Safety device and flying body

Abstract

The present invention provides a safety device capable of controlling a landing point when a flying body falls. The safety device is a safety device provided for a flying body, wherein a first parachute attenuates a falling speed and controls a posture when the flying body falls, a second parachute is opened later than the first parachute and reduces an impact when the flying body lands, a sensor section senses the falling of the flying body, and a control section controls the opening of the first parachute and the second parachute. Furthermore, the control section opens the first parachute at a first timing after the sensor section senses the falling, and opens the second parachute at a second timing after the first timing and further satisfying a prescribed condition.

Description

Technical Field

[0001] This invention relates to a safety device and a flying vehicle. Background Technology

[0002] Previously, a safety device for an aircraft, comprising a safety mechanism, a drive mechanism, a launch mechanism, and a control mechanism, was proposed (Patent Document 1). Furthermore, a small aircraft capable of incorporating a parachute as an auxiliary device to an airbag device was proposed (Patent Document 2). Additionally, a technology to prevent condensation on the parachute, thereby ensuring more reliable parachute deployment, was proposed (Patent Document 3). Furthermore, a technology was proposed that, upon detecting a malfunction by a malfunction sensing unit, stops the propeller drive of the drone and launches a parachute or activates the airbag (Patent Document 4).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: International Publication No. 2019 / 039062

[0006] Patent Document 2: Japanese Patent Application Publication No. 2018-34761

[0007] Patent Document 3: Japanese Patent Application Publication No. 2018-1814

[0008] Patent Document 4: Japanese Patent Application Publication No. 2018-154249 Summary of the Invention

[0009] The problem that the invention aims to solve

[0010] If the parachute deploys prematurely during descent, the aircraft may be blown away by the wind and land significantly off its intended flight path. In particular, when unmanned aerial vehicles (UAVs) are flying in urban areas, it is ideal to land them as close as possible to their initial flight path, even in emergencies.

[0011] Therefore, the purpose of this disclosure is to provide a safety device that can control the landing point when an aircraft is falling.

[0012] Technical solution

[0013] To address the aforementioned problems, this disclosure provides a safety device for installation on an aircraft, comprising: a first parachute to reduce descent speed and control the aircraft's attitude during descent; a second parachute that opens later than the first parachute to reduce the impact upon landing; a sensor unit to sense the descent of the aircraft; and a control unit to control the opening of the first and second parachutes. Furthermore, the control unit opens the first parachute at a first timing after the sensor unit senses the descent, and opens the second parachute at a second timing after the first timing and further meeting predetermined conditions.

[0014] When the first parachute deploys, it reduces the descent speed of the aircraft and controls its attitude during descent. If the second parachute, which serves as the main parachute to reduce the impact upon landing, were to deploy at this time, the aircraft might be blown away by crosswinds and land significantly off its initial flight path. As described above, if the landing point is controlled during the aircraft's descent by keeping the second parachute from deploying until the aircraft further meets the specified conditions, the aircraft can land at a location not too far from its initial flight path. In other words, the landing point can be controlled during the aircraft's descent.

[0015] Alternatively, the safety device may also include a first pyrotechnic device for launching a first parachute, with the control unit controlling the first pyrotechnic device to open the first parachute. Alternatively, the aircraft may be a multi-rotor helicopter with multiple rotors, and the first parachute may be launched in a direction that does not interfere with the multiple rotors. This ensures reliable parachute deployment.

[0016] Alternatively, the tops of the first and second parachutes can be connected, and the safety device further includes: a suppression unit for suppressing the opening of the second parachute; and a second pyrotechnic device to release the suppression provided by the suppression unit, with a control unit controlling the second pyrotechnic device to open the second parachute. Alternatively, the suppression unit may include a wire connected to either the first or second parachute, and the second pyrotechnic device may be a wire cutter that cuts the wire by firing a projectile. With such a configuration, the timing of the second parachute's opening can be controlled.

[0017] Furthermore, the prescribed conditions can be set differently depending on the type of aircraft. This allows for the easy application of safety devices to various types of aircraft.

[0018] Alternatively, the sensor unit may also measure the altitude of the flying object, provided that the altitude measured by the sensor unit is lower than a predetermined threshold. For example, the sensor unit can calculate the altitude based on air pressure.

[0019] Alternatively, the safety device may also include an alarm unit that emits sound or light when the sensor unit detects a descent. This would warn those around the aircraft as it falls.

[0020] Alternatively, the safety device may also include an airbag that deploys at a predetermined time when the sensor detects a descent. The airbag further mitigates impacts on the aircraft and structures near the landing site.

[0021] Alternatively, the safety device may also include a power supply unit that supplies power to the sensor unit and the control unit. In this way, even if an anomaly occurs in the aircraft, the safety device can operate independently.

[0022] In addition, aircraft equipped with the aforementioned safety devices may also be provided.

[0023] Invention Effects

[0024] According to this disclosure, a safety device can be provided that can control the landing point when a flying object falls. Attached Figure Description

[0025] Figure 1 This is a schematic diagram illustrating an example of a safety device and a flying body.

[0026] Figure 2 This is a functional block diagram representing an example of a safety device.

[0027] Figure 3 This diagram illustrates the configuration of the first pyrotechnic device, the first parachute, and the second parachute.

[0028] Figure 4 This diagram illustrates the configuration of the second pyrotechnic device, the first parachute, and the second parachute.

[0029] Figure 5 This is a diagram illustrating an example of how a parachute is folded.

[0030] Figure 6 It is a process flow diagram used to explain the operation of safety devices.

[0031] Figure 7 It is a diagram used to illustrate the altitude and transit time of a flying object, as well as the operation of safety devices. Detailed Implementation

[0032] Hereinafter, the safety device for an aircraft according to an embodiment of the present disclosure will be described with reference to the accompanying drawings. It should be noted that the various components and combinations thereof in the embodiments are merely examples, and appropriate additions, omissions, substitutions, and other modifications to the components can be made without departing from the spirit of the present disclosure. This disclosure is not limited by the embodiments, but only by the claims.

[0033] Figure 1 This is a schematic diagram illustrating an example of safety device 1 and aircraft 2. Furthermore, Figure 2 This is a functional block diagram illustrating an example of safety device 1. In this embodiment, safety device 1 senses the descent of the flying body 2 and uses parachutes or the like to reduce the impact on the flying body 2 and structures near the landing point upon landing or water impact. The flying body 2 is a so-called unmanned aerial vehicle (UAV) such as a drone. The flying body 2 can also be, for example, a multi-rotor helicopter with multiple rotors. Furthermore, the flying body 2 can be, for example, a flying body that flies along a pre-set path to deliver goods, or a flying body that uses an onboard camera to capture video or still images.

[0034] Safety device 1 includes: a sensor unit 11; a control unit 12; a parachute storage unit for storing a first parachute 13 and a second parachute 14; an airbag 15; a first pyrotechnic device 16 and a second pyrotechnic device 17 for controlling the opening of the parachutes; a third pyrotechnic device 18 for controlling the deployment of the airbag 15; and an alarm device 19. The sensor unit 11 includes: an acceleration sensor 111 for sensing the descent of the aircraft 2; and a barometric pressure sensor 112 for calculating the altitude of the aircraft 2. Furthermore, the sensor unit 11 is mounted near the center of gravity of the aircraft 2.

[0035] The control unit 12 is a processor such as a microcontroller, connected to the sensor unit 11, pyrotechnic devices 16-18, and alarm device 19 via signal lines. Furthermore, the control unit 12 controls the safety device 1 based on the output of the sensor unit 11. It should be noted that the control unit 12 may also be located within the sensor unit 11.

[0036] The first parachute 13 is a pilot shoot, and the second parachute 14 is the main parachute. That is, the parachute lines of the first parachute 13 are connected to the top of the second parachute 14, and the second parachute 14 is pulled out by the air resistance of the first parachute 13. However, this embodiment includes a suppressor to prevent the second parachute 14 from opening, and the first and second parachutes 13 and 14 open at timings corresponding to the control of the control unit 12. Specifically, the first parachute 13 is connected to the parachute storage unit, for example, via a line that functions as the suppressor. Furthermore, the line suppresses the first parachute 13 from pulling out the second parachute 14 until the line is cut.

[0037] Furthermore, the airbag 15 is attached to the lower part of the aircraft 2 to reduce the impact of landing or water impact. The airbag 15 can be an airbag used in known airbag devices mounted on automobiles, etc. It should be noted that the airbag 15 is preferred because it can allow the aircraft 2 to float for a long time when it lands on water without having a vent for venting gas. In addition, there are no particular limitations on the shape of the airbag 15 after it is inflated, and it can be appropriately selected according to the structure and shape of the aircraft 2. For example, it can be spherical, oblate (plate-like), flattened spherical that is elliptical when viewed from above, polyhedral, eggplant-shaped, rod-shaped, life ring-shaped, boat-shaped, or a shape in which multiple such airbags are connected in one place (e.g., the shape of a catamaran or trimaran in a yacht).

[0038] The first pyrotechnic device 16 forms a gun slug that uses energy obtained from an igniter to launch a counterweight connected to the top of the first parachute 13, like a slug, from a cylindrical housing. Figure 3 This diagram illustrates the configuration of the first pyrotechnic device 16, the first parachute 13, and the second parachute 14. The first pyrotechnic device 16 comprises an igniter 161 and a counterweight 162 within a cylindrical housing. The counterweight 162 is connected to the top of the folded first parachute 13. When the counterweight 162 is launched using the air pressure generated by igniting the igniter 161 (not shown) with electricity, the first parachute 13 connected to the counterweight 162 is pulled out and deployed. It should be noted that the first pyrotechnic device 16 is mounted on the upper part of the aircraft 2, and the counterweight is launched in a direction that does not interfere with the rotor of the aircraft 2.

[0039] The second pyrotechnic device 17 forms a wire cutter that uses energy obtained from an igniter to operate a piston held in a cylindrical housing, thereby cutting the aforementioned wire. Figure 4This diagram illustrates the configuration of the second pyrotechnic device 17, the first parachute 13, and the second parachute 14. The second pyrotechnic device 17 comprises an igniter 171 and a piston 172 within a cylindrical housing. Furthermore, a wire 173 is tensioned in the direction of piston 172's movement. The wire 173 is also connected to the parachute lines of the first parachute 13, preventing the first parachute 13 from pulling out the second parachute 14. It should be noted that the parachute lines of the first parachute 13 are connected to the top of the folded second parachute 14. When the piston 172 is moved by the air pressure generated by igniting the igniter 171 (not shown) by energizing a resistor, the piston 172 cuts the wire 173, and the second parachute 14, connected to the first parachute 13, is pulled out and opened by the air resistance of the first parachute 13.

[0040] The third pyrotechnic device 18 also includes a gunpowder-type gas generator (gas generator) with an igniter inside, which delivers gas into the bag-shaped gas bladder 15, causing the gas bladder 15 to inflate.

[0041] Alarm device 19 includes, for example, an LED (Light Emitting Diode) or a speaker, to inform the surroundings of the descent of the flying object 2 by emitting light or sound.

[0042] Figure 5 This diagram illustrates an example of how a parachute is folded. The shape of the parachute canopy is not particularly limited; it can be hemispherical, circular, cross-shaped, hexagonal, or other shapes. Figure 5 (1) is a diagram showing the shape of the umbrella canopy when folded in half for front or side viewing. Furthermore, as... Figure 5 As shown in (1) to (5), the canopy is divided into multiple equal parts in the horizontal direction when opened (in Figure 5 In the example, it is divided into five equal parts and folded in a wavy pattern. That is, from (1) to (5), the folded umbrella is repeatedly folded along the vertical fold line when it is opened, alternating between valley folds and mountain folds. Moreover, as Figure 5 As shown in (5) to (7), the canopy is divided into multiple equal parts in the vertical direction when opened (in Figure 5 In the example, it is divided into three equal parts and folded by ripples. That is, from (5) to (7), valley folds and mountain folds are alternately repeated along the horizontal fold line when it is opened. Finally, as Figure 5 As shown in (7) to (8), arrange the slings (lines). The slings can be arranged, for example, in a circular winding manner. The first parachute 13 and the second parachute 14 can be arranged in either a circular winding manner... Figure 5 The steps shown are for folding, but folding can also be performed using other known methods.

[0043] Figure 6This is a process flow diagram used to explain the operation of safety device 1. Furthermore, Figure 7 This diagram illustrates the altitude and transit time of the flying object 2, as well as the operation of safety device 1. It should be noted that... Figure 7 The reference numerals shown in the figures are the same as those in the figures below. Figure 6 The process corresponds to this. During the flight of flying body 2, Figure 6 The processing shown is performed by safety device 1. It should be noted that safety device 1 has a power supply unit (not shown) that supplies power to the aforementioned sensor unit 11 and control unit 12, allowing it to operate independently of the aircraft 2. That is, even if the aircraft 2 malfunctions, safety device 1 can operate independently.

[0044] The control unit 12 of safety device 1 acquires acceleration data output by acceleration sensor 111. Figure 6 (S1). The accelerometer 111 outputs observed values ​​corresponding to the acceleration in the three axial directions at predetermined intervals. On the other hand, the control unit 12 acquires the acceleration in the three axial directions and calculates the resultant acceleration of the three axes. It should be noted that the control unit 12 may also use the moving average of the acquired acceleration to calculate the resultant acceleration.

[0045] In addition, the control unit 12 uses the acquired acceleration to sense the descent of the flying body 2. Figure 6 (S2). In this step, if the acceleration data obtained in S1 indicates an acceleration above a predetermined threshold in the vertically downward direction, the control unit 12 determines that the flying body 2 is falling. If the control unit 12 does not sense a fall in S2 (S2: No), it returns to S1 and repeats the process.

[0046] On the other hand, if the control unit 12 senses a fall in S2 (S2: Yes), the control unit 12 activates the first pyrotechnic device 16 to deploy the first parachute 13. Figure 6 (S3). In this step, if using Figure 3 As explained, the control unit 12 energizes the first pyrotechnic device 16, causing the first parachute 13, connected to the launched counterweight 162, to open. Alternatively, after the control unit 12 senses the descent in S2, the control unit 12 may cause the alarm device 19 to output light or sound.

[0047] In addition, the control unit 12 activates the third pyrotechnic device 18 at a predetermined time, causing the airbag 15 to deploy. Figure 6(S4). In this step, the control unit 12 energizes the third pyrotechnic device 18 to ignite the igniter to generate gas, causing the airbag 15 to inflate. It should be noted that the timing for the airbag 15 to deploy is not particularly limited as long as it occurs before the aircraft 2 lands. For example, it can be done after a predetermined time has elapsed since the processing in S3, or it can be done simultaneously with the timing in S7 described later.

[0048] In addition, the control unit 12 acquires air pressure data output by the air pressure sensor 112 and calculates the altitude of the flying body 2. Figure 6 (S5). The air pressure sensor 112 outputs observed values ​​corresponding to the air pressure at a predetermined cycle. On the other hand, the control unit 12 calculates the altitude of the aircraft 2 using a known function representing the relationship between the measured air pressure and altitude. It should be noted that the control unit 12 may also use the moving average of the acquired air pressure to remove noise. Furthermore, the control unit 12 may, for example, use a Kalman filter to estimate the air pressure value.

[0049] Then, the control unit 12 determines whether the height is below a specified threshold. Figure 6 (S6). In this step, the control unit 12 determines whether the height calculated in S5 is below a preset threshold. If it is determined in S6 that the height is not below the specified threshold (S6: No), the process returns to S5 and repeats the process.

[0050] On the other hand, if it is determined in S6 that the altitude is below the prescribed threshold (S6: Yes), the control unit 12 activates the second pyrotechnic device 17 to deploy the second parachute 14. Figure 6 (S7). In this step, if using Figure 4 As explained, when the control unit 12 energizes the second pyrotechnic device 17, causing the piston 172 to cut the wire 173, the second parachute 14 is pulled out and opened by the air resistance of the first parachute 13.

[0051] <Effect>

[0052] like Figure 7As shown, when the first parachute 13 is deployed in S3, the descent speed of the aircraft 2 is reduced, and its descent attitude is controlled. If the second parachute 14, which serves as the main parachute, is deployed at this time, the aircraft 2 may be blown away by crosswinds and land at a location significantly deviating from its initial flight path. That is, the possibility of contact with surrounding buildings, power lines, pedestrians, etc., increases. In this embodiment, the second parachute 14 is not deployed until the aircraft 2 descends to a predetermined height, thus the landing point can be controlled during the aircraft's fall. That is, by controlling the deployment of the second parachute 14 at a timing different from that of the first parachute 13, the aircraft 2 can land at a location not too far from its initial flight path. Furthermore, by deploying the second parachute 14 in S7, the impact of the aircraft 2 upon landing can be significantly reduced.

[0053] Therefore, according to the safety device 1 of this embodiment, for example, the flying body 2 can be automatically controlled to land near a pre-set flight path or delivery route, thus improving safety even when the flying body 2 falls. Furthermore, it can protect cargo transported by the flying body, cameras mounted on the flying body, and other equipment.

[0054] <Other>

[0055] The aforementioned safety device 1 can be fitted to various types of aircraft 2. Furthermore, the sequential control of the second parachute 14 opening timing, airbag 15 deployment timing, etc., based on the aforementioned altitude threshold, can be predefined with preferred settings according to the type of aircraft 2, and applied accordingly.

[0056] The embodiments and modifications of the current circuit interruption device of this disclosure have been described above, but the above embodiments and modifications can be combined as much as possible. Furthermore, elements such as the airbag 15 and the alarm device 19 can be omitted without departing from the spirit of this disclosure. Figure 2 Part of the structure shown.

[0057] Explanation of reference numerals in the attached figures

[0058] 1: Safety devices;

[0059] 11: Sensor unit;

[0060] 111: Accelerometer;

[0061] 112: Barometric pressure sensor;

[0062] 12: Control Department;

[0063] 13: First Parachute;

[0064] 14: Second parachute;

[0065] 15: Airbag;

[0066] 16: First pyrotechnic item;

[0067] 161: Ignition device;

[0068] 162: Counterweight;

[0069] 17: Second pyrotechnic item;

[0070] 171: Igniter;

[0071] 172: Piston;

[0072] 173: Wire;

[0073] 18: The third type of pyrotechnic product;

[0074] 19: Alarm device;

[0075] 2: Flying vehicle.

Claims

1. A safety device for placement on a flying object, wherein, Possessing: a first parachute in the shape of an umbrella that attenuates a falling speed and controls a posture at the time of falling of the flying body; a second parachute in the shape of an umbrella that is opened later than the first parachute, and reduces an impact at the time of landing of the flying body; a sensor section that senses falling of the flying body; a control section that controls opening of the first parachute and the second parachute; a first explosive device that operates by control of the control section, and is used to emit a counterweight connected to the first parachute; a suppression section that is used to suppress opening of the second parachute against air resistance of the first parachute that is opened before the second parachute; and a second explosive device that operates by control of the control section, and cancels suppression of opening of the second parachute by the suppression section, the control section performs a first process of causing the first parachute to open when falling is sensed by the sensor section, and a second process of causing the second parachute, whose apex is connected to the first parachute, to open when a height of the flying body becomes lower than a prescribed threshold after the first process is performed, the suppression section includes a wire connected to the first parachute or the second parachute, and the second explosive device is a wire cutter that cuts the wire by emitting a projectile.

2. The safety device according to claim 1, wherein the flying body is a multicopter that possesses a plurality of rotors, the first parachute is emitted in a direction that does not interfere with the plurality of rotors.

3. The safety device according to claim 1 or 2, wherein different conditions can be set according to a category of the flying body with respect to the prescribed condition.

4. The safety device according to claim 1 or 2, wherein the sensor section also measures a height of the flying body, the control section determines whether the height of the flying body is lower than the prescribed threshold based on a measurement result of the sensor section in the second process.

5. The safety device according to claim 1 or 2, wherein the safety device also possesses an alarm section that emits a sound or light when falling is sensed by the sensor section.

6. The safety device according to claim 1 or 2, wherein the safety device also possesses an airbag that is deployed at a prescribed timing when falling is sensed by the sensor section.

7. The safety device according to claim 6, wherein the airbag does not have a vent that discharges gas.

8. The safety device according to claim 1 or 2, wherein the safety device also possesses a power supply section that supplies power to the sensor section and the control section.

9. A flying body that possesses the safety device according to any one of claims 1 to 8. ​

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