Parachute devices, launch devices and flying devices

Abstract

To provide a technique for surely opening a parachute even when an effect of an air flow at the time of flight or falling of a flight device cannot be quickly obtained.SOLUTION: A parachute device includes: a parachute 10; a cylindrical storage part 20 for storing a parachute 10 whose one end is opened and other end has a bottom part 22; a gas generator 30 which is mounted on the bottom part 22 of the storage part 20 and generates gas; at least one flying body 50 which is arranged in a peripheral surface part 21 of the storage part 20 and is connected to the parachute 10; an ejection part 40 which is arranged in the peripheral surface part 21 of the storage part 20 and is connected to the gas generator 30, and can hold the flying body 50 by gas from the gas generator 30 so as to be capable of ejecting the flying body 50; and a catapult 60 which is slidably mounted on the gas generator 30 so as to extrude the parachute 10 from the side of the bottom part 22 toward an opening 23 of the storage part 20 by the gas from the gas generator 30.SELECTED DRAWING: Figure 5A

Description

[Technical field]

[0001] The present invention relates to a parachute system, launch system and flight device, for example a parachute system for attachment to a remotely controlled and autonomously flying, multi-rotor rotorcraft type flight device. [Background technology]

[0002] In recent years, the practical application of multi-rotor rotorcraft-type flying devices (hereinafter simply referred to as "rotorcraft") capable of remote control and autonomous flight in industrial fields has been considered. For example, in the transportation industry, the use of rotorcraft (so-called drones) for transporting luggage and passengers has been considered.

[0003] Rotary-wing aircraft for transport are equipped with an autonomous flight function that flies while identifying its own position using GPS (Global Positioning System) signals, etc. However, if an abnormality occurs in the rotorcraft for some reason, it will no longer be able to fly autonomously, and there is a risk of an accident, such as the rotorcraft falling. Therefore, there is a demand for improving the safety of rotorcraft.

[0004] In particular, it is expected that transport rotorcraft will continue to grow in size in the future so that they can transport larger cargo and passengers. If such a large rotorcraft becomes uncontrollable for some reason and falls, there is a risk that it will cause more severe damage to people and structures than previous rotorcraft. Therefore, when trying to increase the size of rotorcraft, it is necessary to place more emphasis on safety than ever before.

[0005] Therefore, in order to improve the safety of rotorcraft, for example, consideration is being given to attaching a parachute device for flying objects, such as that disclosed in Patent Document 1, to the rotorcraft. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent No. 4785084 Summary of the Invention [Problem to be solved by the invention]

[0007] However, conventional parachutes for flying objects are designed so that they open easily due to the air currents generated during flight. Therefore, studies have revealed that when a flying object falls from a stationary position in the sky, the air currents do not have an immediate effect and the parachute does not open immediately.

[0008] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a technology that ensures reliable deployment of a parachute even when the effect of airflow cannot be obtained immediately during the flight or fall of a flying device. [Means for solving the problem]

[0009] In order to solve the above problems, the parachute device of the present invention is characterized in that it comprises a parachute, a cylindrical storage section that stores the parachute and has an open end and a bottom at the other end, a gas generator attached to the bottom of the storage section and generates gas, at least one flying object arranged on the periphery of the storage section and connected to the parachute, a launcher arranged on the periphery of the storage section and connected to the gas generator, holding the flying object so that it can be launched by gas from the gas generator, and a catapult attached slidably to the gas generator so that the parachute is pushed from the bottom side toward the opening of the storage section by gas from the gas generator. Effect of the Invention

[0010] According to the present invention, even when the effect of the air current cannot be obtained immediately during the flight or fall of the flying device, it is possible to ensure that the parachute opens reliably. [Brief description of the drawings]

[0011] [Figure 1] 1 is a diagram showing a schematic external view of a flying device equipped with a parachute device according to an embodiment of the present invention; [Diagram 2] 1 is a functional block diagram of a flying device equipped with a parachute device according to an embodiment of the present invention. [Diagram 3] 1 is a schematic diagram showing a state in which the parachute of the parachute device according to the present embodiment is opened; FIG. [Figure 4] 1 is a schematic plan view of a parachute device according to an embodiment of the present invention; [Figure 5A] FIG. 5 is a partial cross-sectional view of the parachute device taken along line AA in FIG. 4. [Figure 5B] FIG. 5 is a partial cross-sectional view of the parachute device taken along line BB in FIG. 4. [Figure 6A] 5 is a cross-sectional view taken along line AA in FIG. 4 for explaining the configuration of the gas generating device. [Figure 6B] 5 is a cross-sectional view taken along line BB in FIG. 4 for explaining the configuration of the gas generating device. [Figure 7A] FIG. 2 is a plan view of the catapult's extrusion member. [Figure 7B] FIG. 7B is a cross-sectional view taken along line AA in FIG. 7A. [Figure 7C] FIG. 7B is a cross-sectional view taken along line BB in FIG. 7A. [Figure 8] FIG. 2 is a diagram for explaining the configuration of a catapult piston. [Figure 9A] A diagram showing the state of the projectile and catapult after the parachute is pushed out. [Figure 9B] FIG. 2 is a partially enlarged view for explaining the sliding of the catapult by gas. [Figure 10] 2 is a schematic diagram showing a state in which the parachute of the flying device according to the embodiment is open; FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] 1. Overview of the embodiment First, an outline of a representative embodiment of the present invention will be described. In the following description, as an example, reference numerals in the drawings corresponding to components of the present invention are given in parentheses.

[0013] [1] A parachute (10); a cylindrical storage section (20) for storing the parachute (10) having an open end and a bottom (22) at the other end; a gas generator (30) attached to the bottom (22) of the storage section (20) for generating gas; at least one projectile (50) disposed on the peripheral surface (21) of the storage section (20) and connected to the parachute (10); a launch section (40) disposed on the peripheral surface (21) of the storage section (20) and connected to the gas generator (30), holding the projectile (50) so as to be launchable by gas from the gas generator (30); and a catapult (60) attached slidably to the gas generator (30) so as to push the parachute (10) from the bottom (22) side toward the opening (23) of the storage section (20) by gas from the gas generator (30).

[0014] [2] In the above parachute device (1), the catapult (60) may have a tubular pusher member (61) having an open end and a wall portion (63) at the other end, which is placed over the gas generator (30) to accommodate the gas generator (30), and a rod-shaped member (68) having one end fixed to the wall portion (63) of the pusher member (61) and formed so as to be engageable with the gas generator (30) at the other end so as not to be able to be removed from within the gas generator (30).

[0015] [3] In the above parachute device (1), the push-out member (61) may have at least one flange portion (64) extending outward from the edge on the opening side and arranged so as not to overlap with the ejection portion (40) in the sliding direction.

[0016] [4] In the parachute device (1), the storage portion (20) may have an engagement member (22a) that engages with the flange portion (64) so ​​as to prevent relative rotation of the push-out member (61) with respect to the storage portion (20).

[0017] [5] In the parachute device (1), the rod-shaped member (68) may be rounded at the other end (682).

[0018] [6] In the above parachute device (1), the bottom (22) of the storage section (20) may have a recess (322) formed concavely with an inclined surface, and the other end (682) of the rod-shaped member (68) may be stored in the recess (322).

[0019] [7] In the parachute device (1), the gas generator (30) may have a guide hole (317) that slidably guides the rod-shaped member (68), and an O-ring (318) may be provided on the inner surface of the guide hole (317).

[0020] [8] In the above parachute device (1), the gas generator (30) may have an annular protrusion (316) extending along the edge of the guide hole (317) on the side of the opening (23), and may be provided with a locking member (319p) that radially penetrates the annular protrusion (316) and the rod-shaped member (68) in a direction intersecting the extension direction of the rod-shaped member (68) and is broken by the sliding of the rod-shaped member (68).

[0021] [9] The launching device (2) according to the present invention is characterized in that it comprises: a flying object (50) connectable to a parachute (10); a cylindrical storage section (20) having an open end and a bottom (22) at the other end for accommodating the parachute (10); a gas generator (30) attached to the bottom (22) of the storage section (20) for generating gas; a launching section (40) disposed on the peripheral section (21) of the storage section (20) and connected to the gas generator (30), holding the flying object (50) so as to be launchable by gas from the gas generator (30); and a catapult (60) slidably attached to the gas generator (30) so as to push the parachute (10) from the bottom (22) side toward the opening (23) of the storage section (20) by gas from the gas generator (30).

[0022]

[10] The launching device according to the present invention comprises a tubular storage section (20) having an open end and a bottom section (22) at the other end for storing a parachute (10), a gas generator (30) attached to the bottom section (22) of the storage section (20) for generating gas, and a catapult (60) slidably attached to the gas generator (30) so that the gas from the gas generator (30) pushes the parachute (10) from the bottom section (22) side toward the opening section (23) of the storage section (20). The catapult (60) is open at one end and has a wall section (63) at the other end, and the gas generator (30) is attached to the bottom section (22) of the storage section (20) so as to push the parachute (10) from the bottom section (22) side toward the opening section (23) of the storage section (20). and a rod-shaped member (68) having one end (681) fixed to a wall portion (63) of the pushing member (61) and formed to be engageable at the other end (682) with the gas generator (30) so as not to be removable from the gas generator (30). The pushing member (61) has at least one flange portion (64) extending outward from the edge on the opening side, and the gas generator (30) is provided with a guide hole (317) for slidably guiding the rod-shaped member (68).

[0023]

[11] A flying device (100) according to the present invention is characterized in that it comprises an aircraft unit (110), a thrust generating unit (120) connected to the aircraft unit (110) and generating thrust, a flight control unit (114) controlling the thrust generating unit (120), an abnormality detection unit detecting abnormalities during flight, a parachute device (1) described in any one of [1] to [8] above, and a drop control unit (116) that launches a flying object (50) in response to detection of an abnormality by the abnormality detection unit (115).

[0024] 2. Specific examples of embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, components common to each embodiment are given the same reference numerals, and repeated description will be omitted. It should be noted that the drawings are schematic, and the dimensional relationships and ratios of each element may differ from the actual situation. The drawings may also include parts with different dimensional relationships and ratios.

[0025] A flying device 100 equipped with the parachute device 1 according to the present embodiment is, for example, a multi-rotor type flying device having three or more rotors, a so-called drone. The parachute device 1 according to the present embodiment is for safely lowering the flying device 100. The parachute device 1 is applied to a known flying device, and the flying device to which it is applied is not limited to a specific flying device. For example, the parachute device 1 according to the embodiment of the present invention is applied to the flying device 100 shown in FIG. 1.

[0026] 1 is a diagram showing a schematic external view of a flying device 100 equipped with a parachute device 1 according to this embodiment. The flying device 100 is equipped with an aircraft unit 110, thrust generating units 121-12n (n is an integer equal to or greater than 3), the parachute device 1, a notification device 130, and an arm unit 140.

[0027] The aircraft unit 110 is the main body of the flight device 100. As described below, the aircraft unit 110 houses various functional units for controlling the flight of the flight device 100. Note that in this embodiment, a cylindrical aircraft unit 110 is illustrated as an example, but the shape of the aircraft unit 110 is not particularly limited.

[0028] The thrust generating units 121 to 124 are rotors that generate thrust. In the following description, when there is no need to distinguish between the thrust generating units 121 to 124, they will simply be referred to as "thrust generating unit 120."

[0029] The thrust generating unit 120 has, for example, a propeller 125, a motor 126, and a cylindrical housing 127. The housing 127 accommodates the propeller 125 and the motor 126 that rotates the propeller 125. An opening of the housing 127 may be provided with a net (for example, a resin material or a metal material (stainless steel, etc.)) to prevent direct access to the propeller 125.

[0030] The number n of the thrust generating units 120 is not particularly limited, but is preferably 3 or more. For example, the flying device 100 may be any of a tricopter having three thrust generating units 120, a quadcopter having four thrust generating units 120, a hexacopter having six thrust generating units 120, and an octocopter having eight thrust generating units 120.

[0031] In this embodiment, a quadcopter having four (n=4) thrust generating units 121-124 is illustrated as an example of the flying device 100. The arm unit 140 is a structure for connecting the aircraft unit 110 and each thrust generating unit 120. The arm units 140 are attached to the aircraft unit 110, for example, radially protruding from the center C of the aircraft unit 110 and spaced at equal intervals in the circumferential direction of the aircraft unit 110. A thrust generating unit 120 is attached to the tip of each arm unit 140.

[0032] The alarm device 130 is a device that notifies the outside of the flying device 100 of danger. The alarm device 130 is composed of, for example, a light source such as an LED (Light Emitting Diode) and a sound generating device (an amplifier and a speaker, etc.). In response to detection of an abnormality by the abnormality detection unit 115 described later, the alarm device 130 notifies the outside by light or sound that the flying device 100 is in a dangerous state.

[0033] The alarm device 130 may be exposed to the outside of the body unit 110, or may be housed inside the body unit 110 and be capable of outputting light generated from a light source or sound generated from a speaker to the outside.

[0034] The parachute device 1 is a device that slows down the falling speed of the flight device 100 when an abnormality occurs in the flight device 100 and there is a risk of the flight device 100 falling, thereby ensuring a safe fall of the flight device 100. The parachute device 1 is installed, for example, on the aircraft unit 110. The specific configuration of the parachute device 1 will be described later.

[0035] 2 is a functional block diagram of a flying device 100 equipped with a parachute device 1 according to this embodiment. The aircraft unit 110 includes a power supply unit 111, a sensor unit 112, motor drive units 113_1 to 113_n (n is an integer equal to or greater than 3), a flight control unit 114, an abnormality detection unit 115, a drop control unit 116, a communication unit 117, and a memory unit 118.

[0036] Of these functional units, the flight control unit 114, the abnormality detection unit 115 and the drop control unit 116 are realized, for example, by program processing using a program processing device (for example, a microcontroller) including a processor (for example, a CPU: Central Processing Unit) and a memory.

[0037] The power supply unit 111 includes a battery 111a and a power supply circuit 111b. The battery 111a is, for example, a secondary battery (for example, a lithium ion secondary battery). The power supply circuit 111b is a circuit that generates a power supply voltage based on the output voltage of the battery 111a and supplies it to each piece of hardware that constitutes the above-mentioned functional unit. The power supply circuit 111b includes, for example, a plurality of regulator circuits, and supplies a power supply voltage of an appropriate magnitude to each piece of the above-mentioned hardware.

[0038] The sensor unit 112 is a functional unit that detects the state of the flying device 100. The sensor unit 112 detects the inclination of the body of the flying device 100, etc. The sensor unit 112 includes, for example, an angular velocity sensor 112a, an acceleration sensor 112b, a magnetic sensor 112c, and an angle calculation unit 112d.

[0039] The angular velocity sensor 112a is a sensor that detects an angular velocity (rotational velocity) For example, the angular velocity sensor 112a is a three-axis gyro sensor that detects an angular velocity based on three reference axes, an x-axis, a y-axis, and a z-axis.

[0040] The acceleration sensor 112b is a sensor that detects acceleration, for example, a three-axis acceleration sensor that detects acceleration based on three reference axes, an x-axis, a y-axis, and a z-axis.

[0041] The magnetic sensor 112c is a sensor that detects geomagnetism. For example, the magnetic sensor 112c is a three-axis geomagnetic sensor (electronic compass) that detects an orientation (absolute direction) based on three reference axes, namely, an x-axis, a y-axis, and a z-axis.

[0042] The angle calculation unit 112d calculates the inclination of the body of the flying device 100 based on the detection results of at least one of the angular velocity sensor 112a and the acceleration sensor 112b. Here, the inclination of the body of the flying device 100 refers to the angle of the body (body unit 110) with respect to the ground (horizontal direction).

[0043] For example, the angle calculation unit 112d may calculate the angle of the aircraft with respect to the ground based on the detection results of the angular velocity sensor 112a, or may calculate the angle of the aircraft with respect to the ground based on the detection results of the angular velocity sensor 112a and the acceleration sensor 112b. Note that the method of calculating the angle using the detection results of the angular velocity sensor 112a and the acceleration sensor 112b may use a known formula.

[0044] Furthermore, the angle calculation unit 112d may correct the angle calculated based on at least one of the detection results of the angular velocity sensor 112a and the acceleration sensor 112b based on the detection result of the magnetic sensor 112c. The angle calculation unit 112d is realized by program processing using a microcontroller, similar to the flight control unit 114, for example.

[0045] In addition to the above-mentioned angular velocity sensor 112a, acceleration sensor 112b, and magnetic sensor 112c, the sensor unit 112 may include, for example, an air pressure sensor, a wind volume (wind direction) sensor, an ultrasonic sensor, a GPS receiver, and a camera.

[0046] The communication unit 117 is a functional unit for communicating with the external device 180. Here, the external device 180 is a transmitter or a server that controls the operation of the flight device 100 and monitors the state of the flight device 100. The communication unit 117 is composed of, for example, an antenna and an RF (Radio Frequency) circuit. The communication between the communication unit 117 and the external device 180 is realized by, for example, wireless communication in the ISM band (2.4 GHz band).

[0047] The communication unit 117 receives operation information of the flying device 100 transmitted from the external device 180 and outputs it to the flight control unit 114, and also transmits various measurement data measured by the sensor unit 112 to the external device 180. Furthermore, when an abnormality in the flying device 100 is detected by the abnormality detection unit 115, the communication unit 117 transmits information indicating that an abnormality has occurred in the flying device 100 to the external device 180. Furthermore, when the flying device 100 falls to the ground, the communication unit 117 transmits information indicating that the flying device 100 has fallen to the external device 180.

[0048] The motor driving units 113_1 to 113_n are functional units provided in the thrust generating units 120, and drive the motors 126 to be driven in response to instructions from the flight control unit 114. In the following description, when there is no need to distinguish between the motor driving units 113_1 to 113_n, they will simply be referred to as "motor driving units 113."

[0049] The motor driving unit 113 drives the motor 126 so that the motor 126 rotates at a rotation speed instructed by the flight control unit 114. For example, the motor driving unit 113 is an ESC (Electronic Speed ​​Controller).

[0050] The flight control unit 114 is a functional unit that comprehensively controls each functional unit of the flight device 100. The flight control unit 114 controls the thrust generation unit 120 so that the flight device 100 flies stably. Specifically, the flight control unit 114 calculates an appropriate rotation speed of the motor 126 of each thrust generation unit 120 based on operation information (instructions for ascending, descending, moving forward, moving backward, etc.) from the external device 180 received by the communication unit 117 and the detection results of the sensor unit 112. The flight control unit 114 instructs each motor drive unit 113 on the calculated rotation speed, respectively, to fly the aircraft in a desired direction in a stable state.

[0051] For example, when the attitude of the aircraft is disturbed by an external influence such as wind, the flight control unit 114 calculates an appropriate rotation speed for each of the motors 126 of each thrust generating unit 120 based on the detection result of the angular velocity sensor 112a. The flight control unit 114 instructs each of the motor driving units 113 to the calculated rotation speed so that the aircraft becomes horizontal.

[0052] Furthermore, for example, the flight control unit 114 calculates an appropriate rotation speed of the motor 126 of each thrust generating unit 120 based on the detection result of the acceleration sensor 112b in order to prevent drift of the flight device 100 when the flight device 100 is hovering. The flight control unit 114 instructs each of the motor driving units 113 of the calculated rotation speed. The flight control unit 114 also controls the communication unit 117 to realize transmission and reception of the above-mentioned various data with the external device 180.

[0053] The storage unit 118 is a functional unit for storing various programs, parameters, and the like for controlling the operation of the flight device 100. For example, the storage unit 118 is composed of a non-volatile memory such as a flash memory and a ROM, a RAM, and the like. The parameters stored in the storage unit 118 are, for example, a remaining capacity threshold 118a and a tilt threshold 118b, which will be described later.

[0054] The abnormality detection unit 115 is a functional unit that detects abnormalities during flight. Specifically, the abnormality detection unit 115 monitors the detection results of the sensor unit 112, the state of the battery 111a, and the operating state of the thrust generation unit 120, and determines whether the flight device 100 is in an abnormal state.

[0055] Here, the term "abnormal state" refers to a state that may make it impossible for the flying device 100 to fly autonomously. In other words, the occurrence of an abnormal situation refers to, for example, at least one of the following: the thrust generating unit 120 breaks down, the remaining capacity of the battery 111a falls below a predetermined threshold, and the airframe (airframe unit 110) tilts abnormally.

[0056] When the abnormality detection unit 115 detects a malfunction in the thrust generation unit 120, it determines that the flight device 100 is in an abnormal state. Here, a malfunction in the thrust generation unit 120 refers to, for example, the motor 126 not rotating at the rotation speed specified by the flight control unit 114, the propeller 125 not rotating, or the propeller 125 being damaged.

[0057] Furthermore, when the abnormality detection unit 115 detects that the remaining capacity of the battery 111a has fallen below a predetermined threshold (hereinafter also referred to as the "remaining capacity threshold") 118a, it determines that the flying device 100 is in an abnormal state. Here, the remaining capacity threshold 118a may be, for example, a capacity value at which the motor cannot rotate at the rotation speed instructed by the flight control unit 114. The remaining capacity threshold 118a is, for example, stored in advance in the storage unit 118.

[0058] Furthermore, when abnormal tilt of flying device 100 (airframe) is detected, abnormality detection unit 115 determines that flying device 100 is abnormal. For example, when a state in which the angle calculated by angle calculation unit 112d exceeds a predetermined threshold (hereinafter also referred to as "tilt threshold") 118b continues for a predetermined period of time, abnormality detection unit 115 determines that flying device 100 is in an abnormal state.

[0059] For example, the angle (pitch angle) when the flight device 100 moves forward and backward and the angle (roll angle) when the flight device 100 moves left and right are obtained in advance by experiment. The tilt threshold 118b may be set to a value greater than the angle obtained by the experiment. The tilt threshold 118b is stored in the storage unit 118 in advance, for example.

[0060] The drop control unit 116 is a functional unit for controlling the drop of the flying device 100. Specifically, when the abnormality detection unit 115 detects that the flying device 100 is in an abnormal state, the drop control unit 116 executes a drop preparation process for allowing the flying device 100 to drop safely.

[0061] Specifically, the drop control unit 116 executes the following process as the drop preparation process. That is, the drop control unit 116 controls the alarm device 130 in response to the detection of an abnormality by the abnormality detection unit 115 to notify the outside that a dangerous state exists. In addition, the drop control unit 116 controls each motor drive unit 113 in response to the detection of an abnormality by the abnormality detection unit 115 to stop the rotation of each motor 126. Furthermore, in response to the detection of an abnormality by the abnormality detection unit 115, the drop control unit 116 outputs a control signal to the parachute device 1 to instruct it to open the parachute, thereby opening the parachute 10.

[0062] 3 is a diagram showing a schematic diagram of the parachute 10 in the parachute device 1 according to the present embodiment in an open state. The parachute 10 includes a canopy 11, a suspending rope 12, and a connecting rope 13. The suspending rope 12 is a string-like member, and is made of, for example, a metal material (e.g., stainless steel) or a fiber material (e.g., nylon string). One end of the suspending rope 12 is connected to the canopy 11, and the other end is connected to the parachute container 20 (attachment portion 22a). In other words, the suspending rope 12 connects the parachute 10 and the parachute container 20 together.

[0063] The connecting cord 13 connects the canopy 11 to each flying object 50, which will be described later. The connecting cord 13 is a cord-like member, and is made of, for example, a metal material (e.g., stainless steel) or a fiber material (e.g., nylon cord). One end of the connecting cord 13 is attached to, for example, the edge (periphery) side of the canopy 11, and the other end is attached to the flying object 50.

[0064] The connecting ropes 13 are spaced apart from one another and attached to the periphery of the canopy 11. For example, if the parachute 10 (canopy 11) in an open state has a circular shape when viewed from the apex side of the canopy 11, the connecting ropes 13 are attached to the periphery of the canopy 11 at equal intervals along the circumferential direction of the canopy 11.

[0065] When only one flying object 50 is provided, one end of the connecting line 13 may be attached to the periphery of the parachute 10. In this case, the position on the periphery of the parachute 10 to which the connecting line 13 is attached is not particularly limited.

[0066] Here, the diameter D of the canopy 11 required for causing the flight device 100 to fall at a low speed can be calculated, for example, based on the following formula (1): In formula (1), m is the total weight of the flight device 100, v is the falling speed of the flight device 100, ρ is the air density, and Cd is the drag coefficient.

[0067]

number

[0068] For example, the total weight of the flight device 100 is m=250 kg, the drag coefficient Cd=0.9, and the air density ρ=1.3 kg / m 3 In this case, the diameter D of the canopy 11 required to make the falling speed v of the flying device 100 5 [m / s] is calculated to be 14.6 [m] from equation (1).

[0069] The above-described flight device 100 includes a parachute device 1 as a safety device. The parachute device 1 according to the present embodiment includes a parachute 10, a tubular parachute container (container) 20 having an open end and a bottom 22 at the other end for containing the parachute 10, a gas generator 30 attached to the bottom 22 of the parachute container 20 for generating gas, six tubular flying objects 50 connected to the parachute 10, a launcher 40 disposed on the circumferential surface 21 of the parachute container 20 and connected to the gas generator 30, and holding the flying objects 50 so that they can be launched by the gas from the gas generator 30, and a catapult 60 slidably attached to the gas generator 30 so that the parachute 10 is pushed from the bottom 22 side toward the opening 23 of the parachute container 20 by the gas from the gas generator 30. The configuration of the parachute device 1 will be specifically described below.

[0070] Fig. 4 is a schematic plan view of the parachute device 1 according to the present embodiment. Note that the parachute 10 and the lid 26 are not shown in Fig. 4.

[0071] The parachute device 1 includes a parachute 10 and a launching device 2 (parachute container 20, gas generator 30, launching unit 40, projectile 50, catapult 60, and launch control unit 70).

[0072] (injection device) 5A is a partial cross-sectional view of the parachute device 1 taken along line AA in FIG. 4. FIG. 5B is a partial cross-sectional view of the parachute device 1 taken along line BB in FIG. 4. The parachute device 1 according to this embodiment has a launching device 2 that includes six projectiles 50 that can be connected to the parachute 10, a tubular parachute container 20 that has an open end and a bottom 22 at the other end and that stores the parachute 10, a gas generator 30 that is attached to the bottom 22 of the parachute container 20 and generates gas, a launching section 40 that is disposed on the circumferential surface 21 of the parachute container 20 and is connected to the gas generator 30, and that holds the projectiles 50 so that they can be launched by gas from the gas generator 30, and a catapult 60 that is slidably attached to the gas generator 30 so that the parachute 10 is pushed from the bottom 22 side toward the opening 23 of the parachute container 20 by gas from the gas generator 30. The configuration of the launching device 2 will be described in detail below.

[0073] The launching device 2 stores the parachute 10 and launches the stored parachute 10 to the outside. The launching device 2 includes a parachute storage container 20, a gas generator 30, a launching unit 40, a projectile 50, a catapult 60, and a launch control unit 70.

[0074] The parachute container 20 stores the parachute 10 with the canopy 11 folded before the parachute 10 is used. The parachute container 20 is formed, for example, from resin or the like. The parachute container 20 has a peripheral portion 21 and a bottom portion 22. The parachute container 20 is a cylindrical container that stores the parachute 10. The parachute container 20 is formed, for example, with one end open to form an opening portion 23 and the other end at least partially closed by the bottom portion 22.

[0075] The parachute receptacle 20 is set on the upper surface of the aircraft unit 110, that is, on the surface facing away from the ground when the flight device 100 is flying. For example, it is preferable that the parachute receptacle 20 is installed on the upper surface of the aircraft unit 110 so that a center point C, which is the center of the aircraft unit 110, and an axis X1 passing through the center of the parachute receptacle 20 are coaxial.

[0076] The peripheral surface portion 21 is provided around the axis X1 and is formed, for example, in a cylindrical and tapered shape. The peripheral surface portion 21 is formed so as to expand in diameter from the bottom portion 22 toward the opening portion 23.

[0077] The bottom 22 is located opposite the opening 23. The bottom 22 is molded integrally with the peripheral surface portion 21 at the edge opposite to the edge on the opening 23 side. A storage hole is formed in the bottom 22, the center of which is the axis X1. The gas generator 30, which will be described later, enters the parachute container 20 through the storage hole and is attached to the bottom 22 from the side opposite to the opening 23. The parachute 10 and the gas generator 30 in the parachute container 20 are stored in a space defined by the peripheral surface portion 21 and the bottom 22.

[0078] The bottom 22 is further provided with two mounting portions (engagement members) 22a. The mounting portions 22a are provided on the surface of the bottom 22 facing the opening 23. The mounting portions 22a are provided at positions facing each other across the axis X1. The mounting portions 22a engage with a catapult 60, which will be described later, to prevent the catapult 60 from rotating.

[0079] The mounting parts 22a are fixed to the parachute container 20 by, for example, screws or the like inserted into the bottom part 22 and a fixing plate 32 (described later) from the side of the fixing plate 32. Two branched ends of the sling 12 of the parachute 10 are respectively connected to each mounting part 22a.

[0080] The lid 26 covers the opening 23 of the parachute container 20. The lid 26 may be made of, for example, a resin material or a thin film material. The lid 26 is formed in a dome shape in a cross section along the axis X1. The lid 26 preferably covers the entire opening 23 of the parachute container 20 so that the flying object 50, the launching part 40, and the parachute 10 arranged on the peripheral surface part 21 of the container 20 are not exposed to the outside. This makes it possible to prevent rain, dust, etc. from entering the inside of the parachute container 20. A sealing device may be provided between the lid 26 and the parachute container 20.

[0081] Lid 26 is fixed to peripheral portion 21 by, for example, a removable metal fitting (not shown). For example, the metal fitting fixes lid 26 to peripheral portion 21 with a fixing force sufficient to easily remove lid 26 when projectile 50 launched from launch portion 40 comes into contact with lid 26.

[0082] 6A and 6B are cross-sectional views for explaining the configuration of the gas generator 30. The gas generator 30 is a device that generates gas that serves as a thrust source for launching a flying object 50 (described later) from the launching section 40. The gas generator 30 is partially inserted into the parachute container 20 through a storage hole in the parachute container 20. For example, the gas generator 30 is disposed on the axis X1 of the parachute container 20 when viewed from the opening 23 side of the parachute container 20, and is fixed to the bottom 22 inside the parachute container 20 from the side opposite the opening 23.

[0083] The gas generator 30 is located below the parachute 10 in the parachute receptacle 20. The gas generator 30 is attached to the bottom 22 of the parachute receptacle 20 coaxially or approximately coaxially with respect to the axis X1 of the parachute receptacle 20. The gas generator 30 has a housing 31, a fixing plate 32, a gas generating agent 33, an ignition charge 34, and a sealing member 35.

[0084] The housing 31 holds a gas generating agent 33 therein. The housing 31 is formed, for example, with one end open and the other end closed. The housing 31 has a peripheral wall portion 311 and a ceiling wall portion 312. The peripheral wall portion 311 extends along the axis X1 and is formed in an annular shape around the axis X1.

[0085] The peripheral wall 311 has six connection ports 313 on the open side opposite the ceiling wall 312. The connection ports 313 are formed in the housing 31 at equal intervals from one another in the circumferential direction. The connection ports 313 are formed in a cylindrical shape, and are portions formed to protrude from the housing 31 so as to communicate between the inside and outside of the housing 31. One end of a gas introduction pipe 42, which will be described later, is inserted into the connection ports 313.

[0086] A guide portion 314 for guiding a lead wire (not shown) is provided on a part of the outer circumferential surface of the peripheral wall portion 311. The guide portion 314 is a portion formed radially outward from the peripheral wall portion 311 and has a greater thickness than other portions of the peripheral wall portion 311. The guide portion 314 is formed with a guide hole 315 whose extending direction intersects with the axis X1. The guide portion 314 is provided between two connecting ports 313 adjacent to each other in the circumferential direction of the housing 31.

[0087] The portion of guide hole 315 that leads to the inside of housing 31 is blocked by ignition charge . One end of the lead wire guided through guide hole 315 is connected to ignition charge .

[0088] The lead wire is an electric wiring for igniting the gas generator 30. The lead wire is made of, for example, vinyl wire, tin-plated wire, or enameled wire. The ignition charge 34 at one end of the lead wire is formed by, for example, applying a liquid agent mixed with resin or the like to the tip of the lead wire and solidifying it. The ignition charge 34 is in contact with the gas generating agent 33. The other end of the lead wire is connected to the injection control unit 70. The ignition charge 34 is ignited in response to, for example, an ignition signal output from the injection control unit.

[0089] The gas generator 30 is attached to the parachute receptacle 20 so that the ceiling wall portion 312 faces the opening 23 of the parachute receptacle 20.

[0090] The ceiling wall 312 has a convex annular protrusion 316 on the surface facing the opposite side to the opening of the housing 31. A guide hole 317 is formed in the ceiling wall 312 at the annular protrusion 316, which penetrates the housing 31 coaxially or approximately coaxially with the axis X1. In other words, the annular protrusion 316 is erected along the periphery of the guide hole 317. The guide hole 317 slidably guides the piston 68 of the catapult 60, which will be described later. An annular groove is formed on the inner peripheral surface of the guide hole 317, and an O-ring 318 is fitted into this groove.

[0091] The annular protrusion 316 of the ceiling wall 312 is formed with a through hole 319 that penetrates in a radial direction intersecting with the axis X1. A pin (rod-shaped locking member) 319p (see FIGS. 5A and 5B), such as a shear pin that breaks when the piston 68 slides, is inserted into the through hole 319. The pin 319p is also inserted into the piston 68. As a result, the piston 68 is locked to the housing 31.

[0092] The opening side of the housing 31 is closed by a fixing plate 32. The fixing plate 32 is formed, for example, in a circular shape when viewed from above. The fixing plate 32 preferably has an outer diameter slightly smaller than the outer diameter of the bottom portion 22. The fixing plate 32 is fixed to the bottom portion 22 from the side opposite the opening 23, for example, by screws or the like.

[0093] The fixing plate 32 has, for example, a convex portion 321 having a circular shape in a plan view. The convex portion 321 is formed so as to protrude from the side of the fixing plate 32 facing the housing 31 toward the housing 31 and into the inside of the housing 31 when the fixing plate 32 is attached to the housing 31. The outer diameter of the convex portion 321 is approximately the same as the inner diameter of the peripheral wall portion 311 of the housing 31.

[0094] The fixed plate 32 has, for example, a circular or substantially circular recess 322 in plan view at a position facing the guide hole 317 when attached to the housing 31. The recess 322 is formed coaxially with the axis X1 and has a slope on the opposite side to the ceiling wall portion 312. The recess 322 is tapered so that the diameter thereof decreases toward the center (axis X1) as it moves away from the housing 31. The recess 322 may be formed in a polygonal shape in plan view. The recess 322 is capable of partially accommodating the spherical end portion 682 of the piston 68.

[0095] An annular seal member 36 is provided at the contact portion between the housing 31 and the fixed plate 32. The seal member 36 prevents gas generated inside the housing 31 from leaking out from between the housing 31 and the fixed plate 32 to the outside.

[0096] The housing 31 and the fixing plate 32 are made of fiber-reinforced plastics (FRP) etc. The housing 31 and the fixing plate 32 are not limited to being made of resin, and may be made of metal.

[0097] The housing 31 and the fixing plate 32 are fastened to each other by fasteners such as screws. A gas generation chamber GS filled with gas is defined inside the housing 31 by the housing 31 and the fixing plate 32. The gas generation chamber GS is filled with a gas generating agent 33. The gas generating agent 33 is provided on the side of the ceiling wall portion 312 in a state spaced apart from the fixing plate 32.

[0098] The gas generating agent 33 is disposed in the gas generation chamber GS with a portion of its surface covered by the sealing member 35. In this embodiment, the gas generating agent 33 is fixed in the housing 31 so as not to be detachable. When the gas generating agent 33 chemically reacts with the ignition charge 34 ignited in response to an ignition signal output from the injection control unit, gas is generated. The sealing member 35 is formed of a material that is easily broken by the pressure of the gas generated from the gas generating agent 33. For example, the sealing member 35 is a thin film of polyester or the like.

[0099] Returning to Fig. 5A, the launching unit 40 holds the flying object 50 and launches the held flying object 50 to the outside by gas supplied from the gas generator 30. A launching unit 40 is provided for each flying object 50. The launching device 2 in the parachute device 1 is provided with six launching units 40 in order to hold six flying objects 50 separately.

[0100] The ejection sections 40 are provided in the parachute container 20. Specifically, each ejection section 40 is provided on the inner circumferential surface of the peripheral surface section 21. Each ejection section 40 may be provided on the inner circumferential surface of the peripheral surface section 21 via a cover member (not shown).

[0101] The ejection section 40 includes a holder 41 and a gas introduction pipe 42. The holder 41 is formed in a tubular shape (for example, a cylindrical shape). The holder 41 is inserted inside the flying object 50. Both ends of the tip side and base side of the holder 41 are open, and the gas introduction pipe 42 is connected to the base side end 410 so as to be able to supply gas. The base side end 410 of the holder 41 is formed, for example, in a flange shape having a flange protruding in the radial direction, and supports one end of the flying object 50.

[0102] The gas introduction pipe 42 is a tubular member formed of, for example, a metal material such as stainless steel or a resin material. One end of the gas introduction pipe 42 is inserted into an opening of the end 410 on the base end side of the holder 41. This allows communication between the gas introduction pipe 42 and the internal space of the holder 41. A sealing device (not shown) is provided at the connection portion between the holder 41 and the gas introduction pipe 42. The sealing device prevents leakage of gas introduced into the holder 41 through the gas introduction pipe 42 from the gas generation chamber GS, which is filled with gas of the gas generator 30.

[0103] A sealing device (gasket) 43 is provided at the tip end 411 of the holder 41 to prevent gas introduced into the holder 41 from the gas generation chamber GS, which is filled with gas from the gas generator 30, via the gas inlet pipe 42 from leaking from the gap between the inner surface of the projectile 50 and the outer surface of the holder 41.

[0104] The launch section 40 is inclined in a direction away from the axis X1 of the parachute container 20, in the direction in which the axis X2 extends along the longitudinal direction and passes through the center of the retaining body 41, with respect to the axis X1 of the parachute container 20, so that the tip end 411 is inclined in a direction away from the axis X1 of the parachute container 20.

[0105] The multiple launching units 40 are disposed at equal intervals around the axis X1 of the parachute container 20. For example, if the parachute device 1 has six launching units 40, the launching units 40 are disposed at intervals of approximately 60° (≈360° / 6) around the axis X1 of the parachute container 20.

[0106] The flying body 50 is a member that leads the parachute 10 to the outside of the parachute container 20 and assists in the opening (deployment) of the parachute 10. The flying body 50 is formed, for example, from a resin material or a metal material. The flying body 50 is formed, for example, in a rod shape. More specifically, the flying body 50 is formed, for example, in a partially hollow cylindrical shape (for example, a hollow bullet shape).

[0107] The flying object 50 is engaged with the holder 41 of the launching section 40 while connected to the parachute 10. Specifically, the flying object 50 is closed at the tip end and connected to the parachute 10 via the connecting line 13. The flying object 50 is open at the base end, into which the holder 41 is inserted. When held by the launching section 40, the flying object 50 is supported on the end 410 on the base end side of the holder 41.

[0108] In this embodiment, six flying bodies 50 are provided, but it is sufficient that at least one flying body 50 is provided, and the number of flying bodies 50 is not particularly limited.

[0109] The flying object 50 is fixed to the holder 41 by a pin (shear pin) 51 to prevent the flying object 50 from falling from the launching part 40 when the parachute device 1 is not in use. For example, with a through hole formed in the side of the flying object 50 aligned with a hole formed in the outer circumferential surface of the holder 41 of the launching part 40, the pin (shear pin) 51 is inserted into the through hole on the flying object 50 side and the hole on the holder 41 side. This allows the flying object 50 to be fixed to the launching part 40 when the parachute device 1 is not in use.

[0110] The pin 51 is configured to be breakable by a force applied to the pin 51 in the ejection direction (direction along the axis X2) of the flying object 50 when the flying object 50 is ejected. This prevents the pin 51 from interfering with the ejection of the flying object 50. For example, an aluminum alloy, a resin, or the like is preferably used as the pin 51. The distance between the tip side of the flying object 50 and the tip side end 411 of the holding body 41 of the ejection section 40 may be determined by appropriately setting the position of a through hole formed in the side surface of the flying object 50 so that the gas pressure for releasing the flying object 50 is appropriate.

[0111] The catapult 60 is attached to the gas generator 30 from the side of the ceiling wall portion 312, and is a member that pushes the parachute 10 toward the opening 23. The catapult 60 is attached to the gas generator 30 so as to be slidable along the axis X1.

[0112] The catapult 60 includes a push member 61 and a piston (rod-shaped member) 68. The push member 61 is made of, for example, an aluminum alloy, a resin, or the like, and is formed in a circular shape in a plan view. Fig. 7A is a plan view of the push member 61 of the catapult 60. Fig. 7B is a cross-sectional view taken along line AA in Fig. 7A. Fig. 7C is a cross-sectional view taken along line BB in Fig. 7A.

[0113] The push member 61 includes six peripheral wall portions 62, a ceiling wall portion 63, and a flange portion 64. The peripheral wall portions 62 are provided around the axis X1 at a predetermined interval and extend along the axis X1. Slits 65 are provided between the peripheral wall portions 62 in the circumferential direction. The peripheral wall portions 62 are connected to each other at one end by the ceiling wall portion 63. The push member 61 is formed in a cylindrical shape as a whole. In this embodiment, the push member 61 has six peripheral wall portions 62, but this can be appropriately changed depending on the number of launching portions 40 and flying objects 50.

[0114] When the catapult 60 is attached to the gas generator 30, the outer diameter of the peripheral wall portion 62a corresponding to the guide portion 314 in the housing 31 of the gas generator 30 is larger than the outer diameter of the other peripheral wall portions 62b. In other words, the peripheral wall portion 62a is located radially outward from the peripheral wall portion 62b. When the catapult 60 is attached to the gas generator 30, the peripheral wall portions 62a and 62b have a shape that conforms to the housing 31 of the gas generator 30.

[0115] When the catapult 60 is attached to the gas generator 30, each slit 65 is located at a position corresponding to the gas introduction pipe 42 of the ejection section 40 and the flying object 50. This ensures that the catapult 60 does not impede the ejection motion of the flying object 50 from the parachute container 20.

[0116] The ceiling wall portion 63 has a recess 66 formed in a concave shape on the opposite side to the flange portion 64 when viewed from inside the catapult 60, in the center near the axis X1. The recess 66 fixedly accommodates one end 681 of the piston 68. In other words, the pusher member 61 and the piston 68 are fixed to each other.

[0117] The flanges 64 are provided at the end (edge) of each peripheral wall portion 62 on the opposite side to the ceiling wall portion 63. The flanges 64 extend radially outward from each peripheral wall portion 62. A pair of flanges 64 facing each other in the radial direction are formed with a notch 67 extending toward the peripheral wall portion 62. In this embodiment, the notch 67 is provided in one of the multiple peripheral wall portions 62, for example, the flanges 64 connected to the peripheral wall portion 62a and the peripheral wall portion 62b facing the peripheral wall portion 62a in the radial direction.

[0118] When the catapult 60 is attached to the gas generator 30, the attachment portion 22a provided on the parachute container 20 is partially inserted into the notch 67. This restricts the rotation of the catapult 60 relative to the gas generator 30, and the catapult 60 does not interfere with the ejection motion of the flying object 50 from the parachute container 20.

[0119] FIG. 8 is a diagram for explaining the configuration of the piston 68 of the catapult 60. The piston 68 is a rod-shaped metal or resin member having a predetermined length along the axis X1 when the catapult 60 is attached to the gas generator 30. The cross-sectional shape of the piston 68 intersecting the longitudinal direction is circular. Here, the longitudinal direction is the sliding direction of the piston 68, and is a direction parallel or approximately parallel to the axis X1. The length of the piston 68 from one end to the other end is a maximum of about 0.5 mm from the bottom 22 of the parachute container 20 to the opening 23 along the axis X1. 8The catapult 60 is positioned below the parachute 10 when the parachute 10 is contained in the parachute container 20, and the length of the piston 68 along the axis X1 is preferably 0.8 times or less the height of the parachute container 20 along the axis X1.

[0120] The piston 68 is inserted into a guide hole 317 of the housing 31 of the gas generator 30, and penetrates the gas generating agent 33 inside the housing 31. The piston 68 is fixed to the ceiling wall 63 of the catapult 60, for example, by adhesive, in a state where one end 681 of the piston 68 is accommodated in the recess 66 of the catapult 60. A through hole 69 is formed on the side of one end 681 of the piston 68. The through hole 69 extends, for example, perpendicular to the axis X1. A pin 319p for engaging the piston 68 with the housing 31 is inserted into the through hole 69.

[0121] The other end of the piston 68 is rounded and formed as a spherical end 682. The spherical end 682 of the piston 68 has, for example, a hemispherical surface. The piston 68 has a flange 683 on the side of the spherical end 682. The flange 683 is formed in an annular shape over the entire circumference of the piston 68 around the axis X1. The outer diameter of the flange 683 is larger than the inner diameter of the guide hole 317 of the housing 31. Therefore, the sliding of the piston 68 toward the opening 23 of the parachute container 20 is limited by the flange 683 coming into contact with the ceiling wall 312 of the housing 31.

[0122] When the piston 68 is locked to the housing 31 by the pin 319 p , the spherical end 682 is received in the recess 322 of the fixed plate 32 .

[0123] The parachute device 1 is provided with a launch control unit 70 (see Figs. 5A and 5B). The launch control unit 70 is a circuit that controls the launch of the flying object 50 and the pusher member 61 of the catapult 60 from the launch unit 40. The launch control unit 70 is an electronic circuit that outputs an ignition signal when it receives a control signal instructing the opening of the parachute 10 from the drop control unit 116 in the aircraft unit 110, for example. In this embodiment, the launch control unit 70 is provided outside the parachute container 20, for example, inside the aircraft unit 110, but may be housed in the parachute container 20.

[0124] The launch control unit 70 is an electronic circuit that outputs an ignition signal when it receives a control signal instructing the opening of the parachute 10 from the drop control unit 116 in the aircraft unit 110. When the ignition signal is input to the gas generator 30 via a lead wire, the ignition charge 34 ignites and gas is generated from the gas generating agent 33. As described later, the flying object 50 receives the pressure of the gas generated by the gas generator 30 to obtain thrust, and is launched from the launch unit 40. In addition, the pushing member 61 of the catapult 60 is slid by the pressure of the gas generated by the gas generator 30.

[0125] Next, the flow of opening the parachute 10 in the parachute device 1 according to this embodiment will be described. Fig. 9A is a diagram showing the state of the flying object 50 and the catapult 60 after the parachute 10 is pushed out. Fig. 9B is a partially enlarged view for explaining the sliding of the catapult 60 by the gas. Note that the parachute 10 is not shown in Fig. 9A.

[0126] For example, when a flying device 100 equipped with a parachute device 1 is flying and a strong wind causes the inclination of the body (body unit 110) of the flying device 100 to exceed the inclination threshold value 118b for a predetermined period of time, and the abnormality detection unit 115 determines that an abnormal state exists, the drop control unit 116 on the flying device 100 side sends a control signal to the launch control unit 70 of the parachute device 1 to instruct the opening of the parachute 10.

[0127] When the injection control unit 70 receives a control signal instructing the opening of the parachute 10, it outputs an ignition signal to the gas generator 30 via the lead wire. Specifically, the injection control unit 70 passes a predetermined current through the lead wire to ignite the ignition charge 34 in contact with one end of the lead wire.

[0128] Ignition of the ignition charge 34 causes a chemical reaction in the gas generating agent 33 to generate gas. When the pressure of the gas increases, the gas breaks the sealing member 35 and fills the gas generating chamber GS.

[0129] The gas in the gas generation chamber GS is introduced into the holder 41 of each ejection section 40 from each connection port 313 through each gas introduction pipe 42. The flying object 50 held by each holder 41 receives pressure of gas discharged from the tip end 411 of the holder 41, moves in a direction along the axis X2 of the holder 41 of the ejection section 40, and collides with the lid 26. The lid 26 is detached from the parachute container 20 by the collision of the flying object 50, and the flying object 50 is ejected from the parachute container 20 to the outside.

[0130] Furthermore, the gas in the gas generation chamber GS enters the recess 322 of the fixed plate 32 and acts on the spherical end 682 of the piston 68. The spherical end 682 is in point contact or approximate point contact with the recess 322 at its tip, and the contact area with the recess 322 is extremely small. Therefore, gas acts on the spherical end 682 of the piston 68 from the side of the fixed plate 32 so as to lift the piston 68.

[0131] One end 681 of the piston 68, which is located opposite the spherical end 682, is in the atmosphere, which has a lower pressure than the inside of the gas generation chamber GS, so that the piston 68 slides along the longitudinal direction toward the opening 23 of the parachute container 20. As a result, the pushing member 61 of the catapult 60 is lifted toward the opening 23 and away from the gas generator 30 until the flange 683 of the piston 68 hits the ceiling wall 312 of the housing 31. Due to the rise of the pushing member 61, the parachute 10 is pushed out from the bottom 22 side of the parachute container 20 toward the opening 23.

[0132] 10 is a schematic diagram showing the parachute 10 of the flying device 100 according to this embodiment in an open state. When each flying object 50 is launched from the parachute container 20, the parachute 10 (canopy body 11) is pulled by each flying object 50 via the connecting rope 13. The pulling of the parachute 10 by the flying object 50 is assisted by the pushing of the parachute 10 by the sliding of the pushing member 61 of the catapult 60 from the bottom 22 side of the parachute container 20 to the opening 23.

[0133] After the parachute 10 is released from the parachute container 20, the canopy 11 of the parachute 10 is pulled further by each flying object 50 and unfolded from the folded state. This causes air to flow into the canopy 11, causing the canopy 11 to open.

[0134] According to the parachute device 1 of the present embodiment, the gas generated from the gas generator 30 passes through the gas introduction pipe 42 and is released from the launching part 40, so that the gas pressure launches the flying object 50 from the launching part 40, and the gas pressure in the gas generating chamber GS causes the piston 68 of the catapult 60 to rise and lift the pushing member 61. As a result, the catapult 60 assists the flying object 50 in pulling the canopy 11 of the parachute 10, so that the canopy 11 can be released from the parachute container 20 more quickly.

[0135] Therefore, even if a rotorcraft capable of remaining stationary in the sky, such as the flight device 100, cannot obtain the effect of air currents during a fall, by attaching the parachute device 1 of this embodiment, it is possible to quickly and reliably open the parachute and allow the aircraft to fall gently.

[0136] Moreover, each flying object 50 shoots out in the direction in which the axis X2 of the launching section 40 extends. That is, each flying object 50 flies in a direction away from the axis X1 of the parachute container 20. As a result, each flying object 50 can effectively pull the canopy 11 of the released parachute 10 from its apex toward its edge (periphery) compared to when the flying object 50 is launched straight up (in a direction parallel to the axis X1 of the parachute container 20). This allows the canopy 11 to open quickly and make it easier to fill with air.

[0137] Furthermore, the piston 68 of the catapult 60 has a flange 683 on the spherical end 682 which comes into contact with the ceiling wall 312 of the housing 31, so that the piston 68 does not come out of the housing 31, and therefore the catapult 60 is not released outside the parachute storage container 20 together with the parachute 10.

[0138] Furthermore, the catapult 60 has a flange 64, which increases the surface area for supporting the parachute 10 from the side of the bottom 22 of the parachute container 20. This effectively assists in the release of the parachute 10. In addition, the flange 64 does not overlap with the launch part 40 and the flying object 50 in the direction of the axis X1, and does not interfere with the launch of the flying object 50.

[0139] Furthermore, the pushing member 61 of the catapult 60 is engaged with the mounting portion 22a provided on the bottom 22 of the parachute container 20 at the notch 67, so that the pushing member 61 of the catapult 60 is prevented from rotating around the piston 68. This makes it possible to prevent the pushing member 61 from overlapping with the launching portion 40 and the flying object 50 in the direction of the axis X1, and to prevent the catapult 60 and the flying object 50 from interfering with each other's movements when gas is generated.

[0140] Additionally, the piston 68 has a spherical end 682 such that gas within the gas generation chamber GS can effectively act on the spherical end 682 to lift the piston 68 .

[0141] Furthermore, the fixed plate 32 of the gas generator 30 is provided with a recess 322 having a slope, and the spherical end 682 of the piston 68 is accommodated in this recess 322, so that the generated gas can easily act on the spherical end 682 of the piston 68 along the slope.

[0142] Furthermore, an O-ring 318 is provided in the guide hole 317 of the housing 31, which prevents the gas in the gas generation chamber GS from leaking to the outside through the guide hole 317, and the gas in the gas generation chamber GS acts on the piston 68 effectively.

[0143] Furthermore, since the piston 68 is locked to the housing 31 by the pin 319p, the piston 68 can be prevented from moving in a manner that pushes up the pusher member 61 due to, for example, a sudden descent of the flight device 100.

[0144] <Other> Although the preferred embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and includes all aspects included in the concept of the present invention and the scope of the claims. In addition, each configuration may be appropriately and selectively combined so as to achieve at least a part of the above-mentioned problems and effects. For example, in the above embodiment, the extrusion member 61 has multiple peripheral wall portions 62, but it may have one peripheral wall portion 62 formed integrally in the circumferential direction.

[0145] For example, in the above embodiment, the launching device 2 of the parachute 10 has the launching unit 40 and the projectile 50, but it may only include the parachute container 20, the gas generator 30, the catapult 60, and the launch control unit 70. With this launching device, the piston 68 rises and the pushing member 61 is lifted by the pressure of the gas generated by the gas generator 30. This pushes out the canopy 11 of the parachute 10 from the parachute container 20, so that the canopy 11 can be released from the parachute container 20 more quickly. [Explanation of symbols]

[0146] 1...parachute device, 2...launching device, 10...parachute, 11...canopy, 12...hanging rope, 13...connecting rope, 20...parachute container (storage section), 21...periphery, 22...bottom, 22a...mounting section (engagement member), 23...opening, 26...lid, 30...gas generator, 31...housing, 311...periphery, 312...ceiling wall, 313...connecting port, 314...guide, 315...guide hole, 316...ring shaped convex portion, 317... guide hole, 318... O-ring, 319... through hole, 319p... pin (rod-shaped locking member), 32... fixing plate, 321... convex portion, 322... concave portion, 33... gas generating agent, 34... ignition charge, 35... sealing member, 36... seal member, 40... ejection portion, 41... holder, 410... base end portion, 411... tip end portion, 42... gas introduction pipe, 50... projectile, 51... pin (shear pin), 60... catapult, 61... extrusion member, 62, 62a, 62b... peripheral wall portion, 63... ceiling wall portion, 64... flange portion, 65... slit, 66... ​​recessed portion, 67... notch, 68... piston (rod-shaped member), 681... one end portion, 682... spherical end portion (other end), 683... flange portion, 70... ejection control portion, 100... flight device, 110... aircraft unit, 111... power supply portion, 111a... battery, 111b... power supply circuit, 112... sensor portion, 112a... angular velocity sensor sensor, 112b...acceleration sensor, 112c...magnetic sensor, 112d...angle calculation unit, 113...motor drive unit, 114...flight control unit, 115...abnormality detection unit, 116...drop control unit, 117...communication unit, 118...storage unit, 118a...remaining capacity threshold, 118b...tilt threshold, 120...thrust generation unit, 125...propeller, 126...motor, 127...housing, 130...alarm device, 140...arm unit, 180...external device

Claims

1. With a parachute a cylindrical container having an open end and a bottom at the other end for accommodating the parachute; a gas generator attached to a bottom of the container for generating gas; at least one projectile disposed on a periphery of the receptacle and connected to the parachute; a launching section that is disposed on a peripheral surface of the container section and is connected to the gas generator, and that holds the projectile so as to be launchable by gas from the gas generator; a catapult slidably attached to the gas generator so that gas from the gas generator pushes the parachute from the bottom side toward the opening of the container; Equipped with The catapult is a cylindrical extrusion member having an open end and a wall at the other end, the extrusion member being fitted over the gas generator so as to accommodate the gas generator; a rod-shaped member having one end fixed to the wall portion of the push-out member and formed so as to be engageable with the gas generator at the other end side so as not to be removable from the gas generator; having the extrusion member has at least one flange portion extending outward from an edge on a side of the opening and provided so as not to overlap with the injection portion in a sliding direction; A parachute device, characterized in that the storage portion has an engagement member that engages with the flange portion to prevent relative rotation of the push-out member with respect to the storage portion.

2. 2. The parachute apparatus according to claim 1, wherein the rod-shaped member is rounded at the other end.

3. 3. A parachute device as described in claim 1 or 2, characterized in that the bottom of the storage section has a recess formed with an inclined surface, and the other end of the rod-shaped member is stored in the recess.

4. 4. A parachute device as described in any one of claims 1 to 3, characterized in that the gas generator has a guide hole that slidably guides the rod-shaped member, and an O-ring is provided on the inner surface of the guide hole.

5. A parachute; a cylindrical container having an open end and a bottom at the other end for accommodating the parachute; a gas generator attached to a bottom of the container for generating gas; at least one projectile disposed on a periphery of the receptacle and connected to the parachute; a launching section that is disposed on a peripheral surface of the container section and is connected to the gas generator, and that holds the projectile so as to be launchable by gas from the gas generator; a catapult slidably attached to the gas generator so that gas from the gas generator pushes the parachute from the bottom side toward the opening of the container; Equipped with The catapult is a cylindrical extrusion member having an open end and a wall at the other end, the extrusion member being fitted over the gas generator so as to accommodate the gas generator; a rod-shaped member having one end fixed to the wall portion of the push-out member and formed so as to be engageable with the gas generator at the other end side so as not to be removable from the gas generator; having The gas generator comprises: a guide hole for slidably guiding the rod-shaped member, an O-ring being provided on an inner peripheral surface of the guide hole, and an annular protrusion being provided along an edge of the guide hole on the side of the opening of the accommodation portion, A locking member is provided which penetrates the annular protrusion and the rod-shaped member in a radial direction in a direction intersecting an extending direction of the rod-shaped member and is broken by sliding of the rod-shaped member. A parachute device characterized by:

6. A flying object connectable to a parachute; a cylindrical container having an open end and a bottom at the other end for accommodating the parachute; a gas generator attached to the bottom of the container for generating gas; a launching section that is disposed on a peripheral surface of the container section and is connected to the gas generator, and that holds the projectile so as to be launchable by gas from the gas generator; a catapult slidably attached to the gas generator so that gas from the gas generator pushes the parachute from the bottom side toward the opening of the container; Equipped with The catapult is a cylindrical extrusion member having an open end and a wall at the other end, the extrusion member being fitted over the gas generator so as to accommodate the gas generator; a rod-shaped member having one end fixed to the wall portion of the push-out member and formed so as to be engageable with the gas generator at the other end side so as not to be removable from the gas generator; having the extrusion member has at least one flange portion extending outward from an edge on a side of the opening and provided so as not to overlap with the injection portion in a sliding direction; 11. A parachute ejection device, comprising: a housing portion having an engagement member that engages with the flange portion to prevent relative rotation of the pusher member with respect to the housing portion.

7. a cylindrical container having an open end and a bottom at the other end for accommodating the parachute; a gas generator attached to the bottom of the container for generating gas; a catapult slidably attached to the gas generator so that gas from the gas generator pushes the parachute from the bottom side toward the opening of the container; Equipped with The catapult is a cylindrical extrusion member having an open end and a wall at the other end, the extrusion member being fitted over the gas generator so as to accommodate the gas generator; a rod-shaped member having one end fixed to the wall portion of the push-out member and formed so as to be engageable with the gas generator at the other end side so as not to be removable from the gas generator; having the gas generator has a guide hole for slidably guiding the rod-shaped member, an O-ring is provided on an inner peripheral surface of the guide hole, and an annular protrusion is provided along an edge of the guide hole on the side of the opening of the accommodation portion, A locking member is provided which penetrates the annular protrusion and the rod-shaped member in a radial direction in a direction intersecting an extending direction of the rod-shaped member and is broken by sliding of the rod-shaped member. A parachute launching device comprising:

8. The body unit, a thrust generating unit connected to the aircraft unit and configured to generate thrust; A flight control unit that controls the thrust generating unit; An abnormality detection unit that detects abnormalities during flight; A parachute device according to any one of claims 1 to 5, A drop control unit that launches the flying object in response to detection of an abnormality by the abnormality detection unit. A flying device characterized by:

Images