Safety device and flying object equipped with safety device

Abstract

To provide a safety device that can suppress damage to a top plate part of a lid when the lid is pushed from the inner side for removing the lid, and a flying object equipped with the safety device.SOLUTION: A safety device 100 for a flying object 1 includes: a container 10 that has a lid 12; an injection object 20 that is housed in the container 10; and an actuator 30 that includes a piston member 31 which pushes the lid 12 from the inner side by sliding to one side to remove the lid 12, and a gas generator 38 which generates a driving force to slide the piston member 31 to one side. The lid 12 includes: a top plate part 12a that is positioned on the one side of the piston member 31 and curved in a convex manner to the one side; and a receiving part 12b that protrudes from the inner surface 12e of the top plate part 12a toward the other side, and receives the piston member 31 when the piston member 31 slides to the one side.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a safety device and an aircraft equipped with the safety device. [Background technology]

[0002] In recent years, with the development of autonomous control technology and flight control technology, the industrial use of aircraft equipped with multiple rotors, for example drones, is accelerating. Drones fly, for example, by rotating multiple rotors simultaneously in a balanced manner, and ascend and descend by increasing and decreasing the rotation speed of the rotors, and move forward and backward by tilting the aircraft through increasing and decreasing the rotation speed of the rotors. Such aircraft are not only used for disaster relief activities, luggage transportation, landscape photography, etc., but are also expected to be used by people on board, and are expected to be used more widely worldwide in the future.

[0003] On the other hand, the risk of aircraft falling accidents as described above is seen as a danger, which is hindering the widespread use of aircraft. In order to reduce the risk of such falling accidents, safety devices such as parachutes for aircraft are being commercialized.

[0004] For example, Patent Document 1 discloses a device including a container having a lid, an injection material contained in the container, and a member for removing the lid by pushing it from the inside. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] China Patent Application Publication No. 111361738 Summary of the Invention [Problem to be solved by the invention]

[0006] However, when the lid is pushed from the inside with a pressing force generated by the actuator (using the driving force of the actuator) to remove the lid, if the top plate of the lid is damaged, the projectile contained in the container may not be properly ejected. Therefore, in order to remove the lid with an appropriate pressing force that does not damage the top plate of the lid, it may be necessary to adjust the pressing force, for example, to be lower than before. However, when the driving force of the actuator is also used to eject the projectile, if an adjustment is made to lower the pressing force, not only does the manufacture of the safety device become complicated, but the ejection force when ejecting the projectile decreases, and the projectile may not be ejected sufficiently.

[0007] Therefore, the present invention aims to provide a safety device that can sufficiently eject the projectile without making adjustments, for example to reduce the pushing force (driving force) generated by the actuator compared to conventional methods, and that can prevent damage to the top plate of the lid when the lid is pushed from the inside to remove it, more than conventional methods, and an aircraft equipped with such a safety device. [Means for solving the problem]

[0008] (1) A safety device according to the present invention is a safety device for an aircraft, comprising: a container having a lid; a projectile contained in the container; a sliding member that slides to one side to push the lid from the inside to remove the lid; and an actuator having a power source that generates a driving force to slide the sliding member to one side, wherein the lid has a top plate portion located on one side of the sliding member and having a curved surface that is convexly curved to one side formed on at least a part of its outer surface, and a receiving portion that protrudes from the inner surface of the top plate portion to the other side and receives the sliding member when the sliding member slides to one side.

[0009] (2) In the safety device of (1) above, it is preferable that at least a portion of the top plate portion is hollow hemispherical or dome-shaped, and that the curved surface is formed on at least a portion of the hollow hemispherical or dome-shaped portion of the top plate portion.

[0010] (3) In the safety device of (1) or (2) above, it is preferable that the receiving part has a receiving surface perpendicular to the sliding direction of the sliding member and receiving the sliding member when the sliding member slides to one side, and a surface is formed on the end of the sliding member on the receiving surface side for pressing the receiving surface when actuated.

[0011] (4) In the safety device of (1) or (2) above, it is preferable to provide a trigger device having a starting part that starts the actuator when the flying object is determined to be in an abnormal state or when an instruction to start the actuator is received from the operator of the flying object.

[0012] (5) In the safety device of (4) above, it is preferable that the flying object comprises a body and one or more propulsion mechanisms connected to the body and propelling the body, and that the trigger device has a judgment unit that judges whether the flying object is in an abnormal state or not, and a stopping unit that stops the one or more propulsion mechanisms when the judgment unit judges that the flying object is in an abnormal state.

[0013] (6) In the safety device of (4) above, it is preferable that the trigger device has a judgment unit that judges whether the flying object is in an abnormal state or not, and a memory unit that stores the judgment data at that time when the judgment unit judges that the flying object is in an abnormal state.

[0014] (7) In the safety device of (4) above, it is preferable that the trigger device has a judgment unit that judges whether the flying object is in an abnormal state or not, and an alarm unit that, when the judgment unit judges that the flying object is in an abnormal state, alerts the flying object that it is in an abnormal state by at least one of sound and light.

[0015] (8) In the safety device of (1) or (2) above, it is preferable that the projectile is a pilot chute and is provided with a parachute connected to the pilot chute.

[0016] (9) In the safety device of (1) or (2) above, the projectile is preferably a float parachute, a net, a fire extinguisher, a life preserver, or a medicine.

[0017] (10) The aircraft of the present invention is characterized in that it comprises an aircraft body, a safety device as described above in (1) or (2) connected to the aircraft body, and one or more propulsion mechanisms connected to the aircraft body and propelling the aircraft. Effect of the Invention

[0018] According to the present invention, it is possible to provide a safety device that can sufficiently eject an object without making adjustments to reduce the pushing force (driving force) generated by an actuator compared to conventional methods, and that can prevent damage to the top plate of the lid when the lid is pushed from the inside to remove it, more than conventional methods, and an aircraft equipped with the safety device. [Brief description of the drawings]

[0019] [Figure 1] 1 is a perspective view showing a safety device according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a side view showing the safety device of FIG. [Diagram 3] FIG. 2 is a plan view showing the safety device of FIG. [Figure 4] FIG. 4 is a cross-sectional view taken along line AA in FIG. [Diagram 5] FIG. 4 is a cross-sectional view taken along line BB in FIG. [Figure 6] 2 is a block diagram showing a functional configuration of the safety device shown in FIG. 1. [Figure 7] FIG. 2 is a front view showing an aircraft equipped with the safety device of FIG. 1. [Figure 8] FIG. 4 is a schematic diagram showing an analysis result of a lid portion according to a first comparative example. [Figure 9] FIG. 11 is a schematic diagram showing an analysis result of a lid portion according to a second comparative example. [Figure 10] FIG. 4 is a schematic diagram showing an analysis result of the lid portion according to the first embodiment. [Figure 11] FIG. 11 is a cross-sectional view showing a cover according to a first modified example. [Figure 12] FIG. 11 is a cross-sectional view showing a cover according to a second modified example. [Figure 13] FIG. 11 is a schematic diagram showing an analysis result of a lid portion according to a second embodiment. [Figure 14] FIG. 6 is a cross-sectional view showing a safety device according to a second embodiment of the present invention. [Figure 15] FIG. 11 is a cross-sectional view showing a safety device according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] First Embodiment Hereinafter, a safety device and an aircraft according to a first embodiment of the present invention will be described with reference to FIGS.

[0021] First, the safety device 100 will be described with reference to Figures 1 to 6. As shown in Figures 1 to 5, the safety device 100 includes a container 10, an ejection object 20, an actuator 30, a plurality of bolts 40, and a harness 50. Note that in Figures 4 and 5, the ejection object 20 is virtually shown by a two-dot chain line.

[0022] The container 10 contains the projectile 20. The container 10 has a main body portion 11, a cover portion 12, and a plurality of pins 13.

[0023] An injection object 20 is disposed on the lid 12 side of the body 11. The body 11 has a bottom 11a, a plurality of protrusions 11b, and a side wall 11c.

[0024] The bottom 11a is plate-shaped with the thickness direction being the sliding direction in which the piston member 31 slides. In the following, the sliding direction in which the piston member 31 slides may be simply referred to as the sliding direction. The bottom 11a is circular when viewed from the sliding direction. The bottom 11a has a hole 11d and a plurality of holes 11e.

[0025] The hole 11d is formed in the center of the bottom 11a and passes through the bottom 11a in the sliding direction. The actuator 30 is inserted into the hole 11d.

[0026] Each of the holes 11e is formed radially outward from the center of the bottom 11a. The holes 11e are arranged at equal intervals around the hole 11d. Each of the holes 11e penetrates the bottom 11a in the sliding direction. A bolt 40 for fixing the container 10 and the actuator 30 is inserted into each of the holes 11e.

[0027] Each of the multiple protrusions 11b is plate-shaped with the sliding direction as the thickness direction. Each of the multiple protrusions 11b protrudes outward from the outer periphery of the bottom 11a. The multiple protrusions 11b are arranged at 180 degree intervals. Each of the multiple protrusions 11b has a hole 11f. The hole 11f penetrates the protrusion 11b in the sliding direction.

[0028] The side wall portion 11c has an annular portion 11g, a plurality of protrusions 11h, and a plurality of holes 11i.

[0029] The annular portion 11g protrudes to one side from the main surface on one side (the side indicated by arrow X in FIG. 2, etc.; the same applies below) of the bottom portion 11a. The one side is the side along which the piston member 31 slides due to the driving force generated by the gas generator 38. When viewed from the sliding direction, the annular portion 11g has an annular shape, and the center of the annular portion 11g coincides with the center of the bottom portion 11a. The annular portion 11g is positioned slightly inward from the outer periphery of the bottom portion 11a.

[0030] Each of the plurality of protruding portions 11h protrudes inward from the inner periphery of the annular portion 11g. The plurality of protruding portions 11h are arranged at equal intervals in the circumferential direction of the annular portion 11g.

[0031] The holes 11i are provided corresponding to the protrusions 11h. Each of the holes 11i penetrates the annular portion 11g and the protrusion 11h corresponding to the hole 11i in the radial direction of the annular portion 11g.

[0032] The lid portion 12 is attached to the main body portion 11. The lid portion 12 is cylindrical with a bottom that opens to the other side (the side indicated by the arrow Y in FIG. 2, etc.; the same applies below). The other side is the side opposite to the side where the piston member 31 slides due to the driving force generated by the gas generator 38. For example, the lid portion 12 is formed of CFRP. The lid portion 12 has a top plate portion 12a, a receiving portion 12b, a cylindrical portion 12c, and a side wall portion 12d.

[0033] The top plate portion 12a is located on one side of the piston member 31. The top plate portion 12a is curved convexly toward one side. The top plate portion 12a has an outer surface including a curved surface that is curved convexly toward one side. Here, the curved surface is formed on at least a part of the outer surface of the top plate portion 12a. In particular, it is preferable that the curved surface is formed at least on an outer surface portion of the top plate portion 12a that faces a portion that is susceptible to stress transmitted from the receiving portion 12b during operation (for example, a joint portion of the receiving portion 12b with the top plate portion 12a). However, the curved surface may extend over an area larger than the outer surface portion of the top plate portion 12a that faces a portion that is susceptible to stress transmitted from the receiving portion 12b during operation.

[0034] The top plate portion 12a also has an inner surface 12e that is curved concavely on one side. The top plate portion 12a also forms a part of the outer shell of the container 10.

[0035] In this embodiment, the top plate portion 12a is hollow hemispherical or dome-shaped. The outer surface and the inner surface 12e of the top plate portion 12a are each hemispherical. The other end of the top plate portion 12a is annular when viewed from the sliding direction. The top plate portion 12a is arranged to cover the side of one end of the piston member 31.

[0036] The receiving portion 12b protrudes from the inner surface 12e of the top plate portion 12a to the other side. In this embodiment, the receiving portion 12b protrudes from the center of the inner surface 12e to the other side. The receiving portion 12b is cylindrical. The receiving portion 12b is located on one side of the piston member 31, and receives the piston member 31 when the piston member 31 slides to one side. This causes the load when the piston member 31 presses the lid portion 12 to be applied to the top plate portion 12a via the receiving portion 12b. For example, the dimension in the sliding direction of the receiving portion 12b is changed according to the size of the injection object 20. Since the container 10 needs to be made larger as the size of the injection object 20 increases, for example, the dimension in the sliding direction of the receiving portion 12b is increased along with the increase in the dimension in the sliding direction of the cylindrical portion 12c and the side wall portion 12d. This allows the container 10 to be made larger without changing the distance between the actuator 30 and the receiving portion 12b. For example, the receiving portion 12b is formed by laminating CFRP. The receiving portion 12b has a receiving surface 12f.

[0037] The receiving surface 12f is an end surface on the other side of the receiving portion 12b. The receiving surface 12f is located on one side of the piston member 31, and receives the piston member 31 when the piston member 31 slides to one side. In this embodiment, the receiving surface 12f is perpendicular to the sliding direction.

[0038] The cylindrical portion 12c extends from the outer periphery of the receiving portion 12b to the other side. The cylindrical portion 12c is formed in a cylindrical shape along the outer periphery of the receiving portion 12b and opens to the other side. An actuator 30 is disposed inside the cylindrical portion 12c.

[0039] The side wall portion 12d extends from the other end of the top plate portion 12a to the other side. The side wall portion 12d is formed in a cylindrical shape along the other end of the top plate portion 12a. The side wall portion 12d opens to the other side. The other end of the side wall portion 12d is formed to fit with the annular portion 11g. Specifically, the inner peripheral surface of the other end of the side wall portion 12d is formed to fit with the outer peripheral surface of the annular portion 11g. The side wall portion 12d has a plurality of holes 12g as shown in FIG. 5. Here, the ratio of the outer diameter of the side wall portion 12d to the length from the end of the side wall portion 12d on the main body portion 11 side to the top of the top plate portion 12a is preferably 1:1 to 1:1.5. In addition, when the shape of the top plate portion 12a is a hollow hemisphere, the outer radius of the top plate portion 12a is half the outer diameter of the side wall portion 12d.

[0040] The plurality of holes 12g are provided corresponding to the plurality of holes 11i. Each of the plurality of holes 12g penetrates the side wall portion 12d in the same direction as the penetration direction of the hole 11i corresponding to the hole 12g, and communicates with the hole 11i.

[0041] Each of the pins 13 is inserted through the hole 11i and the hole 12g. The lid portion 12 is fixed to the body portion 11 by inserting each of the pins 13 through the hole 11i and the hole 12g. For example, when the piston member 31 pushes the lid portion 12 to one side, each of the pins 13 breaks, and the lid portion 12 is removed from the body portion 11. Note that when the piston member 31 pushes the lid portion 12 to one side, the side wall portion 12d may break from the hole 11i, and the lid portion 12 may be removed from the body portion 11.

[0042] The projectile 20 is contained in the container 10. Specifically, the projectile 20 is contained outside the cylindrical portion 12c. The projectile 20 is released from the container 10 when the lid portion 12 is removed. For example, if the lid portion 12 is removed from the main body portion 11 while the flying object 1 (described later) to which the safety device 100 is connected is falling, the projectile 20 becomes exposed to the outside and is released from the main body portion 11 by wind pressure or the like, or is released by being pulled out from the main body portion 11 by a string-like connecting member (not shown) connected to the lid portion 12 or the like. A support member (a member having a shape similar to that of a hat) extending from the piston member 31 and supporting the projectile 20 may be provided, and the piston member 31 may be slid to one side to remove the lid portion 12 from the main body portion 11 and move the support member to one side, and the projectile 20 supported by the support member may be projected from the main body portion 11 by moving the support member to one side. In this embodiment, the projectile 20 is a parachute or a paraglider. For example, the parachute is a float parachute. The float parachute is a parachute with floats (life rings). The projectile 20 may be a capture or arresting net, a fire extinguisher, a life preserver, a medicine, or the like.

[0043] A portion of the actuator 30 is located inside the container 10 and is contained in the container 10. The actuator 30 has a piston member 31, a tubular member 32, a holding member 33, a seal member 34, a cylinder 35, a seal member 36, a base 37, and a gas generator 38.

[0044] The piston member 31 is an example of a sliding member that slides to one side to push the lid portion 12 from the inside to remove the lid portion 12. The lid portion 12 (receiving portion 12b) is located on one side of the piston member 31, and as the piston member 31 slides to one side, the piston member 31 comes into contact with the lid portion 12 (receiving portion 12b) and pushes the lid portion 12 (receiving portion 12b) to one side, and by pushing the lid portion 12 (receiving portion 12b) to one side, the lid portion 12 is removed from the main body portion 11. The piston member 31 is pushed up to one side by a driving force generated by the gas generator 38, and slides to one side relative to the cylinder 35. The piston member 31 extends in the sliding direction. The piston member 31 has a main body portion 31a, a rod-shaped portion 31b, a hole portion 31c, and a groove portion 31d.

[0045] The main body 31a is a portion having an outer diameter substantially equal to the inner diameter of the cylinder 35, and has a surface (a surface in contact with the receiving surface 12f in an initial state) formed at the end on the top plate 12 side so as to be able to press the receiving surface 12f during operation. The rod-shaped portion 31b is connected to the main body 31a, extends from one end of the main body 31a to one side, and is a portion having a smaller diameter than the main body 31a. The hole 31c is provided inside the main body 31a and the rod-shaped portion 31b. The hole 31c is formed along the central axis of the piston member 31 from the other end of the main body 31a to the middle of the rod-shaped portion 31b. This reduces the weight of the piston member 31 compared to a case in which the hole 31c is not formed. The groove 31d is provided along the circumferential direction of the main body 31a on the outer circumferential surface of the main body 31a.

[0046] The tubular member 32 is fitted or loosely fitted in the main body 31a at the other end of the rod-shaped portion 31b in contact with the main body 31a. There may be a gap between the inner peripheral surface of the tubular member 32 and the outer peripheral surface of the rod-shaped portion 31b, but the gap may be within a range that does not prevent plastic deformation due to approximately uniform compression when the holding member 33 and the stopper portion 35b of the cylinder 35 collide. The tubular member 32 is made of a material that undergoes plastic deformation and has a lower tensile strength than the piston member 31 (for example, metals such as iron, aluminum, brass, copper, etc., alloys such as stainless steel, resins, etc.) (for example, metals such as aluminum and brass, alloys such as stainless steel, resins such as polyamide synthetic resins such as monomer cast nylon, nylon 6, nylon 6,6, nylon 4,6, etc.). The tubular member 32 and the inner peripheral surface of the cylinder 35 are spaced apart by a predetermined distance (for example, a distance at which the tubular member 32, which has been plastically deformed by approximately uniform compression when the holding member 33 collides with the stopper portion 35b of the cylinder 35, does not come into contact with the inner peripheral surface of the cylinder 35) so that the tubular member 32 does not come into contact with the inner peripheral surface of the cylinder 35. As a result, even if the holding member 33 collides with the stopper portion 35b of the cylinder 35 and is plastically deformed, the tubular member 32 deforms without being hindered by the inner peripheral surface of the cylinder 35, and the impact of the piston member 31 is sufficiently mitigated.

[0047] The holding member 33 holds the tubular member 32 at the other end of the rod-shaped portion 31b in a state of contact with the main body portion 31a. The holding member 33 may be an elastic member such as rubber, or may be made of the same material as the tubular member 32, and may be shaped like a ring or a clip.

[0048] The seal member 34 is provided in the groove portion 31d along the circumferential direction of the main body portion 31a. The seal member 34 is in contact with the groove portion 31d and the inner circumferential surface of the cylinder 35. The seal member 34 is an O-ring or the like.

[0049] The cylinder 35 accommodates the piston member 31 and slidably supports the piston member 31. The cylinder 35 extends in the sliding direction. The cylinder 35 has a hole portion 35a, a stopper portion 35b, and a groove portion 35c.

[0050] The hole portion 35a is a hole portion for the piston member 31 to protrude to one side relative to the cylinder 35 during operation. The hole portion 35a penetrates one end of the cylinder 35 in the sliding direction. The piston member 31 is inserted into the hole portion 35a. The stopper portion 35b is formed on the inside of one end of the cylinder 35. The stopper portion 35b is cylindrical and arranged so as to surround a part of the rod-shaped portion 31b of the piston member 31. The stopper portion 35b limits the sliding range of the piston member 31 to one side. The piston member 31, which has slid to one side by the driving force generated by the gas generator 38, is limited in sliding to one side by the holding member 33 colliding with the stopper portion 35b. The groove portion 35c is provided on the inner peripheral surface of the stopper portion 35b along the circumferential direction of the stopper portion 35b.

[0051] The seal member 36 is provided in the groove portion 35c along the circumferential direction of the stopper portion 35b. The seal member 36 is in contact with the groove portion 35c and the outer circumferential surface of the piston member 31. The seal member 36 is an O-ring or the like.

[0052] The other end of the cylinder 35 is fixed to the base 37 by crimping. For example, the base 37 is fixed to a mount member (not shown) by fastening a bolt (not shown) through the mount member to a hole 37e (with an internal thread) provided in a flange portion 37b of the base 37, and the mount member is fixed to the aircraft 1, thereby fixing the base 37 to the aircraft 1. The base 37 is a squib holder. The base 37 has a substantially cylindrical member 37a, a flange portion 37b, and an insertion port 37c.

[0053] The generally cylindrical member 37a holds the gas generator 38 on the cylinder 35 side. The flange portion 37b is provided on the side of the generally cylindrical member 37a opposite to the cylinder 35 side. The flange portion 37b has a plurality of holes 37d. The holes 37d are used to attach the base 37 to the container 10. An internal thread is cut on the inner circumferential surface of the holes 37d, and a bolt 40 inserted from the inside of the container 10 is screwed into the holes 37d. The insertion opening 37c is used to insert an electric connector 51 into the electrode 38b of the gas generator 38.

[0054] The gas generator 38 is located on the other side of the piston member 31 and is an example of a power source that generates a driving force to slide the piston member 31 to one side. The gas generator 38 is disposed on the other side of the piston member 31 in a state where it is inserted into the opening on the other side of the cylinder 35. The gas generator 38 may be an igniter alone, or a gas generator equipped with an igniter and a gas generating agent. In addition, a hybrid type or stored type gas generator that uses a pyrotechnic igniter to break the seal of a small gas cylinder and discharge the internal gas to the outside may be used. In this case, the pressurized gas in the gas cylinder may be a non-flammable gas such as argon, helium, nitrogen, carbon dioxide, or a mixture thereof. In addition, in order to reliably propel the piston when the pressurized gas is released, the gas generator may be equipped with a heating element made of a gas generating agent composition or a thermite composition. The gas generator 38 is a micro gas generator or the like. The gas generator 38 has a cup body 38a and a plurality of electrodes 38b.

[0055] An igniter is disposed inside the cup body 38a. For example, a gas generating agent, a gas cylinder, and / or a heating element are appropriately disposed inside the cup body 38a. The electrode 38b is electrically connected to the igniter disposed inside the cup body 38a.

[0056] The bolt 40 is a member for fixing the container 10 and the actuator 30. The bolt 40 is inserted into the hole 11e from the inside of the container 10 and screwed into the hole 37d. By tightening the bolt 40, the container 10 and the actuator 30 are fixed together.

[0057] The harness 50 is a member for electrically connecting the gas generator 38 and a trigger device 60 (described later). The harness 50 has a connector 51, a wire 52, and a connector 53.

[0058] The connector 51 is located on the other side of the gas generator 38, and is connected to the electrode 38b. The wiring 52 is connected to the connector 51 and a connector 53. The connector 53 is connected to a trigger device 60. As a result, a signal from the trigger device 60 is supplied to the gas generator 38, and the gas generator 38 is activated.

[0059] As shown in FIG. 6, the safety device 100 includes a trigger device 60. For example, the trigger device 60 is housed in a housing (not shown) or the like and mounted on the aircraft 1. The trigger device 60 includes a control unit 61, a determination unit 62, a storage unit 63, and an alarm unit 64. The control unit 61 includes a CPU, a ROM, a RAM, and the like. The determination unit 62 determines whether the aircraft 1 is in an abnormal state based on a signal received from a detection unit 70 that detects the state of the aircraft 1 (failure, inoperability, flight state (flight attitude, speed, angular velocity, altitude, attitude angle, etc.), distance from an obstacle, position information, etc.). The trigger device 60 uses the CPU to execute various programs (a signal transmission program, a signal reception program, etc.) and automatically transmits a command signal, an operation signal, etc. to each part depending on the situation (for example, when the aircraft 1 is in an abnormal state (at the time of abnormality)), or receives a command signal, etc. from the outside via the communication unit 71 and transmits a command signal, an operation signal, etc. to each part. For example, the system has the function of executing various programs using the CPU to send an automatic start-up signal to the actuator 30 to automatically start the actuator 30 when the aircraft 1 is in an abnormal state, and of executing various programs using the CPU to send a start-up signal to the actuator 30 to start the actuator 30 when a trigger signal is received from a remote signal transmitter / receiver operated by an operator.

[0060] Here, examples of the detection unit 70 include a signal receiving sensor, an acceleration sensor, a gyro sensor, an air pressure sensor, a GPS (Global Positioning System), a laser sensor, an ultrasonic sensor, an infrared sensor, a millimeter wave radar, a sub-millimeter wave radar, a speed sensor, a monocular or compound eye vision sensor, an energy amount sensor, and a wind direction detection sensor, and includes at least one of these. Other examples of the detection unit 70 may include a unit that detects that an emergency signal has been transmitted from an emergency signal transmitting device in response to an operation by an operator, a unit that detects a failure of equipment provided in the flying object 1, and the like.

[0061] Furthermore, the above-mentioned "abnormality" refers to a case where the determination unit 62 determines that the aircraft 1 is in an abnormal state (breakdown, inoperability, abnormal fall, etc.) based on a signal from the above-mentioned detection unit 70 provided in the aircraft 1 or the safety device 100. Specifically, the determination unit 62 determines that "signal loss for a certain period of time or more from the control unit of the aircraft 1 or reception of an abnormal signal from the control unit of the aircraft 1", "signal loss for a certain period of time or more from the remote signal transceiver or reception of an abnormal signal from the remote signal transceiver", "signal loss for a certain period of time or more from the ground station or reception of an abnormal signal from the ground station when there is communication with a ground station (including a relay station)", "based on the position information of the aircraft 1, that the aircraft 1 is approaching or entering a prohibited area, or deviating from the planned route", "the remaining amount of power source (battery) or fuel of the aircraft 1 is below a specified value", "the acceleration of the aircraft 1 is below a specified value or above a specified value". This occurs when it is determined that one or more of the following conditions have occurred: "The angular velocity of the aircraft 1 is equal to or greater than a specified value," "The attitude angle of the aircraft 1 is equal to or greater than a specified value (for example, tilted 45° or more from the horizontal)," "The aircraft 1 is approaching an obstacle that may cause damage to the aircraft 1 (detected by a laser sensor (LiDAR, etc.) or an infrared sensor, or by a vision sensor and image analysis)," "If the aircraft 1 is capable of carrying humans, an emergency situation has occurred for a person inside the aircraft 1 (detected by an emergency signal being transmitted from an emergency signal transmitter)," or "A fatal malfunction of equipment installed in the aircraft 1 has occurred."

[0062] The control unit 61 is an example of an activation unit that activates the actuator 30 when the flying object 1 is determined to be in an abnormal state and / or when an instruction to activate the actuator 30 is received from the operator of the flying object 1. As described above, the control unit 61 activates the actuator 30 by transmitting a signal to the actuator 30 to activate the actuator 30. Specifically, the control unit 61 activates the gas generator 38 by transmitting a signal to the gas generator 38 to activate the gas generator 38.

[0063] The control unit 61 is an example of a stopping unit that stops one or more propulsion mechanisms 3 (described later) when the determination unit 62 determines that the aircraft 1 is in an abnormal state. For example, the control unit 61 stops one or more propulsion mechanisms 3 by transmitting a signal to stop one or more propulsion mechanisms 3 to a control unit of the aircraft 1 that controls the one or more propulsion mechanisms 3 via the communication unit 71. Specifically, for example, the control unit 61 stops one or more propulsion mechanisms 3 by "blocking the signal between the ESC and the FC or monopolizing the zero throttle signal," "blocking the signal between the ESC and the motor or monopolizing the zero throttle signal," "sending a motor stop request to the FC," "sending a motor stop request to the companion computer," "sending a motor signal or current cut-off request to the PMU," "cutting off the power supply between the ESC and the motor," "cutting off the power supply between the ESC and the PMU," "cutting off the power supply between the FC and the battery," "cutting off the power supply between the PMU and the battery," and the like.

[0064] The determination unit 62 determines whether the aircraft 1 is in an abnormal state. As described above, for example, the determination unit 62 determines whether the aircraft 1 is in an abnormal state based on a signal received from the detection unit 70 that detects the state of the aircraft 1 (failure, inoperability, flight state (flight attitude, speed, angular velocity, altitude, attitude angle, etc.), distance from an obstacle, position information, etc.). Specifically, for example, the determination unit 62 determines that the aircraft 1 is in an abnormal state when the aircraft 1 is in a malfunction or inoperable state. Furthermore, the determination unit 62 determines that the aircraft 1 is in an abnormal state when the flight attitude, speed, angular velocity, altitude, attitude angle, etc. are equal to or greater than a threshold value or equal to or less than a threshold value. Furthermore, the determination unit 62 determines that the aircraft 1 is in an abnormal state when the distance from an obstacle is equal to or less than a threshold value. Furthermore, the determination unit 62 determines that the aircraft 1 is in an abnormal state when the aircraft 1 is located outside a predetermined range. For example, the determination unit 62 has a CPU, a ROM, a RAM, etc.

[0065] The storage unit 63 stores the determination data when the determination unit 62 determines that the flying object 1 is in an abnormal state. For example, the determination data includes the type of abnormality and the time when the abnormality was determined. For example, the storage unit 63 has a ROM, a RAM, etc.

[0066] When the determination unit 62 determines that the flying object 1 is in an abnormal state, the notification unit 64 notifies the flying object 1 that it is in an abnormal state by at least one of sound and light. For example, the notification unit 64 includes a speaker that emits a sound such as an alarm. The notification unit 64 also includes an LED that emits light such as a warning light.

[0067] Next, the flying object 1 will be described with reference to Fig. 7. As shown in Fig. 7, the flying object 1 includes a body 2, a plurality of propulsion mechanisms 3, a plurality of legs 4, and a safety device 100.

[0068] The propulsion mechanism 3 is coupled to the airframe 2 and propels the airframe 2. For example, the propulsion mechanism 3 is a propeller or the like. The legs 4 are provided on the lower part of the airframe 2. For example, the safety device 100 is coupled to the airframe 2 via the above-mentioned mount member.

[0069] The aircraft 2 may have an airbag (explosive, hybrid, cylinder, fan, naturally aspirated), a float (hybrid, cylinder, naturally aspirated) that is arranged separately from the parachute, and an alarm (alert, LED). If the aircraft 1 is a flying car, the aircraft 2 may have a shock-absorbing seat for people.

[0070] Next, the results of a computer analysis of stress in the lids according to the first comparative example, the second comparative example, and the first embodiment will be described with reference to Figures 8 to 10. The software "Autodesk Inventor Nastran" (manufactured by Autodesk Inc.) was used for the computer analysis of stress.

[0071] As shown in FIG. 8, the lid according to the first comparative example differs from the lid 12 mainly in that it has a flat top plate perpendicular to the sliding direction instead of the top plate 12a. As shown in FIG. 9, the lid according to the second comparative example differs from the lid according to the first comparative example mainly in that the radius of the curved surface connecting the top plate and the side wall is larger than that of the first comparative example. As shown in FIG. 9, the lid according to the first embodiment is similar to the lid 12. The dimensions and shapes of the parts other than those specifically shown in this paragraph are similar in FIGS. 8 to 10.

[0072] For the first comparative example, the second comparative example, and the first embodiment, the above analysis was performed under the condition that a pin was inserted and fixed in the hole (two places) formed in the same manner as hole 12g, and a load of 160,000 [N] was applied toward one side to the receiving surface corresponding to receiving surface 12f of receiving portion 12b.

[0073] As shown in Fig. 8, the above analysis revealed that there is a portion on the curved surface of the top plate of the lid part according to the first comparative example where a maximum stress of 2014 [MPa] was applied (the outer edge of the joint between the receiving part and the top plate). As shown in Fig. 9, the above analysis revealed that there is a portion on the top plate of the lid part according to the second comparative example where a maximum stress of 1065 [MPa] was applied (the outer edge of the joint between the receiving part and the top plate). On the other hand, as shown in Fig. 10, the above analysis revealed that there is a portion on the curved surface of the top plate of the lid part according to the first embodiment where a maximum stress of only 426 [MPa] was applied.

[0074] Thus, it was found that the stress applied to the curved top plate portion was smaller than that applied to the flat top plate portion. It was also found that the position at which the maximum stress occurred was different between the flat top plate portion and the curved top plate portion. That is, in the flat top plate portion, not only was the maximum stress generated at the outer edge of the joint between the receiving portion and the top plate portion, but the stress was about twice as high as that generated in the curved top plate portion. Therefore, it was found that the strength of the outer edge of the joint between the receiving portion and the top plate portion in the flat top plate portion needs to be significantly stronger than that in the case of the curved top plate portion.

[0075] As described above, the safety device 100 in the first embodiment of the present invention is a safety device for an aircraft 1, and comprises a container 10 having a lid portion 12, a projectile 20 contained in the container 10, a piston member 31 that slides to one side to push the lid portion 12 from the inside to remove the lid portion 12, and an actuator 30 having a gas generator 38 that generates a driving force to slide the piston member 31 to one side, and the lid portion 12 has a top plate portion 12a that is located on one side of the piston member 31 and has a curved surface formed on its outer surface that is convexly curved to one side, and a receiving portion 12b that protrudes to the other side from an inner surface 12e of the top plate portion 12a and receives the piston member 31 when the piston member 31 slides to one side.

[0076] According to this, the stress applied to the top plate portion 12a (particularly the curved surface) when the receiving portion 12b is pushed to one side can be dispersed and reduced by the receiving portion 12b that protrudes from the inner surface 12e of the top plate portion 12a to the other side and receives the piston member 31 when the piston member 31 slides to one side. Therefore, it is possible to easily design the top plate portion 12a so as to suppress damage when the cover portion 12 is pushed from the inside in order to remove the cover portion 12, and as a result, it is possible to appropriately eject the projectile 20 while reducing the weight compared to the conventional case. That is, since there is no need to adjust the pushing force (driving force) generated by the actuator 30 to be lower than the conventional case in order to prevent damage to the top plate portion 12, the projectile 20 can be ejected from the container 10 as in the conventional case. In addition, since there is no need to strengthen the strength of the cover portion 12 compared to the conventional case (for example, there is no need to increase the thickness and it is possible to cope with it without using a material with a relatively high strength), it is possible to provide a safety device 100 that can be easily manufactured and is relatively lightweight while keeping costs down. In addition, because the top panel 12a is curved, the drag coefficient value is smaller and air resistance is reduced, thereby reducing consumption of the battery mounted on the aircraft 1. In addition, because the top panel 12a is curved, the appearance can give people a soft impression.

[0077] In the safety device 100 according to the first embodiment of the present invention, the top plate portion 12a is hollow hemispherical or dome-shaped.

[0078] This allows the stress applied to the top plate 12a (particularly the curved surface) when the receiving portion 12b is pushed to one side to be further dispersed and reduced. Therefore, damage to the top plate 12a when the lid portion 12 is pushed from the inside to remove the lid portion 12 can be further suppressed, and the injection material 20 can be appropriately injected.

[0079] In the safety device 100 in the first embodiment of the present invention, the receiving portion 12b has a receiving surface 12f that is perpendicular to the sliding direction of the piston member 31 and receives the piston member 31 when the piston member 31 slides to one side.

[0080] This allows the stress applied to the top plate 12a (particularly the curved surface) when the receiving portion 12b is pushed to one side to be further dispersed and reduced. Therefore, damage to the top plate 12a when the lid portion 12 is pushed from the inside to remove the lid portion 12 can be further suppressed, and the injection material 20 can be appropriately injected.

[0081] In addition, the safety device 100 in the first embodiment of the present invention is equipped with a trigger device 60 having a control unit 61 that activates the actuator 30 when the flying object 1 is determined to be in an abnormal state or when an instruction to activate the actuator 30 is received from the operator of the flying object 1.

[0082] According to this, the actuator 30 can be activated at least in one of the cases where the aircraft 1 is determined to be in an abnormal state and where an instruction to activate the actuator 30 is received from the operator of the aircraft 1.

[0083] Furthermore, in the safety device 100 of the first embodiment of the present invention, the aircraft 1 includes an airframe 2 and one or more propulsion mechanisms 3 connected to the airframe 2 and propelling the airframe 2, and the trigger device 60 includes a judgment unit 62 that judges whether the aircraft 1 is in an abnormal state or not, and a control unit 61 that stops the one or more propulsion mechanisms 3 when the judgment unit 62 judges that the aircraft 1 is in an abnormal state.

[0084] According to this, when it is determined that the flying object 1 is in an abnormal state, one or more of the propulsion mechanisms 3 can be stopped.

[0085] In addition, in the safety device 100 in the first embodiment of the present invention, the trigger device 60 has a judgment unit 62 that judges whether the aircraft 1 is in an abnormal state or not, and a memory unit 63 that stores the judgment data at that time when the judgment unit 62 judges that the aircraft 1 is in an abnormal state.

[0086] According to this, when the determination unit 62 determines that the flying object 1 is in an abnormal state, the determination data at that time can be stored.

[0087] In addition, in the safety device 100 in the first embodiment of the present invention, the trigger device 60 has a judgment unit 62 that judges whether the aircraft 1 is in an abnormal state or not, and an alarm unit 64 that, when the judgment unit 62 judges that the aircraft 1 is in an abnormal state, alerts the user that the aircraft 1 is in an abnormal state by at least one of sound and light.

[0088] According to this, when the determination unit 62 determines that the flying object 1 is in an abnormal state, it is possible to notify the user by at least one of sound and light that the flying object 1 is in an abnormal state.

[0089] In the safety device 100 according to the first embodiment of the present invention, the projectile 20 is a float parachute, a net, a fire extinguisher, a life preserver, or a medicine.

[0090] This allows the ejection of float parachutes, nets, fire extinguishers, life preservers, or medicines.

[0091] Moreover, the flying body 1 in the first embodiment of the present invention includes an airframe 2, a safety device 100 coupled to the airframe 2, and one or more propulsion mechanisms 3 coupled to the airframe 2 and configured to propel the airframe 2.

[0092] This provides the same operational effects as the safety device 100 described above.

[0093] <First Modification> The cover according to the first modified example will be described below with reference to Fig. 11. In this modified example, the reference numbers having the same last two digits as those in the first embodiment are similar and therefore may not be described. In addition, the parts that are not particularly described are similar to the safety device and the flying object in the first embodiment and therefore may not be described.

[0094] As shown in Fig. 11, the cover 112 according to this modification is different from the cover 12 according to the first embodiment in that the cover 112 has a receiving portion 112b instead of the receiving portion 12b. Note that in Fig. 11, the hole corresponding to the hole 12g is not shown.

[0095] The receiving portion 112b is mainly different from the receiving portion 12b in that the receiving portion 112b has a foam member 112h inside the receiving portion 112b. The foam member 112h is lighter and more elastic than the portion of the receiving portion 112b that covers the foam member 112h, the top plate portion 112a, etc. Therefore, by disposing the foam member 112h, the cover portion 112 can be made lighter. Also, by disposing the foam member 112h, the load applied to the receiving portion 112b when the piston member 31 presses the receiving portion 112b can be absorbed. By changing the density of the foam member 112h, the degree of absorption of the load applied to the receiving portion 112b when the piston member 31 presses the receiving portion 112b can be changed.

[0096] The safety device 100 of the first embodiment may be provided with a lid portion 112 according to this modification, instead of the lid portion 12.

[0097] <Second Modification> The lid part according to the second modified example will be described below with reference to Figures 12 and 13. In this modified example, the reference numerals having the same last two digits as those in the first embodiment are similar, and therefore their description may be omitted. In addition, the parts that are not particularly described are similar to the safety device and the flying object in the first embodiment, and therefore their description may be omitted.

[0098] As shown in Fig. 12, the cover 212 according to this modification is different from the cover 12 according to the first embodiment in that the cover 212 has a receiving portion 212b instead of the receiving portion 12b. Note that in Fig. 12, the hole corresponding to the hole 12g is not shown.

[0099] The receiving portion 212b is mainly different from the receiving portion 12b in that the receiving portion 212b is thinner in the sliding direction than the receiving portion 12b. By being thinner in the sliding direction than the receiving portion 12b, the weight of the lid portion 212 can be reduced.

[0100] The safety device 100 of the first embodiment may be provided with a lid portion 212 according to this modification, instead of the lid portion 12.

[0101] Next, with reference to FIG. 13, the results of an analysis of stress in the lid according to the second embodiment will be described.

[0102] As shown in FIG. 13, the lid according to the second embodiment is similar to the lid 212 .

[0103] In the second embodiment, similarly to the first embodiment, a pin was inserted into and fixed in two holes formed similarly to hole 12g, and a load of 160,000 [N] was applied to one side to the receiving portion corresponding to receiving portion 212b.

[0104] A maximum stress of 575.7 MPa was applied to the top plate of the lid according to Example 2. The maximum stress applied to the top plate of the lid according to Example 2 is greater than that of Example 1, but smaller than that of Comparative Example 1 and Comparative Example 2.

[0105] Thus, it was found that the stress applied to the curved top plate portion was smaller than that applied to the flat top plate portion.

[0106] <Second embodiment> The safety device according to the second embodiment will be described below with reference to Fig. 14. In this embodiment, the reference numbers having the same last two digits as those in the first embodiment are similar, and therefore their description may be omitted. In addition, the parts that are not particularly described are similar to the safety device and flying object in the first embodiment, and therefore their description may be omitted.

[0107] As shown in FIG. 14, a safety device 400 according to this embodiment includes a container 310, a projectile 320, and an actuator 330.

[0108] The container 310 has a main body 311 and a lid 312. The main body 311 is cylindrical and opens on one side. The lid 312 is attached to the main body 311 so as to close the opening of the main body 311. In this way, the main body may be cylindrical and opens on one side, and the lid may be attached to the main body so as to close the opening of the main body.

[0109] The actuator 330 further has a support member 339. The support member 339 is a hat-shaped member. The support member 339 is attached to one end of the piston member 331, and supports the projectile 320. In this manner, the actuator may have a support member.

[0110] When the piston member 331 slides to one side, the receiving portion 312b receives the piston member 331 via the support member 339. In this manner, the receiving portion may receive the sliding member via the support member.

[0111] <Third embodiment> The safety device according to the third embodiment will be described below with reference to Fig. 15. In this embodiment, the reference numbers having the same last two digits as those in the first embodiment are similar, and therefore their description may be omitted. In addition, the parts that are not particularly described are similar to the safety device and the flying object in the first embodiment, and therefore their description may be omitted.

[0112] As shown in FIG. 15, the safety device 500 according to this embodiment includes a container 410, a projectile 420, and an actuator 430.

[0113] The container 410 has a main body 411 and a lid 412. The main body 411 is cylindrical and opens on one side. The lid 412 is attached to the main body 411 so as to close the opening of the main body 411. In this way, the main body may be cylindrical and opens on one side, and the lid may be attached to the main body so as to close the opening of the main body.

[0114] The projectile 420 is disposed in a piston member 431 of an actuator 430. In this manner, the projectile may be disposed in a sliding member of the actuator.

[0115] When the piston member 431 slides to one side, the receiving portion 412b receives the piston member 431 via the projectile 420. In this manner, the receiving portion may receive the sliding member via the projectile.

[0116] <Other embodiments> Although the embodiments of the present invention have been described above with reference to the drawings, the specific configuration is not limited to these embodiments. The scope of the present invention is indicated by the claims rather than the description of the above embodiments, and further includes all modifications within the meaning and scope of the claims.

[0117] In the above embodiment, a parachute or a paraglider is given as an example of the projectile, but the present invention is not limited thereto, and an object including a lift generating member may be projected as the projectile. Examples of the lift generating member include a parafoil, a Rogallo parachute, a single surface parachute, an airplane wing, a propeller, and a balloon. In addition, when the lift generating member has a control line, it is preferable that the safety device is provided with a steering mechanism that can change the inclination angle of the projected lift generating member by using the control line. This steering mechanism includes, for example, a plurality of reels that respectively wind up a plurality of control lines connected to the lift generating member, and a motor that drives these reels. The control lines are wound up or unwound by driving the motor, so that the lift generating member can be pulled or unwound as appropriate.

[0118] The projectile may be a pilot chute, and the safety device may include a parachute connected to the pilot chute. In this case, for example, the safety device may include a container for accommodating the parachute, separate from a container for accommodating the pilot chute.

[0119] In the above embodiment, the receiving surface is described as being perpendicular to the sliding direction, but the present invention is not limited thereto. For example, the receiving surface may be a convex surface or a concave surface. For example, when the end face on one side of the sliding member is a concave surface, the receiving surface may be a convex surface that conforms to the concave surface. Also, when the end face on one side of the sliding member is a convex surface, the receiving surface may be a concave surface that conforms to the convex surface.

[0120] In addition, in the above embodiment, a gas generator is used as the power source, but the configuration is not limited as long as it is possible to impart a driving force to the sliding member for propelling the sliding member along the cylinder, and for example, an elastic body such as a spring may be used. [Explanation of symbols]

[0121] 1. Flying object 2. Aircraft 3 Propulsion mechanism 4 legs 10, 310, 410 container 11, 31a, 311, 411 Main body 11a bottom 11b, 11h protrusion 11c, 12d, 112d, 212d side wall section 11d, 11e, 11f, 11i, 12g, 31c, 35a, 37e Hole 11g Circular part 12, 112, 212, 312, 412 Lid 12a, 112a, 212a, 312a, 412a Top plate 12b, 112b, 212b, 312b, 412b Receiving part 12c, 112c, 212c Cylindrical part 12e, 112e, 212e, 312e, 412e inner surface 12f, 112f, 212f, 312f, 412f receiving surface 13-pin 20, 320, 420 projectile 30, 330, 430 Actuator 31, 331, 431 Piston parts 31b Rod-shaped part 31d, 35c groove 32, 332 Tubular members 33, 333 Retaining member 34, 334 Seal member 35, 335 cylinder 35b Stopper part 36, 336 Seal material 37, 337 Foundation 37a Approximately cylindrical member 37b Flange part 37c Insertion port 38, 338, 438 Gas Generator 38a Cup body 38b electrode 40 Volts 50 Harness 51, 53 Connector 52 Wiring 60 Trigger Device 61 Control section 62 Judgment section 63 Storage section 64 Notification Department 70 Detection unit 71 Communications Department 100, 400, 500 safety devices 112h Foam material 339 Supporting member

Claims

1. A safety device for an air vehicle, comprising: A container having a lid portion; A projectile contained in the container; a sliding member that slides to one side to push the lid from the inside and remove the lid, and an actuator that has a power source that generates a driving force that slides the sliding member to one side; Equipped with The cover portion is located on one side of the sliding member and has a curved surface that is convexly curved toward one side formed on at least a part of its outer surface, and a receiving portion that protrudes from the inner surface of the top plate portion to the other side and receives the sliding member when the sliding member slides toward one side.

2. At least a portion of the top plate is hollow hemispherical or dome-shaped, 2. The safety device according to claim 1, wherein the curved surface is formed on at least a part of the hollow hemispherical or dome-shaped portion of the top plate.

3. the receiving portion has a receiving surface that is perpendicular to a sliding direction of the sliding member and receives the sliding member when the sliding member slides to one side, 3. The safety device according to claim 1, wherein a surface that presses against the receiving surface when the sliding member is activated is formed at an end of the sliding member on the receiving surface side.

4. A safety device as described in claim 1 or 2, characterized in that it is provided with a trigger device having a starting unit that starts the actuator when the flying object is determined to be in an abnormal state and / or when an instruction to start the actuator is received from the operator of the flying object.

5. the air vehicle comprises a body and one or more propulsion mechanisms coupled to the body and configured to propel the body; The safety device described in claim 4, characterized in that the trigger device has a judgment unit that judges whether the flying object is in an abnormal state or not, and a stopping unit that stops the one or more propulsion mechanisms when the judgment unit judges that the flying object is in an abnormal state.

6. The safety device described in claim 4, characterized in that the trigger device has a judgment unit that judges whether the flying object is in an abnormal state or not, and a memory unit that stores judgment data at that time when the judgment unit judges that the flying object is in an abnormal state.

7. The safety device described in claim 4, characterized in that the trigger device has a judgment unit that judges whether the flying object is in an abnormal state or not, and an alarm unit that, when the judgment unit judges that the flying object is in an abnormal state, alerts the flying object that it is in an abnormal state by at least one of sound and light.

8. the projectile is a pilot chute; A safety device as claimed in claim 1 or 2, further comprising a parachute connected to the pilot chute.

9. 3. The safety device according to claim 1 or 2, wherein the projectile is a float parachute, a net, a fire extinguisher, a life preserver, or a medicine.

10. The aircraft and A safety device according to claim 1 or 2, which is coupled to the airframe; one or more propulsion mechanisms coupled to the vehicle for propelling the vehicle; An aircraft characterized by comprising:

Images