction path.

[0031] 2. Specific examples of the embodiments

[0032] Hereinafter, specific examples of the embodiments of the present invention will be described with reference to the drawings. It should be noted that in the following description, the same reference numerals are assigned to the common components in each embodiment and the repeated description is omitted. In addition, it should be noted that the drawings are schematic, and there are cases where the dimensional relationships of the respective elements, the ratios of the respective elements, etc. are different from the actual ones. There are also cases where the drawings have different dimensional relationships and ratios between each other.

[0033] 《Embodiment 1》

[0034] Figure 1 It is a view schematically showing the appearance of the flight device equipped with the parachute device of this embodiment. Figure 1 The shown flight device 1 is, for example, a multi-rotor type flight device equipped with three or more rotors, a so-called unmanned aerial vehicle.

[0035] As Figure 1 shown, the flight device 1 comprises: a fuselage unit 2, driving force generating units 3_1 to 3_n (n is an integer of 3 or more), a parachute device 4, a notification device 5, and an arm part 6.

[0036] The fuselage unit 2 is the main body of the flying device 1. As described later, the fuselage unit 2 houses various functional parts for controlling the flight of the flying device 1. It should be noted that in Figure 1 , as an example, a cylindrical fuselage unit 2 is illustrated, but the shape of the fuselage unit 2 is not particularly limited.

[0037] The thrust generating units 3_1 to 3_n are rotors that generate thrust. It should be noted that in the following description, when not particularly distinguishing each thrust generating unit 3_1 to 3_n, it is simply denoted as "thrust generating unit 3".

[0038] The thrust generating unit 3, for example, has a structure in which a propeller 30 and a motor 31 for rotating the propeller 30 are accommodated in a cylindrical housing 32. A net (for example, a resin material, a metal material (such as stainless steel), etc.) for preventing contact with the propeller 30 may be provided at the opening of the cylindrical housing 32.

[0039] The number n of the thrust generating units 3 provided in the flying device 1 is not particularly limited, but preferably three or more. For example, the flying device 1 can be any one of a three-axis aircraft equipped with three thrust generating units 3, a four-axis aircraft equipped with four thrust generating units 3, a six-axis aircraft equipped with six thrust generating units 3, and an eight-axis aircraft equipped with eight thrust generating units 3, etc.

[0040] It should be noted that in Figure 1 , a case where the flying device 1 is a four-axis aircraft equipped with four (n = 4) thrust generating units 3_1 to 3_4 is illustrated as an example.

[0041] The arm part 6 is a structure for connecting the fuselage unit 2 and each thrust generating unit 3. The arm part 6 is formed, for example, to protrude radially from the central part O of the fuselage unit 2. The thrust generating unit 3 is respectively installed at the tip of each arm part 6.

[0042] The notification device 5 is a device for notifying the outside of the flying device 1 of danger. The notification device 5 is configured to include, for example, a light source composed of an LED (Light Emitting Diode) etc., and a sound generating device (an amplifier and a speaker, etc.). The notification device 5 notifies the outside of the flying device 1 being in a dangerous state by light and sound according to the detection of an abnormality by the abnormality detection unit 15 described later.

[0043] It should be noted that the notification device 5 can be exposed to the outside of the fuselage unit 2, or can be accommodated inside the fuselage unit 2 in such a way that light generated from the light source, sound generated from the speaker, etc. can be output to the outside.

[0044] The parachute device 4 is a device that is used to slow down the falling speed of the flying device 1 when the flying device 1 has an abnormality and is likely to fall, so that the flying device can land safely. The parachute device 4 is provided, for example, as shown in Figure 1 and is provided on the fuselage unit 2. It should be noted that the specific configuration of the parachute device 4 will be described later.

[0045] Figure 2 FIG. is a functional block diagram of the flying device 1 equipped with the parachute device 4 of the embodiment.

[0046] As shown in Figure 2 , the fuselage unit 2 includes: a power supply unit 11, a sensor unit 12, motor drive units 13_1 to 13_n (n is an integer of 3 or more), a flight control unit 14, an abnormality detection unit 15, a fall control unit 16, a communication unit 17, and a storage unit 18.

[0047] Among these functional units, the flight control unit 14, the abnormality detection unit 15, and the fall control unit 16 are implemented, for example, by program processing of a program processing device (such as a microcontroller) including a processor (such as a CPU: Central Processing Unit central processor) and a memory.

[0048] The power supply unit 11 includes a battery 22 and a power supply circuit 23. The battery 22 is, for example, a secondary battery (such as a lithium-ion secondary battery). The power supply circuit 23 is a circuit that generates a power supply voltage based on the output voltage of the battery 22 and supplies it to each hardware component constituting the above functional units. The power supply circuit 23 includes, for example, a plurality of regulator circuits and supplies an appropriate power supply voltage to each of the above-mentioned hardware components.

[0049] The sensor unit 12 is a functional unit that senses the state of the flying device 1. The sensor unit 12 detects the inclination of the fuselage of the flying device 1. The sensor unit 12 includes, for example: an angular velocity sensor 24, an acceleration sensor 25, a magnetic sensor 26, and an angle calculation unit 27.

[0050] The angular velocity sensor 24 is a sensor that detects angular velocity (rotation speed). For example, the angular velocity sensor 24 is a three-axis gyro sensor that detects angular velocity based on three reference axes: the x-axis, the y-axis, and the z-axis.

[0051] The acceleration sensor 25 is a sensor that detects acceleration. For example, the acceleration sensor 25 is a three-axis acceleration sensor that detects acceleration based on three reference axes: the x-axis, the y-axis, and the z-axis.

[0052] The magnetic sensor 26 is a sensor that detects geomagnetism. For example, the magnetic sensor 26 is a three-axis geomagnetic sensor (electronic compass) that detects azimuth (absolute direction) based on three reference axes: the x-axis, the y-axis, and the z-axis.

[0053] The angle calculation unit 27 calculates the inclination of the fuselage of the flying device 1 based on the detection results of at least one of the angular velocity sensor 24 and the acceleration sensor 25. Here, the inclination of the fuselage of the flying device 1 refers to the angle of the fuselage (fuselage unit 2) relative to the ground (horizontal direction).

[0054] For example, the angle calculation unit 27 can calculate the angle of the fuselage relative to the ground based on the detection results of the angular velocity sensor 24, or can calculate the angle of the fuselage relative to the ground based on the detection results of the angular velocity sensor 24 and the acceleration sensor 25. It should be noted that the calculation method of the angle using the detection results of the angular velocity sensor 24 and the acceleration sensor 25 can use a well-known calculation formula.

[0055] In addition, the angle calculation unit 27 can also correct the angle calculated based on the detection results of at least one of the angular velocity sensor 24 and the acceleration sensor 25 based on the detection results of the magnetic sensor 26. The angle calculation unit 27 is implemented, for example, by program processing of a microcontroller, the same as the flight control unit 14 and the like.

[0056] It should be noted that in addition to the above-mentioned angular velocity sensor 24, acceleration sensor 25, and magnetic sensor 26, the sensor unit 12 may, for example, further include a barometric pressure sensor, an air volume (wind direction) sensor, an ultrasonic sensor, a GPS receiver, and a camera.

[0057] The communication unit 17 is a functional unit for communicating with the external device 9. Here, the external device 9 is a transmitter, a server, etc. that controls the operation of the flying device 1 and monitors the state of the flying device 1. The communication unit 17 is composed of, for example, an antenna and an RF (Radio Frequency) circuit. The communication between the communication unit 17 and the external device 9 is realized by wireless communication in the ISM band (2.4 GHz band), for example.

[0058] The communication unit 17 receives the operation information of the flying device 1 sent from the external device 9 and outputs it to the flight control unit 14, and sends various measurement data measured by the sensor unit 12 to the external device 9. In addition, when an abnormality of the flying device 1 is detected by the abnormality detection unit 15, the communication unit 17 sends information indicating that an abnormality has occurred in the flying device 1 to the external device 9. Moreover, when the flying device 1 lands on the ground, the communication unit 17 sends information indicating that the flying device 1 has landed to the external device 9.

[0059] The motor drive units 13_1 to 13_n are functional units provided in each driving force generation unit 3_n and driving the motor 31 of the drive object according to an instruction from the flight control unit 14.

[0060] Note that in the following description, when not particularly distinguishing each motor drive unit 13_1 to 13_n, it is simply denoted as "motor drive unit 13".

[0061] The motor drive unit 13 drives the motor 31 in such a way that the motor 31 rotates at the rotational speed indicated by the flight control unit 14. For example, the motor drive unit 13 is an ESC (Electronic Speed Controller).

[0062] The flight control unit 14 is a functional unit that comprehensively controls the functional units of the flying device 1.

[0063] The flight control unit 14 controls the thrust generation unit 3 in such a way that the flying device 1 flies stably. Specifically, the flight control unit 14 calculates the appropriate rotational speed of the motor 31 of each thrust generation unit 3 based on the operation information (instructions such as ascent, descent, forward, backward, etc.) received from the external device 9 by the communication unit 17 and the detection results of the sensor unit 12, and respectively instructs the calculated rotational speed to each motor drive unit 13 so that the fuselage flies in a stable state in the desired direction.

[0064] When, for example, the attitude of the fuselage is disturbed due to external influences such as wind, the flight control unit 14 calculates the appropriate rotational speed of the motor 31 of each thrust generation unit 3 based on the detection results of the angular velocity sensor 24, and respectively instructs the calculated rotational speed to each motor drive unit 13 so that the fuselage is horizontal.

[0065] In addition, for example, in order to prevent the flying device 1 from drifting when the flying device 1 hovers, the flight control unit 14 calculates the appropriate rotational speed of the motor 31 of each thrust generation unit 3 based on the detection results of the acceleration sensor 25, and respectively instructs the calculated rotational speed to each motor drive unit 13.

[0066] In addition, the flight control unit 14 controls the communication unit 17 to achieve the transmission and reception of the above various data with the external device 9.

[0067] The storage unit 18 is a functional unit for storing various programs, parameters, etc. for controlling the operation of the flying device 1. For example, the storage unit 18 is composed of non-volatile memories such as flash memories and ROMs, and RAMs.

[0068] The above parameters stored in the storage unit 18 are, for example, the remaining capacity threshold 28 and the inclination threshold 29 described later.

[0069] The abnormality detection unit 15 is a functional unit for detecting abnormalities during flight. Specifically, the abnormality detection unit 15 monitors the detection results of the sensor unit 12, the state of the battery 22, and the operation state of the thrust generation unit 3, and determines whether the flying device 1 is in an abnormal state.

[0070] Here, the abnormal state refers to a state in which the flying device 1 may not be able to fly autonomously. For example, a state in which at least one of the failure of the driving force generation unit 3, the remaining capacity of the battery 22 being lower than a specified threshold value, and the abnormal tilt of the fuselage (fuselage unit 2) occurs is called an abnormal state.

[0071] When a failure of the driving force generation unit 3 is detected, the abnormality detection unit 15 determines that the flying device 1 is in an abnormal state. Here, the failure of the driving force generation unit 3 means, for example, that the motor 31 does not rotate at the rotation speed specified by the flight control unit 14, the propeller 30 does not rotate, and the propeller 30 is damaged.

[0072] In addition, when it is detected that the remaining capacity of the battery 22 is lower than a specified threshold value (hereinafter, also referred to as "remaining capacity threshold value") 28, the abnormality detection unit 15 determines that the flying device 1 is in an abnormal state.

[0073] Here, the remaining capacity threshold value 28 may be set, for example, to a capacity value at which the motor cannot rotate at the rotation speed indicated by the flight control unit 14. The remaining capacity threshold value 28 is stored in the storage unit 18 in advance, for example.

[0074] In addition, when an abnormal tilt degree of the flying device 1 (fuselage) is detected, the abnormality detection unit 15 determines that the flying device 1 is abnormal. For example, when the state in which the angle calculated by the angle calculation unit 27 exceeds a specified threshold value (hereinafter, also referred to as "tilt degree threshold value") 29 continues for a specified period, the abnormality detection unit 15 determines that the flying device 1 is in an abnormal state.

[0075] For example, through preliminary experiments, the angle (pitch angle) when the flying device 1 moves in the front-rear direction and the angle (roll angle) when the flying device 1 moves in the left-right direction are obtained. The tilt degree threshold value 29 may be set to a value larger than the angle obtained through the experiment. The tilt degree threshold value 29 is stored in the storage unit 18 in advance, for example.

[0076] The falling control unit 16 is a functional unit for controlling the fall of the flying device 1. Specifically, when the abnormality detection unit 15 detects that the flying device 1 is in an abnormal state, the falling control unit 16 performs a falling preparation process for safely falling the flying device 1.

[0077] Specifically, the falling control unit 16 performs the following processes as the falling preparation process. That is, the falling control unit 16 controls the notification device 5 according to the detection of the abnormality by the abnormality detection unit 15 to notify the outside of the dangerous state. In addition, the falling control unit 16 controls each motor driving unit 13 to stop the rotation of each motor 31 according to the detection of the abnormality by the abnormality detection unit 15. Moreover, the falling control unit 16 outputs a control signal instructing the opening of the parachute to the parachute device 4 according to the detection of the abnormality by the abnormality detection unit 15 to open the parachute 400.

[0078] Next, the parachute device 4 of the embodiment will be specifically described.

[0079] Figure 3 And Figure 4 are diagrams schematically showing the configuration of the parachute device 4 of the embodiment. Figure 3 shows a top view of the parachute device 4, Figure 4 shows the Figure 3 partial sectional view of the A-A plane of. It should be noted that, in Figure 3 the illustration of the parachute 400 and the lid 49 is omitted.

[0080] As Figure 3 and Figure 4 shown, the parachute device 4 includes: a parachute 400, a parachute housing part 40, a shooting part 41, a shooting control part 42, a flying body 43, a gas generating device 44, a gas introduction path 45, a connecting cord 46, a cover member 47, and a lid 49.

[0081] Figure 5 is a diagram schematically showing the state where the parachute 400 is opened.

[0082] As Figure 5 shown, the parachute 400 includes a parachute body (canopy) 460 and suspension lines 461.

[0083] The suspension lines 461 connect the parachute body 460 to the parachute housing part 40 (parachute mounting part 447). The parachute body 460 is connected to the flying body 43 by the connecting cord 46. For example, as Figure 5 shown, the connecting cord 46 is connected to the parachute body 460 on the edge (periphery) side of the parachute body 460. More specifically, the respective connecting cords 46 are separated from each other and connected to the peripheral part of the parachute body 460. For example, as Figure 5 shown, when the shape of the opened parachute 400 (parachute body 460) viewed from the vertex side of the parachute body 460 is circular, the respective connecting cords 46 are connected to the peripheral part of the parachute body 460 at equal intervals along the circumferential direction of the parachute body 460.

[0084] It should be noted that when only one flying body 43 is provided, the connecting cord 46 only needs to be connected to any one place on the peripheral part of the parachute 400. In this case, there is no particular limitation on the position on the peripheral part of the parachute 400 to which the connecting cord 46 is connected.

[0085] The connecting cord 46 is made of, for example, a metal material (such as stainless steel) or a fiber material (such as a nylon cord).

[0086] Here, the diameter D of the parachute body 460 required for the flight device 1 to fall at a low speed can be calculated, for example, based on the following formula (1). In formula (1), m is the total weight of the flight device 1, v is the falling speed of the flight device 1, ρ is the air density, and Cd is the drag coefficient.

[0087] [Formula 1]

[0088]

[0089] For example, when the total weight m of the flight device 1 is 250 [kg], the drag coefficient Cd is 0.9, and the air density ρ is 1.3 kg / m, the diameter D of the parachute body 460 required to set the falling speed v of the flight device 1 to 5 [m / s] is calculated to be 14.6 [m] by formula (1).

[0090] For example, as Figure 4 shown, the parachute 400 is accommodated in the parachute accommodating part 40 in a state where the parachute body 460 is folded before its use.

[0091] The parachute accommodating part 40 is a container for accommodating the parachute 400. As Figure 3 and Figure 4 shown, the parachute accommodating part 40 has, for example, one end open and the other end formed into a bottomed cylindrical shape (e.g., a cylindrical shape).

[0092] As Figure 1 shown, the parachute accommodating part 40 is disposed on the upper surface of the fuselage unit 2, that is, the surface of the flight device 1 facing away from the ground during flight. For example, the parachute accommodating part 40 is preferably arranged such that the central part O of the fuselage unit on the upper surface of the fuselage unit coincides with the central axis P of the parachute accommodating part 40.

[0093] The parachute accommodating part 40 has a cylindrical side wall part 401 and a bottom part 402 formed to block the opening at one end side of the side wall part 401. The parachute accommodating part 40 is made of resin, for example.

[0094] The side wall part 401 has, for example, a conical cylindrical shape. More specifically, as Figure 1 and Figure 4 shown, the side wall part 401 has a frustum - shaped outer shape with different areas of the upper surface and the lower surface.

[0095] The bottom part 402 includes, for example: a bottom surface part 403 and a base part 404 joined to the bottom surface part 403. The bottom surface part 403 and the side wall part 401 together define an accommodation space 405 for accommodating the parachute 400, the gas generating device 44, and the ejection control part 42.

[0096] Note that the side wall portion 401 and the bottom face portion 403 can be integrally formed as a resin molded product, for example, or can be formed as separate parts and joined to each other. In the present embodiment, it is assumed that the side wall portion 401 and the bottom face portion 403 are integrally formed.

[0097] The base portion 404 is a part for fixing the parachute device 4 (parachute housing portion 40) to the fuselage unit 2 of the flying device 1. The base portion 404 is made of, for example, resin, metal (such as stainless steel), or the like. The base portion 404 is joined to the face of the bottom face portion 403 on the side opposite to the accommodation space 405 side. The base portion 404 is fixed to the upper surface of the fuselage unit 2 by fixing members such as external threads, for example. Note that the base portion 404 can be formed integrally with the bottom face portion 403.

[0098] As Figure 4 shown, a lid 49 for covering the opening of the parachute housing portion 40 (side wall portion 401) can be provided in the parachute housing portion 40. The lid 49 can be formed of a resin material, for example, or can be a film member. The lid 49 is preferably arranged to entirely cover the opening of the parachute housing portion 40 so that the flying body 43 and the ejection portion 41 provided on the side wall portion 401 are not exposed to the outside. Thereby, it is possible to prevent rain, dust, etc. from entering the inside of the parachute housing portion 40.

[0099] As Figure 4 shown, a sealing device (sealing gasket) 490 can be provided between the lid 49 and the opening of the parachute housing portion 40, that is, between the lid 49 and the edge of the side wall portion 401.

[0100] The lid 49 is fixed to the side wall portion 401 by a detachable metal piece 491, for example. For example, the metal piece 491 fixes the lid 49 to the side wall portion 401 with a fastening force such that the lid 49 easily comes off when the flying body 43 ejected from the ejection portion 41 contacts the lid 49.

[0101] The wire 48 is an electrical wiring for igniting the gas generating device 44. The wire 48 is made of, for example, ethylene base wire, tinned wire, or enameled wire, or the like. One end of the wire 48 is connected to the gas generating device 44, and the other end of the wire 48 is connected to the ejection control portion 42.

[0102] The ejection control portion 42 is a circuit that performs control for ejecting the flying body 43 from the ejection portion 41. As Figure 3 and Figure 4As shown, the ejection control unit 42 is fixed, for example, to the inner surface of the bottom 402 (bottom surface portion 403) within the parachute housing unit 40. The ejection control unit 42 is, for example, an electronic circuit that outputs an ignition signal when it receives a control signal indicating the opening of the parachute 400 from the descent control unit 16 within the fuselage unit 2. The ignition signal is input to the gas generating device 44 via the wire 48, and the ignition agent 442 described later is ignited, generating gas from the gas generating device 44. As described later, the flying body 43 obtains a driving force by the pressure of the gas generated from the gas generating device 44 and is ejected from the ejection portion 41.

[0103] The parachute device 4 includes at least one flying body 43. For example, the parachute device 4 preferably includes three or more flying bodies 43. In the present embodiment, as an example, as Figure 1 shown, the case where the parachute device 4 includes four flying bodies will be described as an example. It should be noted that the specific configuration of the flying body 43 will be described later.

[0104] The above-described parachute housing unit 40, ejection portion 41, ejection control unit 42, flying body 43, gas generating device 44, gas introduction path 45, cover member 47, and wire 48 constitute a flying body ejection mechanism 50.

[0105] The ejection portion 41 is a part for holding the flying body 43 and ejecting the held flying body 43. The ejection portion 41 is provided for each flying body 43. As Figure 1 shown, the parachute device 4 includes four ejection portions 41 in order to accommodate four flying bodies 43 respectively.

[0106] The ejection portion 41 is provided in the parachute housing unit 40. Specifically, each ejection portion 41 is provided on the inner peripheral surface of the side wall portion 401. For example, as Figure 3 and Figure 4 shown, each ejection portion 41 is provided on the inner peripheral surface of the side wall portion 401 via the cover member 47 described later.

[0107] Here, the ejection portion 41 is inclined with respect to the central axis P of the parachute housing unit 40 in a direction away from the central axis P of the parachute housing unit 40 at the end in the ejection direction of the flying body 43 of the ejection portion 41 (the direction in which the central axis Q of the cylindrical ejection portion 41 extends).

[0108] In addition, the plurality of ejection portions 41 are arranged at equal intervals in the circumferential direction of a circle centered on the central portion (for example, the central axis P of the parachute housing unit 40) of the parachute housing unit 40 when viewed from the opening side of the parachute housing unit 40. For example, when the parachute device 4 has four ejection portions 41, as Figure 3As shown, each ejection part 41 is arranged at intervals of 90°(=360° / 4) in the circumferential direction of a circle centered on the central axis P of the parachute housing part 40.

[0109] As Figure 4 shown, the ejection part 41 is formed in a cylindrical shape (e.g., a cylindrical shape). One end 410 of the opening of the ejection part 41 is inserted into the interior of the flying body 43. The other end 411 of the opening of the ejection part 41 communicates with the gas introduction passage 45. In addition, the end 411 of the ejection part 41 is formed in a flange shape, for example, to support one end of the flying body 43.

[0110] Specifically, the tip of one side of the gas introduction passage 45 is inserted into the opening of the end 411 of the ejection part 41. Thus, the gas introduction passage 45 communicates with the internal space of the ejection part 41.

[0111] At the connection part between the ejection part 41 and the gas introduction passage 45, a sealing device (sealing gasket) 414 may be provided to prevent the gas introduced from the gas introduction passage 45 into the ejection part 41 from leaking. Similarly, on the side of the end 410 of the ejection part 41, a sealing device (sealing gasket) 415 may be provided to prevent the gas introduced from the gas introduction passage 45 into the ejection part 41 from leaking through the gap between the inner circumferential surface of the flying body 43 and the outer circumferential surface of the ejection part 41.

[0112] The flying body 43 is a device for releasing the parachute 400 to the outside of the parachute housing part 40 and assisting in the opening (deployment) of the parachute 400. The flying body 43 is made of a resin material, a metal material, etc., for example. The flying body 43 is formed in a rod shape, for example. More specifically, as Figure 4 shown, the flying body 43 is formed in a partially hollow cylindrical shape (e.g., a hollow bullet shape), for example.

[0113] The flying body 43 engages with the ejection part 41 in a state of being connected to the parachute 400. Specifically, the flying body 43 is connected to the parachute 400 via a connecting cable 46 on one end side of the flying body 43. The ejection part 41 is inserted into the other end side of the flying body 43. Specifically, the flying body 43 inserts the ejection part 41 therein in such a manner that the bottom surface 430 inside the flying body 43 faces the end 410 of the ejection part 41 having the opening 410a. In addition, the flying body 43 is supported on the flange-shaped end 411 of the ejection part 41.

[0114] Here, the bottom surface 430 of the flying body 43 and the end 410 of the ejection part 41 may be in contact with each other or may be arranged separately.

[0115] It should be noted that in order to prevent the flying body 43 from falling from the ejection part 41 when the parachute device 4 is not in use, the flying body 43 can be fixed to the ejection part 41 by a pin (safety pin) 416. For example, as Figure 4 shown, a through hole is formed on the side surface of the flying body 43, and a non-through hole is formed in the ejection part 41, for example. Then, with the through hole on the flying body 43 side and the non-through hole on the ejection part 41 side overlapping, the pin 416 is inserted into the through hole on the flying body 43 side and the non-through hole on the ejection part 41 side. Thereby, when the parachute device 4 is not in use, the flying body 43 is fixed to the ejection part 41.

[0116] Here, the pin 416 is configured to be broken when a force in the ejection direction of the flying body 43 is applied to the pin 416 when the flying body 43 is ejected. Thus, the ejection of the flying body 43 will not be hindered by the pin 416. As the pin 416, it is preferable to use aluminum alloy, resin, etc., for example.

[0117] The gas introduction path 45 is a pipe for guiding the gas generated from the gas generating device 44 to the ejection part 41. The gas introduction path 45 extends along the bottom surface 403 of the parachute housing part 40 and the inner peripheral surface of the side wall part 401 from the gas release port 445 of the gas generating device 44 to the end part 411 of the ejection part 41.

[0118] The gas introduction path 45 is made of a metal material such as stainless steel, a resin material, etc., for example.

[0119] The cover member 47 is a part for preventing the flying body 43 and the ejection part 41 from coming into contact with the parachute 400. The cover member 47 is disposed in the parachute housing part 40, between the parachute 400 and the flying body 43 and the ejection part 41, so as to surround and hold the flying body 43 held by the ejection part 41. The cover member 47 is made of a resin material, a metal material such as stainless steel, etc., for example.

[0120] As Figure 3 and Figure 4 shown, the cover member 47 extends from the opening part side of the side wall part 401 of the parachute housing part 40 toward the bottom surface 403 side and is fixed to the side wall part 401. The cover member 47 is formed in a cylindrical shape having an opening part in the circumferential direction, for example. The cross-sectional shape of the cover member 47 observed from the axial direction of the cover member 47 is U-shaped. The cover member 47 is fixed to the side wall part 401 so as to block the opening part in the circumferential direction. The cover member 47 and the side wall part 401 define an accommodation space capable of accommodating the flying body 43, the ejection part 41, and the gas introduction path 45.

[0121] Each ejection part 41 is respectively fixed to the inner peripheral surface of the corresponding cover member 47. For example, as Figure 4As shown, the side surface of the flange-shaped end portion 411 of the ejection unit 41 is joined along the inner peripheral surface of the cover member 47.

[0122] The gas generating device 44 is a device that generates gas which serves as the basis for the driving force for ejecting the flying body 43 from the ejection unit 41. The gas generating device 44 is fixed within the parachute housing portion 40. For example, as Figure 3 and Figure 4 shown, the gas generating device 44 is disposed at the central portion (on the central axis P) of the parachute housing portion 40 when viewed from the opening side of the parachute housing portion 40, and is fixed to the bottom portion 402 within the parachute housing portion 40.

[0123] As Figure 4 shown, the gas generating device 44 includes: a housing 444, a gas generating agent 441, an ignition agent 442, and a sealing member 443.

[0124] The housing 444 holds the gas generating agent 441. The housing 444 is formed, for example, in a dome shape, and together with the bottom portion 402 of the parachute housing portion 40, forms a gas release chamber 446 for releasing the gas generated from the gas generating agent 441. Specifically, as Figure 4 shown, the gas release chamber 446 is demarcated by the bottom surface 404a of the base portion 404 and the inner wall surface of the housing 444, and the gas generating agent 441 and the ignition agent 442 are disposed in a partial area of the gas release chamber 446.

[0125] The housing 444 may further have a parachute mounting portion 447 for fixing the parachute 400 to the parachute housing portion 40. Specifically, as Figure 4 shown, by connecting one end of the sling 461 of the parachute 400 to the parachute mounting portion 447, the parachute 400 is connected to the parachute housing portion 40.

[0126] The housing 444 is made of resin, for example. Preferably, the housing 444 is made of fiber-reinforced plastics (FRP) or the like. It should be noted that the housing 444 is not limited to resin and may also be made of metal.

[0127] As Figure 4 shown, with the gas generating agent 441 and the ignition agent 442 accommodated inside the housing 444, the housing 444 is fixed to the bottom surface 404a of the base portion 404 so as to seal the gas release chamber 446.

[0128] The gas generator 441 is disposed in the gas release chamber 446 in a state where a part of its surface is covered by the sealing member 443. The sealing member 443 is made of a material that is easily broken by the pressure of the gas generated when the gas is generated from the gas generator 441. For example, the sealing member 443 is a film such as polyester.

[0129] The igniter 442 is a chemical agent for igniting the gas generator 441. The igniter 442 is formed at one end of the wire 48. For example, the igniter 442 can be fixed to one end of the wire 48 by applying and solidifying a liquid igniter mixed with resin or the like to the tip of the wire 48.

[0130] The igniter 442 is fixed, for example, in the housing 444 in a state where a part of the igniter 442 is in contact with the gas generator 441 (for example, a state where at least a part of the igniter 442 is embedded in the gas generator 441).

[0131] The igniter 442 is electrically connected to the ejection control unit 42 via the wire 48. The igniter 442 is ignited according to the ignition signal output from the ejection control unit 42, and gas is generated by causing a chemical reaction of the gas generator 441.

[0132] In the present embodiment, the gas generator 441 and the igniter 442 are fixed in the housing 444 in a non-detachable manner. That is, the gas generator 441 and the igniter 442 are not provided in the housing 444 in a detachable manner, for example, in the form of a replaceable cartridge, but are integrated with the housing 444.

[0133] A gas release port 445 for releasing the gas generated in the gas release chamber 446 to the outside is formed in the housing 444. The gas release port 445 is formed corresponding to each ejection unit 41. In the present embodiment, since there are four ejection units 41, four gas release ports 445 are formed in the housing 444. One end of the corresponding gas introduction path 45 is inserted and fixed into each gas release port 445.

[0134] Thereby, the internal space of the gas release chamber 446 and the internal space of each ejection unit 41 are communicated via the gas introduction path 45, and the gas generated from the gas generating device 44 is guided to the internal space of each ejection unit 41 without leakage.

[0135] Next, the process of opening the parachute 400 of the parachute device 4 of the present embodiment will be described.

[0136] For example, when the flying device 1 equipped with the parachute device 4 is flying, if the inclination of the fuselage (fuselage unit 2) of the flying device 1 exceeds the inclination threshold 29 due to strong winds and this state continues for a specified period, and the abnormality detection unit 15 determines it to be an abnormal state, the falling control unit 16 on the flying device 1 side sends a control signal instructing the parachute 400 to open to the ejection control unit 42 of the parachute device 4.

[0137] When the ejection control unit 42 receives the control signal instructing the parachute 400 to open, it outputs an ignition signal to the gas generating device 44 via the wire 48. Specifically, the ejection control unit 42 causes a specified current to flow through the wire 48 to ignite the igniter 442 formed at one end of the wire 48.

[0138] By igniting the igniter 442, a chemical reaction occurs in the gas generating agent 441 in contact with the igniter 442 to generate gas. If the pressure of the gas increases, the gas breaks the sealing member 443 and fills the gas release chamber 446.

[0139] Thereafter, the gas in the gas release chamber 446 is introduced into the interior of each ejection unit 41 through each gas introduction path 45 from each gas release port 445 and is released from the opening 410a on the end 410 side of each ejection unit 41. The flying body 43 held in each ejection unit 41 is subjected to the pressure of the gas released from the opening 410a of the ejection unit 41 and moves in the direction along the central axis Q of the ejection unit 41, lifts the lid 49, and is ejected to the outside of the parachute housing part 40.

[0140] Figure 6 It is a diagram schematically showing the state in which the parachute 400 of the flying device 1 of the present embodiment is opened.

[0141] If each flying body 43 is ejected from the parachute housing part 40, the parachute 400 (parachute body 460) is pulled by each flying body 43 via the connecting cord 46, and the parachute 400 is released from the parachute housing part 40. Thereafter, the parachute body 460 of the parachute 400 released to the outside is further pulled by each flying body 43 and unfolds from the folded state. Thus, as Figure 6 shown, air enters the interior of the parachute body 460, and the parachute body 460 opens.

[0142] As described above, each flying body 43 flies in the direction extending along the central axis Q of the ejection unit 41 (axis direction Q). That is, each flying body 43 flies in a direction away from the central axis P of the parachute housing part 40. Thus, compared with the case of ejecting directly upward (in the direction parallel to the central axis P of the parachute housing part 40), each flying body 43 can effectively pull the parachute body 460 of the released parachute 400 from its apex portion to the edge (periphery) side. Thus, the parachute body 460 can be quickly unfolded and air can be easily introduced.

[0143] As described above, the parachute device 4 of the present embodiment includes: a parachute housing portion 40 having one end open and the other end formed into a bottomed cylindrical shape, and a parachute 400 is housed therein; at least one flying body 43 having one end open and the other end formed into a bottomed cylindrical shape, and is connected to the parachute 400; a cylindrical ejection portion 41 fixed to the parachute housing portion 40 for holding the flying body 43 and ejecting the held flying body 43; a gas generating device 44 fixed to the parachute housing portion 40 for generating gas; and a gas introduction passage 45 for guiding the gas generated from the gas generating device 44 to the inside of the ejection portion 41. One end portion 410 of the opening of the ejection portion 41 is inserted into the inside of the flying body 43, and the other end portion 411 of the opening of the ejection portion 41 communicates with the gas introduction passage 45.

[0144] Thus, as described above, the gas generated from the gas generating device 44 is released from the ejection portion 41 through the gas introduction passage 45. Thereby, the flying body 43 can be ejected from the ejection portion 41 by the pressure of the gas. Thus, the canopy 460 of the parachute 400 connected to the flying body 43 is pulled by the flying body 43, and the canopy 460 can easily accommodate air, and the parachute 400 can be immediately opened.

[0145] Therefore, for a rotary-wing aircraft such as the flying device 1 that can maintain a stationary state in the air, even when the effect of the air flow cannot be obtained during falling, the parachute can be quickly and reliably opened by installing the parachute device 4 of the present embodiment, so that it can land slowly.

[0146] In addition, in the parachute device 4 of the present embodiment, the ejection portion 41 holds the flying body 43 in a state where the end portion 410 of the opening of the ejection portion 41 is inserted into the inside of the flying body 43. In other words, the flying body 43 is arranged to cover the end portion 410 (tip portion) of the ejection portion 41 where the opening portion 410a for gas release is formed.

[0147] Thereby, for example, compared with the method of inserting the flying body 43 into the inside of the ejection portion 41 like a bullet, it is easy to increase the size of the flying body 43 and increase the weight without increasing the sizes of the ejection portion 41 and the parachute housing portion 40, thereby improving the function of the flying body 43 as an inertial body. Thereby, an increase in the overall size of the parachute device 4 can be suppressed, and the parachute 400 can be more easily opened.

[0148] In the parachute device 4 of the present embodiment, the gas generating device 44 includes a gas generating agent 441 that generates gas, and a housing 444 that is fixed to the bottom surface of the inner side of the parachute storage section 40 and stores the gas generating agent 441 so as not to be detachable. In the parachute device 4, a gas release chamber 446 for releasing the gas generated from the gas generating agent 441 is formed by the housing 444 and the bottom surface 404a of the inner side of the parachute storage section 40, and the gas release chamber 446 is communicated with the inside of the ejection section 41 via the gas introduction path 45.

[0149] Thus, compared with the case where the gas generating agent 441 is formed as a cartridge that can be attached to and detached from the housing 444, the number of parts is reduced, and it is expected that the manufacturing cost can be reduced.

[0150] Furthermore, the parachute device 4 of the present embodiment further includes a cover member 47 disposed in the parachute storage section 40 between the parachute 400 and the flying object 43 so as to surround the flying object 43 held by the ejection section 41 .

[0151] This prevents the parachute 400 from contacting the flying object 43 in the parachute storage unit 40, thereby preventing the flying object 43 from contacting the parachute 400 and damaging the parachute 400 when the flying object 43 is ejected. This further improves the reliability of the parachute device 4.

[0152] Furthermore, the parachute device 4 of the present embodiment further includes a cover 49 that covers the opening of the parachute storage unit 40. This prevents foreign matter such as rain and dust from entering the interior of the parachute storage unit 40, thereby preventing the parachute 400, the gas generating device 44, etc. stored in the parachute storage unit 40 from being corroded or otherwise deteriorated, and the reliability of the parachute device 4 can be further improved.

[0153] In addition, the parachute device 4 of this embodiment has a plurality of flying bodies 43, and the ejection portion 41 and the gas introduction path 45 are provided corresponding to each flying body 43. Figure 3 As shown, the plurality of emission portions 41 are arranged at equal intervals in the circumferential direction of a circle centered at the central portion (P) when viewed from the opening of the parachute storage portion 40 .

[0154] Thus, when the parachute 400 is ejected, the parachute body 460 can be pulled from multiple directions with a substantially uniform force, so that the parachute body 460 is more easily opened, and the reliability of the parachute device 4 can be further improved.

[0155] 《Expansion of implementation methods》

[0156] As mentioned above, although the invention completed by the present inventors was specifically described based on the embodiment, the present invention is not limited to this, and various changes can be made without departing from the scope of the invention.

[0157] For example, in the above-described embodiment, the case where the parachute housing portion 40 is a conical cylindrical shape (frustum of a cone) is illustrated as an example, but it is not limited thereto, and it may be a general cylindrical shape that is not conical, or a polygonal prism (e.g., a quadrangular prism) shape.

[0158] Description of Reference Numerals

[0159] 1: Flying device;

[0160] 2: Fuselage unit;

[0161] 3, 3_1 to 3_n: Thrust generating portion;

[0162] 4: Parachute device;

[0163] 5: Notification device;

[0164] 6: Arm portion;

[0165] 9: External device;

[0166] 11: Power supply unit;

[0167] 12: Sensor unit;

[0168] 13, 13_1 to 13_n: Motor drive unit;

[0169] 14: Flight control unit;

[0170] 15: Abnormality detection unit;

[0171] 16: Descent control unit;

[0172] 17: Communication unit;

[0173] 18: Storage unit;

[0174] 22: Battery;

[0175] 23: Power supply circuit;

[0176] 24: Angular velocity sensor;

[0177] 25: Acceleration sensor;

[0178] 26: Magnetic sensor;

[0179] 27: Angle calculation unit;

[0180] 28: Remaining capacity threshold;

[0181] 29: Inclination threshold;

[0182] 30: Propeller;

[0183] 31: Motor;

[0184] 32: Housing;

[0185] 40: Parachute accommodating part;

[0186] 41: Launching part;

[0187] 42: Launching control part;

[0188] 43: Flying object;

[0189] 44: Gas generating device;

[0190] 45: Gas introduction path;

[0191] 46: Connecting cable;

[0192] 47: Cover member;

[0193] 48: Conducting wire;

[0194] 49: Cover;

[0195] 50: Flying object launching mechanism;

[0196] 400: Parachute;

[0197] 401: Side wall part;

[0198] 402: Bottom;

[0199] 403: Bottom surface part;

[0200] 404: Base part;

[0201] 404a: Bottom surface;

[0202] 405: Accommodating space;

[0203] 410, 411: End part;

[0204] 410a: Opening part;

[0205] 414, 415: Sealing device (sealing gasket); 416: Pin (safety pin);

[0206] 430: Bottom surface;

[0207] 441: Gas generating agent;

[0208] 442: Ignition agent;

[0209] 443: Sealing member;

[0210] 444: Housing;

[0211] 445: Gas release port;

[0212] 446: Gas release chamber;

[0213] 447: Parachute installation part;

[0214] 460: Parachute body (parachute canopy);

[0215] 461: Suspension line;

[0216] 490: Sealing device (sealing gasket);

[0217] 491: Metal part;

[0218] P: Central axis (central part) of parachute accommodation part 40;

[0219] Q: Central axis of ejection part 41.

Claims

1. A parachute device, wherein, The parachute device has: a parachute; a parachute housing portion including a cylindrical side wall portion and a bottom portion formed to block an opening at one end side of the side wall portion, and housing the parachute inside the side wall portion; at least one flying body having an opening at one end and formed into a bottomed cylindrical shape at the other end, and connected to the parachute; a cylindrical ejection portion fixed to the inner peripheral surface of the side wall portion for holding the flying body and ejecting the held flying body; a gas generating device fixed to the parachute housing portion for generating gas; and a gas introduction path for guiding the gas generated by the gas generating device to the inside of the ejection portion, one end portion of the opening of the ejection portion is inserted into the inside of the flying body, and the other end portion of the opening of the ejection portion communicates with the gas introduction path, The gas generating device includes: a gas generating agent for generating the gas; and a housing fixed to the inner bottom surface of the parachute housing portion for non-removably housing the gas generating agent, a gas release chamber for releasing the gas generated from the gas generating agent is formed through the housing and the inner bottom surface of the parachute housing portion, the gas release chamber and the inside of the ejection portion communicate with each other via the gas introduction path, inside the parachute housing portion, between the parachute and the flying body, there is also a cover member arranged to surround and hold the flying body held by the ejection portion, the cover member is formed into a cylindrical shape having an opening in the circumferential direction, and the cross-sectional shape of the cover member observed from the axial direction of the cover member is U-shaped, the cover member extends from the opening portion side of the side wall portion toward the bottom portion side inside the parachute housing portion and is fixed to the inner peripheral surface of the side wall portion so as to block the opening in the circumferential direction of the cover member.

2. The parachute device according to claim 1, wherein the ejection portion includes a flange-shaped end portion, the side surface of the flange-shaped end portion of the ejection portion is joined along the inner peripheral surface of the cover member.

3. The parachute device according to claim 1 or 2, wherein the parachute device further has a lid for covering the opening portion of the parachute housing portion.

4. The parachute device according to any one of claims 1 to 3, wherein the parachute device has a plurality of the flying bodies, the ejection portion and the gas introduction path are respectively provided corresponding to each of the flying bodies, the parachute housing portion is cylindrical, the gas generating device is arranged at the central portion of the parachute housing portion when observed from the opening portion side of the parachute housing portion, a plurality of the ejection portions are arranged at equal intervals in the circumferential direction of a circle centered on the central portion when observed from the opening portion side of the parachute housing portion.

5. A flying device, characterized in that, The flying device includes: a fuselage unit; a driving force generating portion connected to the fuselage unit for generating a driving force; a flight control portion for controlling the driving force generating portion; an abnormality detecting portion for detecting an abnormality during flight; the parachute device according to any one of claims 1 to 4; and The drop control unit ejects the flying object from the ejection unit based on the detection of the abnormality by the abnormality detection unit.

6. A flying object ejection mechanism, wherein, The flying body ejection mechanism comprises: A flying body that can be attached to a parachute; A parachute storage portion, comprising a cylindrical side wall portion and a bottom portion formed to block an opening on one end side of the side wall portion, and capable of accommodating the parachute inside the side wall portion; A cylindrical ejection portion, fixed to the inner peripheral surface of the side wall portion, for holding the flying object and ejecting the held flying object; a gas generating device, fixed to the parachute housing portion, generating gas; and The gas introduction path guides the gas generated by the gas generating device to the inside of the injection portion. The flying body has an opening at one end and a bottomed cylindrical shape at the other end. One end of the opening of the ejection portion is inserted into the interior of the flying body, and the other end of the opening of the ejection portion is connected to the gas introduction path. The gas generating device comprises: a gas generating agent that generates the gas; and The shell is fixed to the bottom surface of the inner side of the parachute storage part, and contains the gas generating agent so as to be non-detachable. A gas release chamber for releasing the gas generated from the gas generating agent is formed by the shell and the inner bottom surface of the parachute housing portion. The gas release chamber and the interior of the injection portion are connected via the gas introduction path. The parachute storage section further includes a cover member disposed between the parachute and the flying object so as to surround the flying object held by the ejection section. The cover member is formed into a cylindrical shape having an opening in the circumferential direction, and the cross-sectional shape of the cover member observed from the axial direction of the cover member is U-shaped. The cover member extends from the opening side of the side wall toward the bottom side in the parachute storage portion, and is fixed to the inner peripheral surface of the side wall so as to close the opening in the circumferential direction of the cover member.

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