Safety device and aircraft provided with safety device

Abstract

[Problem] To provide a safety device capable of suppressing breakage of a top plate section of a lid when the lid is pressed from the inside in order to remove the lid, and an aircraft equipped with the safety device. [Solution] A safety device 100 is for an aircraft 1 and comprises: a storage container 10 having a lid 12; an ejection object 20 stored in the storage container 10; and an actuator 30 having a piston member 31 that removes the lid 12 by sliding to one side and thereby pressing the lid 12 from the inside, and a gas generator 38 for generating driving force whereby the piston member 31 is made to slide to the one side. The lid 12 includes a top plate section 12a positioned on one side of the piston member 31 and curved so as to be convex on one side, and a receiving section 12b that protrudes from an inner surface 12e of the top plate section 12a toward the other side and receives the piston member 31 when the piston member 31 slides to the one side.

Description

Safety device and flying vehicle equipped with safety device

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

[0002] In recent years, advances in autonomous control and flight control technologies have accelerated the industrial use of drones, or other flying objects equipped with multiple rotors. Drones fly by simultaneously and balancedly rotating multiple rotors, for example. Drones ascend and descend by increasing or decreasing the rotor speed, and move forward or backward by tilting the aircraft through an increase or decrease in the rotor speed. These flying objects are not only used for disaster relief, cargo transportation, and landscape photography, but are also expected to carry people on board, and their use is expected to expand globally in the future.

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

[0004] For example, Patent Document 1 discloses a device that includes a container having a lid, a projectile contained in the container, and a member that pushes the lid from the inside to remove it.

[0005] Chinese Patent Application Publication No. 111361738

[0006] However, when the lid is pressed from the inside with a pressing force generated by the actuator (using the driving force of the actuator) to remove the lid, if the top plate of the lid is damaged, the projectile contained in the container may not be properly ejected. Therefore, in order to remove the lid with an appropriate pressing force that does not damage the top plate of the lid, it may be necessary to adjust the pressing force, for example, to reduce it from a conventional level. However, when the driving force of the actuator is also used to eject the projectile, adjusting the pressing force to reduce it not only makes the manufacture of the safety device more complicated, but also reduces the ejection force when ejecting the projectile, which may result in the projectile not being ejected sufficiently.

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

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

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

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

[0011] (4) In the safety device of (1) or (2) 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 (4) above, it is preferable that the trigger device has a judgment unit that judges whether the flying object is in an abnormal state or not, and a memory unit that stores judgment data at that time when the judgment unit judges that the flying object is in an abnormal state.

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

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

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

[0017] (10) The flying vehicle according to the present invention is characterized by comprising an airframe, a safety device according to (1) or (2) above connected to the airframe, and one or more propulsion mechanisms connected to the airframe and propelling the airframe.

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

[0019] 1 is a perspective view showing a safety device according to a first embodiment of the present invention. FIG. 2 is a side view showing the safety device of FIG. 1. FIG. 3 is a plan view showing the safety device of FIG. 1. FIG. 4 is a cross-sectional view taken along line A-A in FIG. 3. FIG. 5 is a cross-sectional view taken along line B-B in FIG. 3. FIG. 6 is a block diagram showing the functional configuration of the safety device of FIG. 1. FIG. 7 is a front view showing an aircraft equipped with the safety device of FIG. 1. FIG. 8 is a schematic view showing the analysis results of a lid section according to a first comparative example. FIG. 9 is a schematic view showing the analysis results of a lid section according to a second comparative example. FIG. 10 is a schematic view showing the analysis results of a lid section according to the first example. FIG. 11 is a cross-sectional view showing a lid section according to a first modified example. FIG. 12 is a cross-sectional view showing a lid section according to a second modified example. FIG. 13 is a schematic view showing the analysis results of a lid section according to the second example. FIG. 14 is a cross-sectional view showing a safety device according to a second embodiment of the present invention. FIG. 15 is a cross-sectional view showing a safety device according to a third embodiment of the present invention.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0039] The side wall portion 12d extends from the other end of the top plate portion 12a to the other side. The side wall portion 12d is cylindrically formed along the other end of the top plate portion 12a. The side wall portion 12d opens to the other side. The other end of the side wall portion 12d is formed to fit with the annular portion 11g. Specifically, the inner circumferential surface of the other end of the side wall portion 12d is formed to fit with the outer circumferential surface of the annular portion 11g. As shown in FIG. 5 , the side wall portion 12d has multiple holes 12g. Here, the ratio of the outer diameter of the side wall portion 12d to the length from the end of the side wall portion 12d on the main body portion 11 side to the top of the top plate portion 12a is preferably 1:1 to 1:1.5. Furthermore, if the top plate portion 12a has a hollow hemispherical shape, the outer radius of the top plate portion 12a is half the outer diameter of the side wall portion 12d.

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

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

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

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

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

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

[0046] The tubular member 32 is fitted or loosely fitted into the main body 31a at the other end of the rod-shaped portion 31b while contacting the main body 31a. A gap may be present between the inner peripheral surface of the tubular member 32 and the outer peripheral surface of the rod-shaped portion 31b, as long as the gap does not interfere with plastic deformation due to substantially uniform compression when the retaining member 33 and the stopper portion 35b of the cylinder 35 collide. The tubular member 32 is made of a material that undergoes plastic deformation and has a lower tensile strength than the piston member 31 (e.g., metals such as iron, aluminum, brass, copper, etc., 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, nylon 4,6, etc.). The tubular member 32 and the inner peripheral surface of the cylinder 35 are spaced apart by a predetermined distance or more (for example, a distance at which the tubular member 32, which has been plastically deformed by substantially uniform compression when the holding member 33 collides with the stopper portion 35b of the cylinder 35, does not come into contact with the inner peripheral surface of the cylinder 35) so that the tubular member 32 does not come into contact with the inner peripheral surface of the cylinder 35. As a result, even if the holding member 33 collides with the stopper portion 35b of the cylinder 35 and is plastically deformed, the tubular member 32 deforms without being hindered by the inner peripheral surface of the cylinder 35, and the impact on the piston member 31 is sufficiently absorbed.

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

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

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

[0050] The hole 35a is a hole through which the piston member 31 protrudes toward one side relative to the cylinder 35 during operation. The hole 35a penetrates one end of the cylinder 35 in the sliding direction. The piston member 31 is inserted into the hole 35a. The stopper portion 35b is formed inside the one end of the cylinder 35. The stopper portion 35b is cylindrical and disposed so as to surround a portion of the rod-shaped portion 31b of the piston member 31. The stopper portion 35b limits the sliding range of the piston member 31 toward one side. When the piston member 31 slides toward one side due to the driving force generated by the gas generator 38, the holding member 33 collides with the stopper portion 35b, thereby limiting the sliding toward one side. The groove portion 35c is provided on the inner peripheral surface of the stopper portion 35b along the circumferential direction of the stopper portion 35b.

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

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

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

[0054] The gas generator 38 is located on the other side of the piston member 31 and is an example of a power source that generates a driving force to slide the piston member 31 to one side. The gas generator 38 is inserted into the opening on the other side of the cylinder 35 and is disposed on the other side of the piston member 31. The gas generator 38 may be an igniter alone, or a gas generator equipped with an igniter and a gas generant. Alternatively, 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 thereof. Furthermore, the gas generator may be equipped with a heating element made of a gas generant composition or a thermite composition to reliably propel the piston when the pressurized gas is released. The gas generator 38 is, for example, a micro gas generator. The gas generator 38 has a cup body 38a and multiple electrodes 38b.

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

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

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

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

[0059] As shown in FIG. 6 , the safety device 100 includes a trigger device 60. For example, the trigger device 60 is housed in a housing (not shown) or the like and mounted on the aircraft 1. The trigger device 60 includes a control unit 61, a determination unit 62, a memory unit 63, and a notification unit 64. The control unit 61 includes a CPU, ROM, RAM, etc. The determination unit 62 determines whether the aircraft 1 is in an abnormal state based on a signal received from a detection unit 70 that detects the state of the aircraft 1 (failure, loss of control, flight state (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 (signal transmission program, signal reception program, etc.) to automatically transmit command signals, activation signals, etc. to each component depending on the situation (for example, when the aircraft 1 is in an abnormal state (at the time of an abnormality)), or receives command signals, etc. from an external device via the communication unit 71 and transmits command signals, activation signals, etc. to each component. For example, when the aircraft 1 is in an abnormal state, the CPU executes various programs to send an automatic start-up signal to the actuator 30 to automatically start the actuator 30, and when a trigger signal is received from a remote signal transmitter / receiver operated by an operator, the CPU executes various programs to send a start-up signal to the actuator 30.

[0060] 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 detection unit 70 includes at least one of these. Other examples of the detection unit 70 include a detection 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 detection unit that detects a malfunction of equipment installed in the aircraft 1, etc.

[0061] Furthermore, the above-mentioned "abnormal state" refers to a case where the determination unit 62 determines that the aircraft 1 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 aircraft 1 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 aircraft 1, or an abnormal signal has been received from the control unit of the aircraft 1," "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 aircraft 1 is approaching or entering a prohibited area, or has deviated from the planned route, based on the position information of the aircraft 1," "the remaining amount of power supply (battery) or fuel of the aircraft 1 is below a specified value," or "the acceleration of the aircraft 1 is below a specified value or above a specified value." This occurs when it is determined that one or more of the following conditions have occurred: "The angular velocity of the aircraft 1 is greater than or equal to a specified value," "The attitude angle of the aircraft 1 is greater than or equal to a specified value (for example, tilted 45° or more from the horizontal)," "The aircraft 1 is approaching an obstacle that may cause damage to the aircraft 1 (detected by a laser sensor (such as LiDAR) or an infrared sensor, or by a vision sensor and image analysis)," "If the aircraft 1 is capable of carrying a person, an emergency situation has occurred for a person inside the aircraft 1 (detected by an emergency signal being transmitted from the emergency signal transmitter)," or "A fatal malfunction of equipment installed in the aircraft 1."

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

[0063] The control unit 61 is an example of a stopping unit that stops one or more propulsion mechanisms 3 (described later) when the determination unit 62 determines that the aircraft 1 is in an abnormal state. For example, the control unit 61 stops one or more propulsion mechanisms 3 by transmitting a signal to stop one or more propulsion mechanisms 3 via the communication unit 71 to a control unit of the aircraft 1 that controls the one or more propulsion mechanisms 3. Specifically, the control unit 61 stops one or more propulsion mechanisms 3 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.

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

[0065] The storage unit 63 stores the determination data when the determination unit 62 determines that the aircraft 1 is in an abnormal state. 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.

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

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

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

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

[0070] Next, the results of a computer analysis of stress in the lids according to the first comparative example, the second comparative example, and Example 1 will be described with reference to Figures 8 to 10. The software "Autodesk Inventor Nastran" (manufactured by Autodesk Inc.) was used for this computer analysis of stress.

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

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

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

[0074] Thus, it was found that the stress applied to a curved tabletop is smaller than that applied to a flat tabletop. It was also found that the location of maximum stress differs between a flat tabletop and a tabletop with a curved surface. That is, in a flat tabletop, not only is the maximum stress generated at the outer edge of the joint between the support and the tabletop, but the stress generated is approximately twice as great as in a tabletop with a curved surface. Therefore, it was found that the strength of the outer edge of the joint between the support and the tabletop in a flat tabletop needs to be significantly stronger than in a tabletop with a curved surface.

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

[0076] This allows the receiving portion 12b, which protrudes from the inner surface 12e of the top plate 12a to the other side and receives the piston member 31 when the piston member 31 slides to one side, to disperse and reduce the stress applied to the top plate 12a (particularly the curved surface) when the receiving portion 12b is pushed to one side. Therefore, the safety device 100 can be easily designed to prevent damage to the top plate 12a when the lid 12 is pushed from the inside to remove the lid 12. As a result, the safety device 100 can be made lighter than before while still properly ejecting the projectile 20. In other words, since there is no need to adjust the pushing force (driving force) generated by the actuator 30 to be lower than before to prevent damage to the top plate 12, the projectile 20 can be ejected from the container 10 as before. Furthermore, since there is no need to strengthen the strength of the lid 12 compared to before (for example, there is no need to increase its thickness, and it can be made without using a relatively strong material), the safety device 100 can be easily manufactured, is relatively lightweight, and can be manufactured at low cost. Furthermore, because the top panel 12a is curved, the drag coefficient value is smaller, which reduces air resistance and reduces the consumption of the battery mounted on the aircraft 1. Furthermore, because the top panel 12a is curved, the appearance gives people a soft impression.

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

[0078] This further reduces the stress applied to the top plate 12a (particularly the curved surface) when the receiving portion 12b is pushed to one side, thereby further dispersing and reducing the stress. Therefore, damage to the top plate 12a when the lid 12 is pushed from the inside to remove the lid 12 can be further suppressed, and the injection product 20 can be properly injected.

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

[0080] This further reduces the stress applied to the top plate 12a (particularly the curved surface) when the receiving portion 12b is pushed to one side, thereby further dispersing and reducing the stress. Therefore, damage to the top plate 12a when the lid 12 is pushed from the inside to remove the lid 12 can be further suppressed, and the injection product 20 can be properly injected.

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

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

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

[0084] This allows one or more propulsion mechanisms 3 to be stopped if it is determined that the aircraft 1 is in an abnormal state.

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

[0086] This allows the determination unit 62 to store the determination data at that time when it determines that the aircraft 1 is in an abnormal state.

[0087] Furthermore, in the safety device 100 of the first embodiment of the present invention, the trigger device 60 has a determination unit 62 that determines whether the aircraft 1 is in an abnormal state or not, and an alarm unit 64 that, when the determination unit 62 determines that the aircraft 1 is in an abnormal state, notifies the aircraft 1 that it is in an abnormal state by using at least one of sound and light.

[0088] According to this, when the determination unit 62 determines that the aircraft 1 is in an abnormal state, the fact that the aircraft 1 is in an abnormal state can be notified by at least one of sound and light.

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

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

[0091] In addition, the aircraft 1 in the first embodiment of the present invention comprises an airframe 2, a safety device 100 connected to the airframe 2, and one or more propulsion mechanisms 3 connected to the airframe 2 and propelling the airframe 2.

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

[0093] <First Modification> The lid according to the first modification will be described below with reference to Fig. 11. In this modification, reference numerals having the same last two digits as those in the first embodiment are similar, and therefore their explanations may be omitted. Furthermore, parts that are not particularly described are similar to the safety device and flying vehicle of the first embodiment, and therefore their explanations may be omitted.

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

[0095] The receiving portion 112b differs from the receiving portion 12b primarily in that it includes a foam member 112h therein. The foam member 112h is lighter and more elastic than the portion of the receiving portion 112b that covers the foam member 112h and the top plate portion 112a. Therefore, the foam member 112h can reduce the weight of the lid portion 112. Furthermore, the foam member 112h can absorb the load applied to the receiving portion 112b when the piston member 31 presses against it. By changing the density of the foam member 112h, the degree to which the foam member 112h absorbs the load applied to the receiving portion 112b when the piston member 31 presses against it can be adjusted.

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

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

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

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

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

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

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

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

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

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

[0106] Second Embodiment A safety device according to a second embodiment will be described below with reference to Fig. 14. In this embodiment, reference numerals having the same last two digits as those in the first embodiment are similar, and therefore their descriptions may be omitted. Furthermore, parts that are not particularly described are similar to the safety device and flying vehicle of the first embodiment, and therefore their descriptions may be omitted.

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

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

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

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

[0111] Third Embodiment A safety device according to a third embodiment will be described below with reference to Fig. 15. In this embodiment, reference numerals having the same last two digits as those in the first embodiment are similar, and therefore their descriptions may be omitted. Furthermore, parts that are not particularly described are similar to the safety device and flying vehicle of the first embodiment, and therefore their descriptions may be omitted.

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

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

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

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

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

[0117] In the above embodiment, a parachute or a paraglider was used as the projectile. However, the projectile 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 launched 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 used to reel in or unreel in the control lines, thereby tensioning or loosening the lift-generating member as needed.

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

[0119] In the above embodiment, the receiving surface is perpendicular to the sliding direction, but this is not limiting. For example, the receiving surface may be a convex surface or a concave surface. For example, if one end surface of the sliding member is concave, the receiving surface may be a convex surface that conforms to the concave surface. Furthermore, if one end surface of the sliding member is convex, the receiving surface may be a concave surface that conforms to the convex surface.

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

[0121] REFERENCE SIGNS LIST 1 Aircraft 2 Airframe 3 Propulsion mechanism 4 Legs 10, 310, 410 Container 11, 31a, 311, 411 Main body 11a Bottom 11b, 11h Protrusion 11c, 12d, 112d, 212d Side wall 11d, 11e, 11f, 11i, 12g, 31c, 35a, 37e Hole 11g Annular portion 12, 112, 212, 312, 412 Lid 12a, 112a, 212a, 312a, 412a Top plate 12b, 112b, 212b, 312b, 412b Receiving portion 12c, 112c, 212c Cylindrical portion 12e, 112e, 212e, 312e, 412e Inner surface 12f, 112f, 212f, 312f, 412f Receiving surface 13 Pin 20, 320, 420 Projectile 30, 330, 430 Actuator 31, 331, 431 Piston member 31b Rod-shaped portion 31d, 35c Groove portion 32, 332 Tubular member 33, 333 Holding member 34, 334 Seal member 35, 335 Cylinder 35b Stopper portion 36, 336 Seal member 37, 337 Base 37a Approximately cylindrical member 37b Flange portion 37c Insertion port 38, 338, 438 Gas generator 38a Cup body 38b Electrode 40 Bolt 50 Harness 51, 53 Connector 52 Wiring 60 Trigger device 61 Control unit 62 Determination unit 63 Storage unit 64 Notification unit 70 Detection unit 71 Communication unit 100, 400, 500 Safety device 112h Foam member 339 Support member

Claims

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

2. A safety device as described in claim 1, characterized in that at least a portion of the top plate is hollow hemispherical or dome-shaped, and the curved surface is formed on at least a portion of the hollow hemispherical or dome-shaped portion of the top plate.

3. A safety device as claimed in claim 1 or 2, characterized in that the receiving portion has a receiving surface which is perpendicular to the sliding direction of the sliding member and which receives the sliding member when the sliding member slides to one side, and a surface which presses the receiving surface when actuated is formed on the end of the sliding member on the receiving surface side.

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

5. The safety device described in claim 4, characterized in 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 judgment unit that judges whether the flying object is in an abnormal state or not, and a stopping unit that stops the one or more propulsion mechanisms when the judgment unit judges that the flying object is in an abnormal state.

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

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

8. A safety device as claimed in claim 1 or 2, characterized in that the projectile is a pilot chute and is provided with a parachute connected to the pilot chute.

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

10. An aircraft comprising: an airframe; a safety device as described in claim 1 or 2 coupled to the airframe; and one or more propulsion mechanisms coupled to the airframe for propelling the airframe.

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