Safety device and flying vehicle equipped with safety device

Abstract

To provide: a safety device that enables a projectile to exhibit ideal performance; and a flying body equipped with the safety device.SOLUTION: A safety device 100 includes: an actuator 1; a projectile 40 configured to be fired in one direction by the actuator 1; a deployable body 16 configured to be pulled by the fired projectile 40; and a bottomed cylindrical container 18 that houses the actuator 1, the projectile 40, and the deployable body 16. The projectile 40 is a bottomed tubular member that includes: a tubular portion 41 arranged to cover an outer portion of an upper end of a cylinder 14; a tapered portion 42 formed in a shape that gradually tapers in an opposite direction from a connecting portion with the tubular portion 41; a hole 43 formed inside the tubular portion 41; a hole 44 formed in a center of a bottom of the hole 43; a through hole 45 that penetrates from a bottom of the hole 44 to an opposite side to the actuator 1; and a pair of connecting line through holes 46, 47 to which one end of a connecting line connected to the deployable body 16 is connected.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a safety device for launching a deployable object such as a parachute or a paraglider, and to 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, such as drones, has been accelerating. Drones fly, for example, by simultaneously rotating multiple rotors in a balanced manner. Ascending and descending can be achieved by increasing or decreasing the rotation speed of the rotors, and forward and backward movement can be achieved by tilting the aircraft through increasing or decreasing the rotation speed of the rotors. Such aircraft are expected to become more widespread worldwide in the future.

[0003] However, the risk of aircraft falling accidents such as those described above is considered dangerous and is hindering the widespread use of aircraft. To reduce the risk of such accidents, parachute devices for aircraft are being commercialized as safety devices.

[0004] For example, one example of the parachute safety device is the device described in Patent Document 1. Specifically, in the device described in Patent Document 1, a parachute is connected to a projectile via a strength rope, a pin is arranged with one end fixed on the cockpit of the multicopter, and a cavity is provided at the other end for arranging a gas generator connected to a wireless unit, and a switching logic block is arranged inside or outside the cockpit of the multicopter. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Czech Republic Patent No. 305548 Summary of the Invention [Problem to be solved by the invention]

[0006] In a device such as that in Patent Document 1, the upper and lower parts of the parachute are connected to the projectile and the container, respectively, via lines, etc., but the projectile launched by the actuator when activated may rotate (for example, flip over) after pulling out the parachute, causing it to descend with a linear force and not head in the intended direction (for example, it may end up in a different direction from when it was launched by the actuator when activated). In other words, it is thought that a device such as that in Patent Document 1 makes it difficult for the projectile to achieve ideal performance.

[0007] Therefore, an object of the present invention is to provide a safety device that enables a projectile to exhibit ideal performance, and a flying body equipped with such a safety device. [Means for solving the problem]

[0008] (1) The safety device of the present invention comprises a container having an opening, a deployable object stored in the container, a projectile connected to the deployable object via a first connecting line, and an actuator for launching the projectile, wherein the projectile is positioned at the tip of the actuator in an initial state, the first connecting line is multiple, or one end of a single connecting line is split into multiple lines, and when it becomes taut upon activation, it is connected to the projectile so as to be symmetrical about the central axis of the projectile, and the connection position of the one end of the first connecting line on the projectile is any one of (a) to (c) below. (a) A position where two or more through holes are formed symmetrically about the central axis of the projectile from a position facing the deployed object to the outer surface of the projectile when deployed. (b) Two or more locations on the sides of the projectile, at positions symmetrical with respect to the central axis of the projectile and closer to the actuator than the center of gravity of the projectile. (c) At least two locations on the projectile that face the deployed object when deployed, and that are symmetrical with respect to the central axis of the projectile.

[0009] (2) In the safety device of (1) above, it is preferable that the part of the projectile on the actuator side has a cylindrical shape with a bottom, and the part of the projectile on the opposite side to the actuator side has a shape that gradually narrows compared to the part on the actuator side.

[0010] (3) In the safety device of (1) above, the actuator comprises a sliding member provided inside the container and slidably protruding from inside the container through an opening of the container toward the outside when activated, and a cylindrical cylinder having a drive source at one end, housing the sliding member on the side opposite the drive source, and guiding the sliding member to protrude outward when the drive source is activated, and the projectile is a bottomed cylindrical member having a bottom, and is attached to the cylinder by abutting an O-ring provided along the inner wall of the projectile against the outer wall of the cylinder, or by press-fitting the inner wall of the projectile against the outer wall of the cylinder at the end opposite the drive source, and the tip of the sliding member is preferably disposed inside the projectile so that when activated, the tip of the sliding member pushes the projectile from the bottom side of the projectile.

[0011] (4) In the safety device of (1) above, it is preferable to provide a trigger device having a starting unit 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 the trigger device has a determination unit that determines 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 determination unit determines that the flying object is in an abnormal state.

[0013] (6) In the safety device of (1) or (2) above, it is preferable that the deployable body is connected to the flying vehicle via a second connecting rope.

[0014] (7) In the safety device of (1) or (2) above, it is preferable that the deployable body is a pilot chute, and that the device further includes another deployable body connected to the pilot chute, and that the pilot chute and the other deployable body are stored in the container.

[0015] (8) The aircraft of the present invention is characterized by comprising an aircraft body, a safety device of (1) or (2) connected to the aircraft body, and one or more propulsion mechanisms connected to the aircraft body and propelling the aircraft. [Effects of the Invention]

[0016] According to the present invention, it is possible to provide a safety device that enables a projectile to exhibit ideal performance, and a flying body equipped with the safety device. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a cross-sectional view showing an initial state of a safety device according to an embodiment of the present invention. [Figure 2] 2 is a bottom view showing the safety device of FIG. 1 with the lid and the deployable body removed. FIG. [Figure 3] FIG. 2 is a perspective view of a projectile used in the safety device of FIG. 1; [Figure 4] FIG. 2 is a front view of a projectile used in the safety device of FIG. 1. [Figure 5]FIG. 2 is a side view of a projectile used in the safety device of FIG. 1. [Figure 6] FIG. 2 is a bottom view of a projectile used in the safety device of FIG. 1. [Figure 7] FIG. 2 is a cross-sectional view of a projectile used in the safety device of FIG. 1, showing the state in which one end of a connecting rope, the other end of which is connected to the top of the deployed body when deployed, is connected to the projectile. [Figure 8] FIG. 2 is a schematic diagram showing the flying body to which the safety device (initial state) of FIG. 1 is attached. [Figure 9] FIG. 2 is a block diagram showing the functional configuration of the safety device of FIG. 1. [Figure 10] FIG. 10 is a cross-sectional view showing an initial state of a safety device according to a comparative example. [Figure 11] 10A and 10B are diagrams showing a projectile used in a safety device according to a modified example of the present invention. [Figure 12] 10A and 10B are diagrams showing a projectile used in a safety device according to a modified example of the present invention. [Figure 13] FIG. 10 is a cross-sectional view showing an initial state of a safety device according to a modified example of the present invention. [Figure 14] FIG. 10 is a cross-sectional view showing an initial state of a safety device according to a modified example of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0018] A safety device and an aircraft according to an embodiment of the present invention will now be described with reference to Figures 1 to 9. For ease of explanation, a connecting rope is not shown in Figure 1.

[0019] As shown in FIG. 1 , the safety device 100 includes an actuator 1, a projectile 40 launched in one direction (upward in FIG. 1 ) by the actuator 1, a deployable object 16 pulled by the projectile 40 via a connecting rope (not shown in FIG. 1 ), a cylindrical container 18 with a bottom that houses the actuator 1, the projectile 40, and the deployable object 16, and a lid 21 that closes the open end of the container 18. In this embodiment, the deployable object 16 is a parachute, a paraglider, or the like. A closing member (not shown) is provided in the gap between the container 18 and the lid 21 to prevent the intrusion of liquids, dust, or the like. Examples of this closing member include any material that is waterproof and dustproof, such as an O-ring, a cured resin, or a foam material. As a variation of the closing member, a film-like material may be used to wrap at least the edge of the lid 21 and the side of the container 18.

[0020] Parachutes, which are an example of a deployable object that can be used in this embodiment, may be of various types, such as "FLAT CIRCULAR", "CONICAL", "BICONICAL", "TRICONICAL", "EXTENDED SKIRT", "HEMISPHERICAL", "GUIDE SURFACE", "ANNULAR", "CROSS", "FLAT RIBBON", "CONICAL RIBBON", "RIBBON", "RINGSLOT", "RING SAIL", "DISC-GAP-BAND", "ROTAFOIL", "VORTEX RING", and "SANDIA RFD". Examples include those called "RFD", "PARACOMMANDER", "PARAWING", "PARAFOIL", "SAILWING", "VOLPLANE", "BALLUTE", and those called pilot chutes.

[0021] The actuator 1 comprises a piston member 10 which is a sliding member, a cylinder 14 which houses the piston member 10 and has a hole 13 through which the piston member 10 protrudes outward (upward in FIG. 1) when actuated, a base 2 (squib holder) to which one end of the cylinder 14 is crimped and which is attached via a hole 25 in the center of the bottom inside the container 18, and a gas generator (such as a micro gas generator) 17 which serves as a power source for moving the piston member 10 within the cylinder 14.

[0022] The base 2 comprises an approximately cylindrical member 2A that holds a gas generator 17 on the cylinder 14 side, which generates power to slide the piston member 10, and a flange portion 2B provided on the opposite side of the approximately cylindrical member 2A from the cylinder 14 side.

[0023] The flange portion 2B is machined into a generally U-shaped, horseshoe-like shape and includes a plurality of holes 2a used for attachment to the container 18, a plurality of fixing holes 2b used for attachment to the airframe 31 of the flying vehicle 30 (described later), and an insertion opening 2c used for inserting an energizing connector 22 into the lower electrode 17b of the gas generator 17. The inner wall of the holes 2a is internally threaded so that a bolt 28 (described later) can be screwed into the hole 2a. The inner wall of the fixing holes 2b is also internally threaded so that a bolt (not shown) can be screwed into the flying vehicle 30 (described later) from the airframe 31 side, thereby fixing the base 2 to the airframe 31.

[0024] The connector 22 includes a main body 22a (see FIGS. 1 and 2) that can be inserted into the substantially cylindrical member 2A through the insertion opening 2c, a protrusion 22b (see FIG. 2) that protrudes from the side surface of the lower part of the main body 22a, and a hole 22c (see FIG. 1) into which an electrode 17b located inside the substantially cylindrical member 2A is inserted. The protrusion 22b is electrically connected to a connector 53 that is connected to an external power source via a wiring 52 that extends in a direction perpendicular to the insertion direction of the connector 22 (when attached to the base 2, extends radially from the center of the base 2). The main body 22a also includes a hole 22c that is electrically connected to both the electrode 17b and the wiring 52 connected to the protrusion 22b.

[0025] In addition, the insertion port 2c of the base 2 and the connector 22 are configured so that when attached to the base 2, the wiring 52 extends radially from the center of the base 2 so that the wiring 52 does not block the hole portion 24.

[0026] The piston member 10 has a main body portion 10a having an outer diameter approximately the same as the inner diameter of the cylinder 14, a rod-shaped portion 10b connected to the main body portion 10a, extending upward, and having a smaller diameter than the main body portion 10a, a hole portion 10c provided inside the main body portion 10a and the rod-shaped portion 10b, a hole portion 10d provided at the upper end portion of the rod-shaped portion 10b, and a groove portion 10e provided circumferentially around the main body portion 10a.

[0027] At least the upper end of the rod-shaped portion 10b has a noncircular cross section, although this is not shown. Here, a noncircular shape refers to, for example, a polygonal, elliptical, star-shaped, or gear-shaped shape, but any noncircular shape is also included. In this embodiment, the upper end of the rod-shaped portion 10b, which is inserted into a hole 44 of the projectile 40 (described later), has a square cross section. The tubular member 4 is fitted or loosely fitted to the lower part of the rod-shaped portion 10b, with one end of the tubular member 4 in contact with the main body 10a. A gap may exist between the inner wall of the tubular member 4 and the outer wall of the rod-shaped portion 10b, but the gap need only be large enough not to interfere with plastic deformation due to substantially uniform compression during impact (described later).

[0028] As shown in Fig. 1, tubular member 4 is held by holding member 5 at the bottom of rod-shaped portion 10b with one end in contact with main body portion 10a. Tubular member 4 is made of a material that undergoes plastic deformation and has a lower tensile strength than piston member 10 and stopper member 23 (described below) (e.g., metals such as iron, aluminum, brass, copper, alloys such as stainless steel, resins, etc.) (e.g., metals such as aluminum and brass, alloys such as stainless steel, resins such as monomer cast nylon, polyamide synthetic resins such as nylon 6, nylon 6,6, and nylon 4,6, etc.). Here, holding member 5 may be an elastic member such as rubber, or may be made of the same material as tubular member 4, and may be ring-shaped or clip-shaped.

[0029] Furthermore, the tubular member 4 and the inner wall of the cylinder 14 are spaced apart by at least a predetermined distance (for example, a distance at which the tubular member 4, which has been plastically deformed by substantially uniform compression when it collides with the stopper member 23, will not come into contact with the inner wall of the cylinder 14) so ​​that the tubular member 4 does not come into contact with the inner wall of the cylinder 14. As a result, even if the tubular member 4 collides with the stopper member 23 and is plastically deformed, it deforms without being hindered by the inner wall of the cylinder 14, and the impact on the piston member 10 is sufficiently absorbed.

[0030] The hole 10c is formed along the central axis from the lower end of the main body 10a to partway along the rod-shaped portion 10b, thereby making the piston member 10 lighter than if the hole 10c were not formed.

[0031] The hole 10d is formed from the tip of the rod-shaped portion 10b to partway along the central axis, thereby making the piston member 10 lighter than if the hole 10d were not formed.

[0032] A sealing member 11 such as an O-ring is provided in the circumferential direction in the groove 10e. As a result, the sealing member 11 (O-ring) provided along the inner wall of the projectile 40 is brought into contact with the outer wall of the cylinder 14, thereby allowing the projectile 40 to be attached to the upper part of the cylinder 14. Here, as a modified example, the projectile 40 may be attached to the cylinder 14 by press-fitting the inner wall of the projectile 40 into the outer wall of the cylinder 14 at the end (upper part) opposite the gas generator 17 (driving source). Furthermore, as another modified example, instead of attaching (fixing) the projectile 40 to the cylinder 14 with the sealing member 11, a lid 21 may be attached to the opening of the container 18 to close the opening and hold (fix) the projectile 40 so that it is sandwiched between the lid 21 and the cylinder 14.

[0033] A substantially cylindrical stopper member 23 is provided at the top of the cylinder 14 so as to surround a portion of the rod-shaped portion 10b of the piston member 10. That is, the rod-shaped portion 10b is disposed in a state of being inserted through a hole 13 in the stopper member 23. The cylinder 14 is also provided with through-holes 14a for releasing air within the space 6 to the outside during operation. Although only two through-holes 14a are provided in FIG. 1, a plurality of through-holes 14a may be provided in the circumferential direction.

[0034] The stopper member 23 restricts the movement of the tubular member 4 within the cylinder 14, and has a groove 23a provided along the outer periphery and a groove 23b provided along the inner periphery. The groove 23a is used to fix the other end of the cylinder 14 by crimping to the stopper member 23. Furthermore, a seal member 12 such as an O-ring is provided in the circumferential direction in the groove 23b.

[0035] The material of the cylinder 14 may be selected and the thickness of the outer periphery may be appropriately adjusted so that the cylinder 14 can undergo radial plastic deformation in the event that the piston member 10 of the actuator 1 becomes immobile for some reason, or in the event that the initial combustion volume of the actuator 1 is reduced and the explosive burns, generating a combustion pressure exceeding the pressure resistance value of the cylinder 14 (in the event of an abnormality). Examples of materials that can be used for the cylinder 14 include metals such as iron, aluminum, brass, and copper, and alloys such as stainless steel. As a result, in the event of the abnormality, the cylinder 14 undergoes radial plastic deformation, which reduces (relaxes) the sealing performance of the sealing member 12, such as an O-ring, and creates a gap between the sealing member 12 and the inner wall of the cylinder 14 through which generated gas can pass. Therefore, by allowing the gas generated in the event of the above-mentioned abnormal situation to leak out from this gap, the gas will be released to the outside of the cylinder 14 through the through-hole 14a, then pass through the outer wall of the cylinder 14 and into the container 18, and then be released to the outside of the container 18 through the hole 24, thereby preventing the cylinder 14 from rupturing (fail-safe function).

[0036] The gas generator 17 is arranged below a main body portion 10a (described later) of the piston member 10 in a state in which it is press-fitted or crimped into the lower open end of the cylinder 14. In addition, a cylindrical member 3 is provided around the cup body 17a of the gas generator 17 to form a predetermined distance between it and the piston member 10.

[0037] Projectile 40 is a bottomed tubular member (such as a substantially cylindrical member or a member with a polygonal cross section having a bottom) made of metal (aluminum, iron, or the like, and may be an alloy), resin, or a composite material such as a resin and metal, CFRP, or fiber-reinforced resin, and as shown in Figures 1 to 7, has a tubular portion 41 arranged to cover a part of cylinder 14, i.e., the outer part of the upper end of cylinder 14, and a tapering portion 42 formed in a shape that gradually taperes in the opposite direction (upward in the plane of Figure 1) from the connecting portion with tubular portion 41. Furthermore, tubular portion 41 is formed in a cylindrical shape or has a polygonal cross section.

[0038] The projectile 40 also has a hole 43 formed inside the cylindrical portion 41, a hole 44 formed in the center of the bottom of the hole 43, a through hole 45 that penetrates from the bottom of the hole 44 to the side opposite the actuator 1, and a pair of through holes 46, 47 for connecting cords.

[0039] An annular groove 48 into which a seal member 49 (such as an O-ring) is fitted is formed on the inner wall of the hole 43. The hole 43 and the tip of the piston member 10 are both non-circular and fit together.

[0040] A pair of connecting cord through holes 46, 47 are located closer to the actuator 1 than the center of gravity of the projectile 40, and are formed symmetrically about the central axis of the projectile 40, extending from the actuator 1 side surface of the projectile 40 toward the side wall of the projectile 40.

[0041] Although not shown in figures other than Figure 7, a connecting rope 50 is connected at one end to the top of the deployable body 16 (here, a parachute) to each of the connecting rope through holes 46, 47. Specifically, the distal ends of forks 50a, 50b formed at the other end of the connecting rope 50 are fastened to the connecting rope through holes 46, 47, respectively, to form annular portions 50a1, 50b1. The distal ends of the forks 50a, 50b may be fixed to the connecting rope through holes 46, 47, respectively, by adhesive or the like. The forks 50a, 50b have the same length and are arranged so that they are simultaneously tensioned when the deployable body 16 is pulled out during activation.

[0042] The contracting portion 42 has a shape that gradually contracts from the portion on the actuator side, and may have any shape, such as a truncated cone shape (as shown in this embodiment), a cone shape, or a streamlined shape such as an arc-shaped cross section of the side wall, as long as it gradually becomes smaller than the size of the connecting portion with the cylindrical portion 41. This makes it possible to reduce the air resistance of the projectile 40 launched upon activation, compared to a case in which the contracting portion 42 is not provided.

[0043] 1 and 2, container 18 has peripheral wall 18a and bottom 18b. Polyamide (natural) or polyamide (carbon glass FRP) is preferred as the material for container 18. Both polyamide (natural) and polyamide (carbon glass FRP) have a static friction coefficient of 0.71 and a dynamic friction coefficient of 0.08.

[0044] As shown in Figures 1 and 2, the bottom 18b of the container 18 is provided with a plurality of holes 24 that connect the inside and outside of the container 18, a hole 25 into which the base 2 is inserted, and a hole 29 for bolt fastening.

[0045] As shown in Figure 1, hole portion 25 is closed by fastening hole portion 2a provided in flange portion 2B of base 2 located outside the bottom of container 18 from the inside of container 18 with bolt 28 through hole portion 29.

[0046] The deployable body 16 is housed within the container 18 between the inner surface of the container 18 and the outer surface of the cylinder 14, for example, so as to surround the outer surface of the cylinder 14. The deployable body 16 is folded with its outer surface in contact with the inner wall surface of the peripheral wall 18a of the container 18. The deployable body 16 is connected via a suspension line (not shown) to one end of a bridle line (not shown) attached to the fuselage 31 of the flying vehicle 30 (described below) or the container 18. Alternatively, the deployable body 16 is connected (for example, by locking) to a jig (not shown; capable of being fixed to the body 31 of the aircraft 30) provided on the lower surface of the base 2 of the container 18 via lines connected in this order: a suspension line (not shown), a bridle line (not shown; may be omitted), and an attachment line (not shown), which pass through the interior of the container 18 and a through-hole (not shown) provided in the bottom, or connected (for example, by fastening or connecting) to the body 31, legs 33, or arms 34 of the aircraft 30. Here, as a modified example, the deployable body 16 may be folded in an accordion-like shape (with a wavy cross section) from the edge toward the center, or may be folded in some other way.

[0047] Here, in this embodiment, the deployable object 16 is, for example, a parachute, a paraglider, or a pilot chute. If the deployable object 16 is a pilot chute, it may be connected to another deployable object (such as another parachute or paraglider). The base fabric of the pilot chute, parachute, or paraglider is preferably formed by knitting at least one fiber selected from polyamide, polyester, polyimide, vinyl chloride, polycarbonate, acrylic, and polyolefin fibers. For example, the base fabric may be formed by joining together multiple pieces of fabric knitted from one type of fiber, or by joining together a fabric knitted from one fiber with a fabric knitted from another fiber, or by knitting together multiple types of fiber. The base fabric of the pilot chute, parachute, or paraglider may also be formed by at least one film made from a polyamide, polyester, polyimide, vinyl chloride, polycarbonate, acrylic, or polyolefin resin. For example, the base fabric may be made by joining multiple sheets of one type of film together, or by joining multiple types of films together. The fabrics or films may be joined together by any means, such as pressure bonding, adhesion with an adhesive, or sewing.

[0048] Examples of polyamide fibers or resins include nylon 6, nylon 6,6, and nylon 4,6. Examples of polyester fibers or resins include polyethylene terephthalate, polybutylene terephthalate, polyethylene naphthalate, and polybutylene succinate. Examples of polyimide fibers or resins include aromatic polyimides and aliphatic polyimides. Examples of vinyl chloride fibers or resins include vinyl chloride films, examples of polycarbonate fibers or resins include polycarbonate films, examples of acrylic fibers or resins include acrylic films, and examples of polyolefin fibers or resins include low-density polyethylene, high-density polyethylene, and polypropylene. The base fabric may be coated with a coating agent such as silicone or polyurethane.

[0049] The gas generator 17 may use only an igniter, or may be a gas generator equipped with an igniter and a gas generant. Also, a hybrid or stored-type gas generator may be used, in which a gunpowder-type igniter ruptures the seal of a small gas cylinder, releasing the gas inside. In this case, the pressurized gas in the gas cylinder may be a non-flammable gas such as argon, helium, nitrogen, or carbon dioxide, or a mixture of these. Furthermore, the gas generator may be equipped with a heating element made of a gas generant composition, a thermite composition, or the like, to reliably propel the piston when the pressurized gas is released.

[0050] The piston member 10, the cylinder 14, the projectile 40, the gas generator 17, and the like mainly constitute a launching section that launches the deployable body 16.

[0051] As shown in the schematic diagram of the aircraft in Fig. 8, the safety device 100 is connected and fixed to the airframe 31 of the aircraft 30 by bolts (not shown) from the airframe 31 side via the fixing holes 2b of the base 2. At this time, as shown in Fig. 8, the base 2 connects the container 18 to the airframe 31 in a position that does not block the holes 24. Therefore, the aircraft 30 includes the airframe 31, the safety device 100 connected to the airframe 31, one or more propulsion mechanisms (e.g., propellers) 32 connected to the airframe 31 and propelling the airframe 31, and a plurality of legs 33 provided on the lower part of the airframe 31. Here, for example, the safety device 100 is connected to the airframe 31 via a mount member (not shown).

[0052] Furthermore, because the flange portion 2B of the base 2 is provided on the outside of the bottom of the container 18, the base 2 can be attached directly to the airframe 31 of the aircraft 30. As a result, the airframe 31 is subjected to the recoil during activation directly, rather than via the container 18. However, since the impact of activation on the container 18 can be reduced, the strength of the bottom of the container 18 can be reduced compared to when the base 2 is provided inside the container 18. In other words, the strength of the bottom of the container 18 can be safely reduced compared to conventional containers (for example, by designing the thickness of the bottom of the container 18 to be reduced to a safe, predetermined thickness), and the container 18 as a whole can be made lighter than conventional containers while maintaining the same level of safety as conventional containers.

[0053] The aircraft 31 may have an airbag (gunpowder, hybrid, cylinder, fan, naturally aspirated), a float (hybrid, cylinder, naturally aspirated) arranged separately from the parachute, and a warning (alert, LED). If the aircraft 30 is a flying car, the aircraft 31 may have a shock-absorbing seat for a person.

[0054] The safety device 100 also includes a trigger device 60 (not shown in FIG. 8) that includes an acceleration sensor or the like that detects abnormalities in the flying object 30.

[0055] The connector 22 is located on the other side of the gas generator 17 and is connected to the electrode 17b. The wiring 52 is connected to the connector 22 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 17, and the gas generator 17 is activated.

[0056] As shown in FIG. 9 , 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 30. The trigger device 60 includes a control unit 61, a determination unit 62, a memory 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 30 is in an abnormal state based on a signal received from a detection unit 70 that detects the status of the aircraft 30 (failure, loss of control, flight status (flight attitude, speed, angular velocity, altitude, attitude angle, etc.), distance to 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.) to automatically transmit command signals, activation signals, etc. to each component depending on the situation (for example, when the aircraft 30 is in an abnormal state (at the time of an abnormality)), or receives command signals, etc. from an external device via a communication unit 71 and transmits command signals, activation signals, etc. to each component. For example, it has the function of executing various programs using the CPU to send an automatic start-up signal to the actuator 1 to automatically start the actuator 1 when the flying object 30 is in an abnormal state, and of executing various programs using the CPU to send a start-up signal to the actuator 1 to start the actuator 1 when a trigger signal is received from a remote signal transmitter / receiver operated by an operator.

[0057] Here, examples of the detection unit 70 include a signal receiving sensor, an acceleration sensor, a gyro sensor, a barometric pressure sensor, a GPS (Global Positioning System), a laser sensor, an ultrasonic sensor, an infrared sensor, a millimeter wave radar, a submillimeter wave radar, a speed sensor, a monocular or compound eye vision sensor, an energy amount sensor, and a wind direction detection sensor, and the like, and the detection unit 70 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 malfunction of equipment provided on the flying object 30, etc.

[0058] Furthermore, the above-mentioned "abnormal state" refers to a case where the determination unit 62 determines that the flying object 30 is in an abnormal state (such as malfunction, inoperability, or an abnormal fall) based on a signal from the above-mentioned detection unit 70 provided in the flying object 30 or the safety device 100. Specifically, the determination unit 62 determines that "a signal has been lost for a certain period of time or more from the control unit of the flying object 30 or an abnormal signal has been received from the control unit of the flying object 30," "a signal has been lost for a certain period of time or more from the remote signal transmitter / receiver or an abnormal signal has been received from the remote signal transmitter / receiver," "a signal has been lost for a certain period of time or more from the ground station (including a relay station) when there is communication with the ground station," "the flying object 30 is approaching or entering a prohibited area or has deviated from the planned route based on the position information of the flying object 30," "the remaining amount of power (battery) or fuel of the flying object 30 is below a specified value," or "the acceleration of the flying object 30 is below a specified value or above a specified value." "," the angular velocity of the flying object 30 is equal to or greater than a specified value,"," the attitude angle of the flying object 30 is equal to or greater than a specified value (for example, tilted 45° or more from the horizontal),"," the flying object 30 is approaching an obstacle that may cause damage to the flying object 30 (detected by a laser sensor (such as LiDAR) or an infrared sensor, or by a vision sensor and image analysis),"," if the flying object 30 is one that can accommodate humans, an emergency situation has occurred for a person inside the flying object 30 (detected by an emergency signal being transmitted from an emergency signal transmitter)," or "a fatal malfunction of equipment installed on the flying object 30."

[0059] The control unit 61 is an example of an activation unit that activates the actuator 1 when the flying object 30 is determined to be in an abnormal state or when an instruction to activate the actuator 1 is received from the operator of the flying object 30. As described above, the control unit 61 activates the actuator 1 by sending a signal to the actuator 1 to activate the actuator 1. Specifically, the control unit 61 activates the gas generator 17 by sending a signal to the gas generator 17 to activate the gas generator 17.

[0060] The control unit 61 is an example of a stopping unit that stops one or more propulsion mechanisms 32 when the determination unit 62 determines that the aircraft 30 is in an abnormal state. For example, the control unit 61 stops one or more propulsion mechanisms 32 by transmitting a signal to stop one or more propulsion mechanisms 32 via the communication unit 71 to a control unit of the aircraft 30 that controls the one or more propulsion mechanisms 32. Specifically, the control unit 61 stops one or more propulsion mechanisms 32 by, for example, "shutting off the signal between the ESC and the FC or exclusively using a zero throttle signal," "shutting off the signal between the ESC and the motor or exclusively using a 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," "shutting off the power supply between the ESC and the motor," "shutting off the power supply between the ESC and the PMU," "shutting off the power supply between the FC and the battery," "shutting off the power supply between the PMU and the battery," or the like.

[0061] The determination unit 62 determines whether the aircraft 30 is in an abnormal state. As described above, for example, the determination unit 62 determines whether the aircraft 30 is in an abnormal state based on a signal received from the detection unit 70, which detects the state of the aircraft 30 (failure, inoperability, flight state (flight attitude, speed, angular velocity, altitude, attitude angle, etc.), distance to an obstacle, position information, etc.). Specifically, for example, the determination unit 62 determines that the aircraft 30 is in an abnormal state if the aircraft 30 is in a malfunction or in an uncontrollable state. Furthermore, the determination unit 62 determines that the aircraft 30 is in an abnormal state if the flight attitude, speed, angular velocity, altitude, attitude angle, etc. are above or below a threshold. Furthermore, the determination unit 62 determines that the aircraft 30 is in an abnormal state if the distance to an obstacle is below a threshold. Furthermore, the determination unit 62 determines that the aircraft 30 is in an abnormal state if the aircraft 30 is located outside a predetermined range. For example, the determination unit 62 includes a CPU, a ROM, a RAM, etc.

[0062] When the determination unit 62 determines that the flying object 30 is in an abnormal state, the storage unit 63 stores the determination data at that time. For example, the determination data includes the type of abnormality, the time when the abnormality was determined, etc. For example, the storage unit 63 has a ROM, a RAM, etc.

[0063] When the determination unit 62 determines that the flying object 30 is in an abnormal state, the notification unit 64 notifies the flying object 30 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.

[0064] In the above configuration, when a flying vehicle 30 or the like equipped with the safety device 100 falls, the gas generator 17 receives a signal from the control unit 61 and activates. The gas pressure generated by this activation propels the piston member 10 upward within the cylinder 14 from the initial state shown in FIG. 1 . This causes the projectile 40 connected to the rod-shaped portion 10b of the piston member 10 to propel (project) upward within the container 18. This releases the lid portion 21, opening the open end of the container 18. The deployable object 16 is then pulled out by the ejected projectile 40 and ejected outward (upward in the plane of FIG. 1 ) from the container 18. The piston member 10 and the tubular member 4 then move upward, but the tubular member 4 collides with the stopper member 23 and stops. If the deployable object 16 is a parachute or paraglider, the deployable object 16 is ejected from the container 18 and then deployed. Furthermore, after the projectile 40 pulls out the deployable body 16, it does not immediately rotate (flip) to change direction, and will not rotate (flip) until it has slowed down to a predetermined speed after demonstrating the ideal performance of the projectile 40.

[0065] Here, a safety device 101 (a safety device according to a comparative example) having the configuration shown in FIG. 10 and an experimental safety device (a safety device according to an example) similar to the safety device 100 shown in FIG. 1 without the lid were fabricated, and an experiment was conducted to determine whether a projectile (a substantially cylindrical member having a bottom) fired after activation of each device would rotate (reverse). In this comparative example, components that are assigned the same reference numerals as those in the first embodiment are similar, and therefore their explanations will be omitted. Furthermore, portions that are not particularly explained are similar to the safety device 100 of the above embodiment, and therefore their explanations may be omitted.

[0066] Safety device 101 differs from the safety devices of the embodiments mainly in that (1) there is one connecting line through hole 46A in projectile 40A, which is formed approximately horizontally in the contracted portion 42A of projectile 40A, and (2) a connecting line 50A is attached to connecting line through hole 46A.

[0067] Projectile 40A is an approximately cylindrical member having a bottom, and is made of metal (aluminum, iron, or the like, or an alloy), resin, or a composite material of resin and metal, CFRP, fiber-reinforced resin, etc., and has a tubular portion 41A arranged to cover a part of cylinder 14, i.e., the outer part of the upper end of cylinder 14, and a contracting portion 42A formed in a shape that gradually contracts in the opposite direction (upward on the paper in Figure 10) from the connecting portion with tubular portion 41A.

[0068] In addition, the projectile 40A has a hole 43A formed inside the tubular portion 41A, a hole 44A formed in the center of the bottom of the hole 43A, and a through hole 46A for a connecting cord formed horizontally (left and right on the paper surface of Figure 10) at the top of the reduced portion 42A.

[0069] A connecting line 50A, one end of which is connected to the top of the deployable body 16 (here, a parachute), is connected to the connecting line through hole 46A. A loop portion 50A1 formed at the other end of the connecting line 50A partially passes through the connecting line through hole 46A, and the other end of the connecting line 50A is connected to the projectile 40A.

[0070] As a result of conducting experiments on safety device 101 (a safety device according to a comparative example) and a safety device according to an embodiment, it was found that in the case of safety device 101, the projectile reversed direction when the deployable object was pulled out. In contrast, in the case of the safety device according to the embodiment, the projectile did not change direction when the deployable object was pulled out. In other words, in the case of the safety device according to the embodiment, the projectile did not rotate (reverse) in a way that changed direction as quickly as in the case of safety device 101.

[0071] Therefore, according to the above embodiment and example, the projectile 40 that has pulled out the deployable body 16 does not immediately rotate (flip) to change direction, and does not rotate (flip) until it stalls to a predetermined speed after demonstrating the ideal performance of the projectile 40. This makes it possible to provide a safety device 100 that enables the projectile 40 to demonstrate ideal performance, and a flying vehicle 30 equipped with the safety device 100.

[0072] 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-mentioned embodiments, and further includes all modifications equivalent to the meaning and scope of the claims. In addition, the embodiments and variations of the present invention may be combined as appropriate. Note that in the following variations, reference numerals with the same last two digits as the above-mentioned embodiments are similar, and therefore their explanation may be omitted. Furthermore, parts not specifically described are similar to the safety devices and aircraft of the above-mentioned embodiments, and therefore their explanation may be omitted.

[0073] For example, by making the connection position between the projectile and one end of the connecting rope at least include a position facing the deployed object when deployed (for example, in the case of the above-mentioned projectile 40, the flat portion on the actuator 1 side), when the deployed object is being pulled out, at least a portion of the connecting rope inserted into the connecting rope through-hole (and by extension the entire connecting rope in a taut state) makes it difficult for the projectile to rotate (flip), thereby making it possible to ensure a stable and ideal flight posture for the projectile that is launched when activated.

[0074] Furthermore, the connection between the projectile and the connecting cord is not limited to the two connecting cord through holes 46, 47 formed in the above embodiment. For example, two or more connecting cord through holes may be formed symmetrically about the central axis of the projectile from a position facing the deployed object on the projectile when deployed (for example, in the case of the above projectile 40, the flat surface on the actuator 1 side) to an outer surface of the projectile (for example, the side (see FIG. 11(a)) or the head (see FIG. 11(b))). In this case, the connecting cords (not shown) may be tied one by one to each connecting cord through hole, as in the above embodiment.

[0075] Furthermore, if a single connecting line is split into multiple equal-length symmetrical parts midway through one end, the connection position of the connecting line to the projectile may be, for example, only on the side (see FIG. 12(a)) or only on the bottom (see FIG. 12(b)) of the projectile, or may be connected at two or more points symmetrically about the central axis of the projectile on the parachute side of the projectile's center of gravity. This allows the projectile to be launched upon activation in a stable and ideal flight position. The method of connecting the connecting line to each projectile may be by adhesive or by attaching a fixing hook to the projectile.

[0076] In the above embodiment, the connecting line 50 splits into two equal-length symmetrical branches midway through one end. However, for example, it may be a single line extending from the other end connected to the top of the parachute to one end, splitting into three or more equal-length branches midway through one end. In this case, the projectile may have the same number of connecting line through-holes as the number of branches at one end of the connecting line, symmetrically positioned about the central axis of the projectile, with the tips of each branch connected to each connecting line through-hole. For example, if the connecting line splits into three branches, the projectile's connecting line through-holes may be positioned symmetrically at 120° intervals about the central axis of the projectile, with the tips of each branch connected to each connecting line through-hole.

[0077] Furthermore, two or more connecting lines of the same length may be used instead of the connecting line 50 of the above embodiment. Specifically, one end of each of the two or more connecting lines of the same length may be connected to the top of the parachute, and the other end of each of the two or more connecting lines of the same length may be connected to the connecting line through-holes of the projectile.

[0078] A modification of the above embodiment is a safety device 500 shown in Fig. 13. The safety device 500 will be described below, but since parts with the same reference numerals as those in the first embodiment are similar, their description will be omitted. Furthermore, parts that are not particularly described are similar to the safety device 100 of the above embodiment, and their description may be omitted. For ease of description, the connecting rope is not shown in Fig. 13.

[0079] Safety device 500 differs from safety device 100 of the above embodiment mainly in that (1) step 541a provided on the bottom of projectile 540 is also used as a lid that fits into the opening at the top end of container 518, (2) the height of peripheral wall 518a of container 518 is lower than the top of cylinder 14, and (3) a pair of concave-shaped cutouts (not shown) formed downward from the opening at the top end of peripheral wall 518a of container 518 are provided so as to face each other in the radial direction of container 518. Note that the concave-shaped cutouts (not shown) are provided to prevent annular portions similar to annular portions 50a1 and 50b1 shown in FIG. 7 from being caught between projectile 540 and the opening at the top end of container 518, preventing step 541a provided on the bottom of projectile 540 from failing to fit into the opening at the top end of container 518. Therefore, projectile 540 must be fitted into the opening at the top end of container 518 so that connecting line through-holes 546, 547 and a pair of concave cutouts (not shown) correspond in position.

[0080] Such a safety device 500 can not only achieve the same effects as the safety device 100, but also has fewer parts than the safety device 100, since the function of the lid can be given to the projectile 540.

[0081] A safety device 600 shown in FIG. 14 is a modification of the above embodiment. This safety device 600 is the safety device 100 of FIG. 1 with the cover 21 removed. That is, the safety device 600 shown in FIG. 14 can also be used. In the safety device 600, components with the same reference numerals as those in the first embodiment are similar, and therefore their description will be omitted. Furthermore, components that are not particularly described are similar to the safety device 100 of the above embodiment, and therefore their description will be omitted. Furthermore, for ease of description, the connecting rope is not shown in FIG. 14. This type of safety device 600 can also achieve the same effects as the safety device 100.

[0082] For example, if the object to be deployed is a pilot chute, a larger parachute, steering parachute, paraglider, etc. may be connected to the pilot chute and stored in the same or a different container, so that the pilot chute is pulled out by the projectile and the parachute, steering parachute, paraglider, etc. can be pulled out of the same or a different container and deployed.

[0083] Furthermore, in each of the above embodiments, a portion of the base is configured to be located outside the container, but the entire base may also be configured to be located inside the container.

[0084] Furthermore, while a gas generator is used as the power source in each of the above embodiments, the configuration is not limited as long as it is capable of applying a driving force to the sliding member to propel the sliding member through the cylinder. For example, an elastic body type using an elastic body such as a spring, a gas cylinder type using the pressure of gas trapped in a container, or a chemical reaction type (non-explosive) in which two or more substances are mixed and a chemical reaction occurs to generate gas pressure may be used as the driving source. Furthermore, instead of the ejection devices in the above embodiments and modified examples, a retractable (also called a pulling) ejection device may be used. An example of such an ejection device is a system in which a rocket is launched and a parachute is pulled out.

[0085] Furthermore, in each of the above embodiments, when a parachute or a paraglider is used as the object to be deployed, the parachute or the paraglider may be packed. Note that the packing is configured to tear or peel off when activated.

[0086] Furthermore, while the above embodiments have described a parachute or paraglider as the deployable object, the deployable object may also include a lift-generating member. Examples of the lift-generating member include a parafoil, a Rogallo parachute, a single-surface parachute, an airplane wing, a propeller, and a balloon. Furthermore, if the lift-generating member has a control line, the safety device preferably includes a steering mechanism that can use the control line to change the inclination angle of the deployed lift-generating member. This steering mechanism may include, for example, multiple reels that reel in the control lines connected to the lift-generating member, and a motor that powers the reels. The motor can be driven to reel in or release the control lines, thereby tensioning or loosening the lift-generating member as needed.

[0087] Alternatively, the flying object may be equipped with a safety device that can launch a net instead of a parachute or paraglider. This allows the flying object to be hooked onto a hook or protrusion by timing the launch of the net toward the hook or protrusion. As a result, the flying object can be prevented from falling and crashing to the ground. Alternatively, medicines, luggage, etc. may be launched instead of a parachute or paraglider.

[0088] The flying object may also be equipped with a safety device that can launch a deflated or folded float together with a drive mechanism (such as an inflation device including a gas generator) by an actuator, and then inflate and deploy the float using the drive mechanism. This can prevent the flying object from sinking and can serve as a marker for a recovery location in the event that the flying object crashes.

[0089] The aircraft may also be equipped with a safety device that can launch a deflated or folded float and parachute together with a drive mechanism (such as an inflation device including a gas generator) by an actuator, and deploy the float and parachute by the drive mechanism. This reduces the falling speed of the aircraft when it crashes, prevents the aircraft from sinking, and can serve as a marker for the recovery location when the aircraft crashes.

[0090] Alternatively, the parachute may be launched by an actuator together with a drive mechanism (such as a cutting device with a drive unit), and after the parachute has deployed, the drive mechanism may cut some of the multiple connecting members connecting the parachute to the aircraft, shifting the central axis of the aircraft's body and causing it to fall sideways, and the aircraft may then be equipped with a safety device that can mitigate the impact of impact with the ground or the like using an airbag device installed on the side of the aircraft that is falling.

[0091] Alternatively, the flying object may be equipped with a safety device that uses an actuator to launch a so-called paramotor together with a drive mechanism (including a drive unit such as a power source), and after the parachute or paraglider is fully deployed, the drive mechanism can drive the motor to rotate the propeller. This prevents the parachute or paraglider from becoming entangled in the propeller. A paramotor is a device that is capable of flying by obtaining thrust from a power source (such as a motor-driven propeller rotation device) attached to the harness of the parachute or paraglider.

[0092] In addition, the aircraft may be equipped with a safety device that can launch a sound generating device together with a drive mechanism (including a drive unit such as a power supply) using an actuator, and activate the sound generating device using the drive mechanism when the aircraft crashes, thereby alerting those around it to danger.

[0093] In addition, the aircraft may be equipped with a safety device that uses an actuator to launch a lighting device (such as a flashlight) together with a drive mechanism (including a drive unit such as a power source), and that activates the lighting device via the drive mechanism when the aircraft crashes, thereby alerting those around it to danger.

[0094] In addition, the aircraft may be equipped with a safety device that can launch a fire extinguisher together with a drive mechanism (including a drive unit such as a power source) using an actuator, and activate the fire extinguisher using the drive mechanism when the aircraft crashes, thereby spraying a fire extinguishing agent onto the aircraft body and surrounding area.

[0095] The flying vehicle may also be equipped with a safety device that uses an actuator to launch a pre-launched payload (such as an expensive device) with a parachute together with a drive mechanism, and deploys the parachute of the payload with a parachute using the drive mechanism, thereby providing focused protection for the payload with a parachute.

[0096] The flying vehicle may also be equipped with a safety device that uses an actuator to eject a previously ejectable payload (such as an expensive device) equipped with an airbag device together with a drive mechanism (such as an inflation device including a gas generator), and then inflates and deploys the airbag of the payload with the airbag device using the drive mechanism. This allows for focused protection of the payload with the airbag device.

[0097] The aircraft may also be equipped with a safety device that can launch a distress signal transmitter together with a drive mechanism (including a drive unit such as a power source) by an actuator, and activate the distress signal transmitter by the drive mechanism when the aircraft crashes, thereby enabling the location of the crash to be identified.

[0098] The flying vehicle may also be equipped with a safety device that uses an actuator to launch a black box with a parachute (such as a flight recorder) together with a drive mechanism (such as an inflation device including a gas generator), and that uses the drive mechanism to deploy the parachute of the black box with a parachute when the flying vehicle crashes. This allows for the primary protection of the black box with a parachute, and as a result, flight data can be protected. [Explanation of symbols]

[0099] 1 actuator 2 bases 2A, 3 Cylindrical member 2B flange 2a, 13, 22c, 24, 25, 29 holes 2b Fixing hole 2c Insertion port 4 Tubular members 5. Retaining member 6 Space 10 Piston member 10a, 22a Main body 10b Rod-shaped part 10c, 10d, 43, 43A, 44, 44A, 543, 544 Hole 10e, 23a, 23b, 48, 48A, 548 Groove 11, 12, 49, 49A, 549 Seal material 14 cylinders 14a, 45, 545 through hole 16 Object to be developed 16a top 17 Gas Generator 17a Cup Body 17b Electrode 18,518 container 18a, 518a Peripheral wall part 18b, 518b bottom 21 Lid 22, 53 connector 22b Protrusion 23 Stopper member 28 volts 30 Flying Objects 31 aircraft 32 Propulsion mechanism 33 Legs 34 Arm section 40, 40A, 540 projectiles 41, 41A, 541 Cylindrical part 42, 42A, 542 Reduction section 46, 46A, 47, 146, 147, 246, 247, 546, 547 Through hole for connecting cable 50, 50A connecting cable 50a, 50b bifurcated 50a1, 50b1, 50A1 Annular part 52 Wiring 60 Trigger Device 61 Control Unit 62 Judgment section 63 Memory section 64 Information Department 70 Detection unit 71 Communications Department 100, 101 Safety equipment 541a Step

Claims

1. a container having an opening; a deployable body stored in the container; a projectile connected to the deployable vehicle via a first connecting line; an actuator for firing the projectile; Equipped with the projectile is provided so as to be located at the tip of the actuator in an initial state; The first connecting cord may be a plurality of cords, or one end of a single connecting cord may be divided into a plurality of cords, and when the first connecting cord is in a tensioned state during activation, the first connecting cords may be connected to the projectile in symmetrical positions with respect to the central axis of the projectile; A safety device characterized in that the connection position of the projectile with one end of the first connecting rope is any one of the following (a) to (c). (a) A position where two or more through holes are formed symmetrically about the central axis of the projectile from a position facing the deployed object when deployed to the outer surface of the projectile. (b) At least two locations on the sides of the projectile, at positions symmetrical with respect to the central axis of the projectile and closer to the actuator than the center of gravity of the projectile. (c) At least two locations on the projectile that face the deployed object when deployed, and that are symmetrical with respect to the central axis of the projectile.

2. The projectile has a cylindrical shape with a bottom at the actuator side, 2. The safety device according to claim 1, wherein a portion of the projectile opposite to the actuator side is formed in a shape that gradually narrows compared to a portion of the projectile on the actuator side.

3. The actuator is a sliding member provided inside the container, the sliding member being slidable so as to protrude from inside the container to the outside through an opening of the container when activated; a cylindrical cylinder having a drive source at one end and accommodating the sliding member at the opposite end to the drive source, the cylinder guiding the sliding member to project outward when the drive source is activated; Equipped with The projectile is a cylindrical member having a bottom, and is attached to the cylinder by abutting an O-ring provided along the inner wall of the projectile against the outer wall of the cylinder, or by press-fitting the inner wall of the projectile into the outer wall of the cylinder at the end opposite to the drive source; 2. The safety device according to claim 1, wherein the tip of the sliding member is disposed inside the projectile so that, when activated, the tip of the sliding member pushes the projectile from the bottom side of the projectile.

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 aircraft is determined to be in an abnormal state or when an instruction to start the actuator is received from the operator of the aircraft.

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 determines whether the aircraft is in an abnormal state or not, and a stop unit that stops the one or more propulsion mechanisms when the judgment unit determines that the aircraft is in an abnormal state.

6. 3. The safety device according to claim 1, wherein the deployable object is connected to the flying object via a second connecting rope.

7. the deployable object is a pilot chute, Further, the pilot chute is connected to another deployable body.

3. The safety device according to claim 1, wherein the pilot chute and the other deployable object are stored in the container.

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

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