Safety device, and flying body provided with safety device

Abstract

[Problem] To provide a safety device capable of suppressing hindrance of ejection of an ejected object by a side wall part, and a flying body including the safety device. [Solution] A safety device 100 comprises: a container 10 having a bottom part 11, a ceiling part 12 facing the bottom part 11, and a side wall part 13 divided into a plurality and supported by the ceiling part 12 so that each of a plurality of segments 13a, 13b can rotate outward; a regulation part 20 that regulates rotation of each of the plurality of segments 13a, 13b relative to the ceiling part 12 in a state of the side wall part 13 being attached to the bottom part 11; an ejected object 30 accommodated in the container 10; and an actuator 40 that removes the side wall part 13 from the bottom part 11 together with the ceiling part 12 by being activated, and ejects the ejected object 30. When the side wall part 13 is removed from the bottom part 11 by the actuator 40, regulation by the regulation part 20 is released, thereby allowing each of the plurality of segments 13a, 13b to rotate relative to the ceiling part 12.

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 payload deployment mechanism that includes a hinge mechanism. The hinge mechanism can enable the payload to be separated from the payload deployment mechanism without contacting the payload deployment mechanism.

[0005] WO 2023 / 239489

[0006] However, when a projectile is stored in a container having a bottom, a ceiling, and a side wall, and the projectile is ejected from the container, the ejection of the projectile may be hindered by the side wall. Therefore, it is desirable to prevent the side wall from hindering the ejection of the projectile.

[0007] Therefore, an object of the present invention is to provide a safety device that can prevent the side wall portion from interfering with the ejection of a projectile, and an aircraft equipped with such a safety device.

[0008] (1) A safety device according to the present invention comprises a container having a bottom, a ceiling facing the bottom, and a side wall divided into a plurality of segments; a regulating unit capable of regulating the rotation of each of the plurality of segments outward from the container while the plurality of segments is supported relative to a portion of the container other than the segment so that the segment can rotate outward from the container relative to the portion of the container other than the segment; a projectile contained in the container; and an ejection unit that, when activated, ejects the projectile together with the ceiling, and is characterized in that when the ceiling is ejected by the ejection unit, the restriction by the regulating unit is released and each of the plurality of segments becomes rotatable relative to the container.

[0009] (2) In the safety device of (1) above, the regulating portion is provided on the bottom portion and regulates each of the plurality of divided pieces from rotating outward from the container relative to the ceiling portion in the initial state in which the side wall portion is attached to the bottom portion, and it is preferable that the side wall portion is detached from the bottom portion when the ejection portion is activated.

[0010] (3) From another perspective, in the safety device of (1) above, the regulating portion is provided on the ceiling portion and regulates each of the plurality of divided pieces from rotating outside the container relative to the bottom portion in the initial state when the side wall portion is attached to the ceiling portion, and the side wall portion may be detached from the ceiling portion by activating the ejection portion.

[0011] (4) In the safety device according to (1) to (3) above, it is preferable that each of the plurality of divided pieces is supported by the ceiling portion by a hinge structure so as to be rotatable to the outside of the container.

[0012] (5) In the safety devices of (1) to (3) above, it is preferable that the safety devices are for an aircraft and include a trigger device having a start-up unit that starts the launch unit when the aircraft is determined to be in an abnormal state or when an instruction to start the launch unit is received from the operator of the aircraft.

[0013] (6) In the safety devices according to (1) to (3) 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.

[0014] (7) The flying vehicle according to the present invention is characterized by comprising an airframe, any one of the safety devices (1) to (3) above connected to the airframe, and one or more propulsion mechanisms connected to the airframe and propelling the airframe.

[0015] According to the present invention, it is possible to provide a safety device that can prevent the side wall portion from interfering with the ejection of a projectile, and an aircraft equipped with the safety device.

[0016] 1 is a perspective view showing a safety device according to a first embodiment of the present invention. FIG. 2 is a plan view showing the safety device of FIG. 1. FIG. 3 is a cross-sectional view taken along line III-III in FIG. 2. FIG. 4 is a cross-sectional view taken along line IV-IV in FIG. 2. FIG. 5 is an end view taken along line V-V in FIG. 3. FIG. 6 is a perspective view showing a state in which a side wall portion of the safety device of FIG. 1 has rotated. FIG. 7 is a block diagram showing the functional configuration of the safety device of FIG. 1. FIG. 8 is a front view showing an aircraft equipped with the safety device of FIG. 1. FIG. 9 is a perspective view showing a safety device according to a second embodiment of the present invention. FIG. 10 is a perspective view showing a state in which a side wall portion according to a modified example of the present invention has rotated.

[0017] First Embodiment A safety device 100 and an aircraft 1 according to a first embodiment of the present invention will be described below with reference to FIGS. 1 to 8. FIG.

[0018] First, the safety device 100 will be described with reference to Figures 1 to 7. As shown in Figures 1 to 5, the safety device 100 includes a container 10, a restricting portion 20, a projectile 30, an actuator 40, a bolt 60, and a harness 70. Note that in Figures 3 and 4, the projectile 30 is shown imaginarily by a two-dot chain line. Also, in Figure 5, the projectile 30 is not shown.

[0019] The container 10 contains the projectile 30. The container 10 has a bottom 11, a ceiling 12, a sidewall 13, and a support member 14.

[0020] The bottom portion 11 has a bottom plate portion 11a and a wall portion 11b.

[0021] The projectile 30 is disposed on the bottom plate portion 11a. The bottom plate portion 11a is plate-shaped with its thickness direction being the sliding direction in which the piston member 41 slides. Note that, hereinafter, the sliding direction in which the piston member 41 slides may be simply referred to as the sliding direction. The bottom plate portion 11a is circular when viewed from the sliding direction. The bottom plate portion 11a has a hole portion 11c and a hole portion 11d.

[0022] The hole 11c is formed in the center of the bottom plate 11a and penetrates the bottom plate 11a in the sliding direction. An actuator 40 is inserted into the hole 11c.

[0023] A plurality of holes 11d are provided, and each of the plurality of holes 11d is formed outside the center of the bottom plate portion 11a. The plurality of holes 11d are lined up around the hole 11c. Each of the plurality of holes 11d penetrates the bottom plate portion 11a in the sliding direction. A bolt 60 for fixing the container 10 and the actuator 40 is inserted into each of the plurality of holes 11d.

[0024] The wall portion 11b has an annular portion 11e, a protrusion 11f, and a hole 11g.

[0025] The annular portion 11e protrudes to one side from the main surface on one side (the side indicated by arrow X in FIG. 3, etc.) of the bottom plate portion 11a. This one side is the side along which the piston member 41 slides due to the driving force generated by the gas generator 49. When viewed from the sliding direction, the annular portion 11e has an annular shape, and the center of the annular portion 11e coincides with the center of the bottom plate portion 11a. The annular portion 11e is positioned slightly inward from the outer periphery of the bottom plate portion 11a.

[0026] A plurality of protrusions 11f are provided, and each of the plurality of protrusions 11f protrudes inward from the inner periphery of the annular portion 11e. The plurality of protrusions 11f are arranged at equal intervals in the circumferential direction of the annular portion 11e.

[0027] A plurality of holes 11g are provided corresponding to the plurality of protrusions 11f. Each of the plurality of holes 11g penetrates the annular portion 11e and the corresponding protrusion 11f in the radial direction of the annular portion 11e.

[0028] The ceiling portion 12 faces the bottom portion 11. The ceiling portion 12 has a top plate portion 12a and a cylindrical portion 12b.

[0029] The top plate 12a is located on one side of the piston member 41. The top plate 12a is plate-shaped with its thickness aligned in the sliding direction. When viewed from the sliding direction, the top plate 12a is substantially circular. The top plate 12a has cutouts 12c and 12d, a chamfered portion 12e, and a hole 12f.

[0030] The cutouts 12c and 12d are provided so as to cut out the outer periphery of the top plate 12a. The cutouts 12c and 12d are provided from one main surface of the top plate 12a to the other side (the side indicated by arrow Y in Figure 3, etc.). The cutouts 12c and 12d are provided at equal intervals in the circumferential direction.

[0031] Chamfered portion 12e is provided to chamfer the corner where the other main surface of top plate portion 12a, the outer peripheral surface of top plate portion 12a, and notch portion 12c intersect, and is provided so that divided piece 13a of side wall portion 13 can rotate outward. Similarly, chamfered portion 12e is provided to chamfer the corner where the other main surface of top plate portion 12a, the outer peripheral surface of top plate portion 12a, and notch portion 12d intersect, and is provided so that divided piece 13b of side wall portion 13 can rotate outward.

[0032] A plurality of holes 12 f are provided, and each of the plurality of holes 12 f penetrates the top plate portion 12 a in the sliding direction. A string-like connecting member (not shown) that connects the top plate portion 12 a and the projectile 30 is inserted into the plurality of holes 12 f.

[0033] The cylindrical portion 12b extends from the other main surface of the top plate portion 12a to the other side and opens to the other side. An actuator 40 is disposed inside the cylindrical portion 12b.

[0034] The side wall 13 is divided into multiple pieces, each having multiple segments 13a and 13b. Each of the multiple segments 13a and 13b is supported by the top plate 12a so as to be able to rotate outward. In this embodiment, each of the multiple segments 13a and 13b is supported by the top plate 12a by a hinge structure so as to be able to rotate outward. The side wall 13 is generally cylindrical when the multiple segments 13a and 13b are not rotated outward (the state shown in FIG. 1, etc.).

[0035] Each of the plurality of segments 13a, 13b is formed in a generally arcuate shape along the outer periphery of the top plate portion 12a when not rotated outward. The plurality of segments 13a, 13b are formed to fit into the annular portion 11e when not rotated outward. The plurality of segments 13a, 13b are formed so that their ends fit together when not rotated outward (see FIG. 5). Each of the plurality of segments 13a, 13b has a protrusion 13c and a hole 13d.

[0036] When segment 13a is not rotated outward, protrusion 13c of segment 13a protrudes to one side and is inserted into notch 12c. When segment 13b is not rotated outward, protrusion 13c of segment 13b protrudes to one side and is inserted into notch 12d.

[0037] The hole 13d of the segment 13a is arranged to overlap one of the holes 11g in the radial direction when the segment 13a is not rotated outward, and the hole 13d of the segment 13b is arranged to overlap the other of the holes 11g in the radial direction when the segment 13b is not rotated outward.

[0038] The support member 14 is a member for allowing the top plate portion 12a to rotatably support the plurality of divided pieces 13a and 13b. The support member 14 has shaft bodies 14a and 14b.

[0039] The shaft 14a is inserted through the protruding portion 13c of the segment 13a in a direction perpendicular to the sliding direction, and both ends of the shaft 14a are inserted into and supported by the top plate 12a. The segment 13a is supported by the top plate 12a so as to be able to rotate outward by a hinge structure formed by the shaft 14a, the protruding portion 13c, and the top plate 12a. The shaft 14b is inserted through the protruding portion 13c of the segment 13b in a direction perpendicular to the sliding direction, and both ends of the shaft 14b are inserted into and supported by the top plate 12a. The segment 13b is supported by the top plate 12a so as to be able to rotate outward by a hinge structure formed by the shaft 14b, the protruding portion 13c, and the top plate 12a. The hinge structure may be a structure such as a square hinge, star hinge, free hinge, piano hinge, hinge latch, curved hinge, cabinet hinge, hidden hinge, slide hinge, angle hinge (rabbit hinge), glass hinge, stay, removable hinge, flag hinge, spring hinge, French hinge (knuckle hinge), release hinge, flush hinge, torque hinge, drop hinge (sewing machine hinge), clean hinge, pivot hinge, auto hinge hinge, or antique hinge.

[0040] The restricting portion 20 restricts each of the divided pieces 13a, 13b from rotating relative to the ceiling portion 12 when the side wall portion 13 is attached to the bottom portion 11. The restricting portion 20 has pins 21, 22.

[0041] Pin 21 is inserted into hole 13d and hole 11g of segment 13a so as not to come out. Pin 22 is inserted into hole 13d and hole 11g of segment 13b so as not to come out. With pins 21 and 22 inserted in this manner, side wall 13 is attached to bottom 11. In this state, each of the multiple segments 13a, 13b cannot rotate relative to ceiling 12. When actuator 40 is activated and pushes ceiling 12 to one side, pins 21, 22 break, and side wall 13 is detached from bottom 11 along with ceiling 12. When side wall 13 is detached from bottom 11, each of the multiple segments 13a, 13b becomes rotatable relative to ceiling 12. In addition, when the actuator 40 is activated and pushes the ceiling portion 12 to one side, each of the multiple divided pieces 13a, 13b may break from the hole portion 13d, thereby removing the side wall portion 13 together with the ceiling portion 12 from the bottom portion 11.

[0042] The projectile 30 is contained in the container 10. Specifically, the projectile 30 is contained outside the cylindrical portion 12b. The projectile 30 is ejected from the container 10 when the side wall 13 is detached from the bottom 11 together with the ceiling 12. For example, if the side wall 13 is detached from the bottom 11 together with the ceiling 12 while the flying object 1 (described below) to which the safety device 100 is coupled is falling, the projectile 30 becomes exposed to the outside and is ejected by wind pressure or the like, or is ejected by being pulled out by a string-like connecting member (not shown) connected to the ceiling 12. Alternatively, a support member (a member having an overall shape similar to that of a hat) extending from the piston member 41 and supporting the projectile 30 may be provided, and by sliding the piston member 41 to one side, the ceiling portion 12 and the side wall portion 13 are removed from the bottom 11 and the support member is moved to one side, and by moving the support member to one side, the projectile 30 supported by the support member is launched. In this embodiment, the projectile 30 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 30 may also be a capture or arresting net, a fire extinguisher, a life preserver, medicine, or the like.

[0043] The projectile 30 may be any of the following parachutes: "Cross," "Float Parachute," "Flat Circular," "Conical," "Biconical," "Triconical," "Extended Skirt," "Hemispherical," "Guide Surface," "Annular," "Flat Ribbon," "Conical Ribbon," "Ribbon," "Ring Slot," and "Ring Sail." The name may be "SAIL", "DISC-GAP-BAND", "ROTAFOIL", "VORTEX RING", "SANDIA RFD", "PARACOMMANDER", "PARAWING", "PARAFOIL", "SAILWING", "VOLPLANE", or "BALLUTE", etc.

[0044] The actuator 40 is an example of an injection unit and includes a piston member 41, a tubular member 42, a holding member 43, a seal member 44, a cylinder 45, a stopper member 46, a seal member 47, a base 48 (squib holder), a gas generator 49 (such as a micro gas generator), and a cylindrical member 50.

[0045] The piston member 41 is a sliding member. The cylinder 45 accommodates the piston member 41. One end of the cylinder 45 is fixed by crimping to a base 48, which is attached via a central hole 11c in the bottom 11 inside the container 10. The gas generator 49 is a power source that moves the piston member 41 inside the cylinder 45.

[0046] The base 48 includes an approximately cylindrical member 48a that holds a gas generator 49 on the cylinder 45 side, which generates power to slide the piston member 41, and a flange portion 48b provided on the opposite side of the approximately cylindrical member 48a from the cylinder 45 side.

[0047] The flange portion 48b is machined into a generally U-shaped, horseshoe-like shape (not shown), and includes a plurality of holes 48c used for attachment to the container 10, a plurality of fixing holes (not shown) used for attachment to the airframe 2 of the aircraft 1 (described later), and an insertion opening 48d used for inserting an energizing connector 71 into the lower electrode 49b of the gas generator 49. The inner wall of the hole 48c is female-threaded so that a bolt 60 (described later) can be threaded therein. The inner wall of the fixing hole (not shown) is also female-threaded so that a bolt (not shown) can be threaded into the airframe 2 of the aircraft 1 (described later) from the airframe 2 side, thereby fixing the base 48 to the airframe 2.

[0048] The connector 71 includes a main body 71a that can be inserted into the substantially cylindrical member 48a through the insertion opening 48d, a protrusion (not shown) protruding from the side surface of the lower part of the main body 71a, and a hole 71b into which the electrode 49b located inside the substantially cylindrical member 48a is inserted. The protrusion (not shown) is electrically connected to a connector 73 that is connected to an external power source via a wiring 72 that extends in a direction perpendicular to the insertion direction of the connector 71 (when attached to the base 48, extends radially from the center of the base 48). The main body 71a also has a hole 71b formed therein that is electrically connected to both the electrode 49b and the wiring 72 that is connected to the protrusion (not shown).

[0049] Furthermore, the insertion opening 48 d of the base 48 and the connector 71 are configured to extend radially from the center of the base 48 when attached to the base 48 .

[0050] The piston member 41 has a main body portion 41a having an outer diameter approximately the same as the inner diameter of the cylinder 45, a rod-shaped portion 41b connected to the main body portion 41a, extending upward, and having a smaller diameter than the main body portion 41a, a hole portion 41c provided inside the main body portion 41a and the rod-shaped portion 41b, a hole portion 41d provided at the upper end portion of the rod-shaped portion 41b, and a groove portion 41e provided circumferentially around the main body portion 41a.

[0051] At least the upper end of the rod-shaped portion 41b has a non-circular cross section (see FIG. 5). Here, a non-circular shape refers to, for example, a polygonal, elliptical, star-shaped, or gear-shaped shape, but any non-circular shape is included. The tubular member 42 is fitted or loosely fitted to the lower portion of the rod-shaped portion 41b with one end in contact with the main body 41a. A gap may be present between the inner wall of the tubular member 42 and the outer wall of the rod-shaped portion 41b, as long as it does not interfere with plastic deformation due to substantially uniform compression during a collision, as described below.

[0052] The tubular member 42 is held by the retaining member 43 at the lower part of the rod-shaped portion 41b with one end in contact with the main body portion 41a. The tubular member 42 is made of a material that undergoes plastic deformation and has a lower tensile strength than the piston member 41 and the stopper member 46 (described later) (e.g., metals such as iron, aluminum, brass, copper, alloys such as stainless steel, resins, etc.) (e.g., metals such as aluminum and brass, alloys such as stainless steel, resins such as monomer cast nylon, polyamide synthetic resins such as nylon 6, nylon 6,6, and nylon 4,6, etc.). The retaining member 43 may be an elastic member such as rubber or made of the same material as the tubular member 42, and may be ring-shaped or clip-shaped.

[0053] Furthermore, the tubular member 42 and the inner wall of the cylinder 45 are spaced apart by at least a predetermined distance (for example, a distance at which the tubular member 42, which has been plastically deformed by substantially uniform compression when it collides with the stopper member 46, does not come into contact with the inner wall of the cylinder 45) so that the tubular member 42 does not come into contact with the inner wall of the cylinder 45. As a result, even if the tubular member 42 collides with the stopper member 46 and is plastically deformed, it deforms without being hindered by the inner wall of the cylinder 45, and the impact on the piston member 41 is sufficiently absorbed.

[0054] The hole 41c is formed along the central axis from the lower end of the main body 41a to partway along the rod-shaped portion 41b, thereby making the piston member 41 lighter than if the hole 41c were not formed.

[0055] The hole 41d is formed from the tip of the rod-shaped portion 41b to partway along the central axis.

[0056] A sealing member 44 such as an O-ring is provided in the circumferential direction in the groove 41e.

[0057] A generally cylindrical stopper member 46 is provided at the top of the cylinder 45 so as to surround a portion of the rod-shaped portion 41b of the piston member 41. That is, the rod-shaped portion 41b is disposed in a state in which it is inserted into a hole 46a of the stopper member 46. The cylinder 45 is also provided with through-holes 45b for releasing air within the space 45a to the outside during operation. Although only two through-holes 45b are provided, multiple through-holes 45b may be provided in the circumferential direction.

[0058] The stopper member 46 limits the movement of the tubular member 42 within the cylinder 45, and has a groove 46b provided along the outer periphery and a groove 46c provided along the inner periphery. The groove 46b is used to caulk and fix the other end of the cylinder 45 to the stopper member 46. In addition, a seal member 47 such as an O-ring is provided in the circumferential direction in the groove 46c.

[0059] The material of the cylinder 45 may be selected and the thickness of the outer periphery may be appropriately adjusted so that the cylinder 45 can undergo radial plastic deformation in the event that the piston member 41 of the actuator 40 becomes immobile for some reason, or in the event that the initial combustion volume of the actuator 40 is reduced and the explosive burns, generating a combustion pressure exceeding the pressure resistance value of the cylinder 45 (in the event of an abnormality). Examples of materials that constitute the cylinder 45 include metals such as iron, aluminum, brass, and copper, and alloys such as stainless steel. As a result, in the event of the abnormality, the cylinder 45 undergoes radial plastic deformation, which reduces (relaxes) the sealing performance of the sealing member 44, such as an O-ring, and creates a gap between the sealing member 44 and the inner wall of the cylinder 45 through which generated gas can pass. Therefore, by allowing gas generated in the event of the abnormality to leak out from this gap, the gas is released from through-hole 45b to the outside of cylinder 45, passes through the gap between the outer wall of cylinder 45 and the inner wall of tubular portion 12b, passes through the inside of container 10, and causes a sealing portion (not shown) to break due to the gas pressure, and is released from the hole portion (not shown) to the outside of container 10, thereby preventing breakage of cylinder 45 (fail-safe function). Note that when this fail-safe function is provided, a space (gap) is provided between the outer wall of cylinder 45 and the inner wall of tubular portion 12b that allows sufficient plastic deformation of cylinder 45 in the radial direction.

[0060] The gas generator 49 is press-fitted into the lower open end of the cylinder 45 and disposed below the main body 41a of the piston member 41. A cylindrical member 50 is provided around the cup body 49a of the gas generator 49 to provide a predetermined distance between the gas generator 49 and the piston member 41. The gas generator 49 is disposed on the other side of the piston member 41 and inserted into the other opening of the cylinder 45. The gas generator 49 may use only an igniter, or may include 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. To reliably propel the piston when the pressurized gas is released, the gas generator may be provided with a heating element made of a gas generant composition, a thermite composition, or the like. The gas generator 49 is a micro gas generator, etc. The gas generator 49 has a cup body 49a and a plurality of electrodes 49b.

[0061] An igniter is disposed inside the cup body 49 a. Also, for example, a gas generating agent, a gas cylinder, and / or a heating element are appropriately disposed inside the cup body 49 a. The electrode 49 b is electrically connected to the igniter disposed inside the cup body 49 a.

[0062] The bolt 60 is a member for fixing the container 10 and the actuator 40. The bolt 60 is inserted through the hole 11 d from the inside of the container 10 and is screwed into the hole 48 c. By tightening the bolt 60, the container 10 and the actuator 40 are fixed together.

[0063] The harness 70 is a member for electrically connecting the gas generator 49 and a trigger device 80 (described later). The harness 70 has a connector 71, a wire 72, and a connector 73.

[0064] The connector 71 is located on the other side of the gas generator 49 and is connected to the electrode 49b. The wire 72 is connected to the connector 71 and a connector 73. The connector 73 is connected to a trigger device 80. As a result, a signal from the trigger device 80 is supplied to the gas generator 49, and the gas generator 49 is activated.

[0065] 6, when not restricted by restricting portion 20, each of the multiple segments 13a, 13b can rotate outward. Segment 13a is restricted from rotating outward by contacting chamfered portion 12e provided on the side of cutout 12c. Segment 13b is restricted from rotating outward by contacting chamfered portion 12e provided on the side of cutout 12d.

[0066] When the actuator 40 is activated, the ceiling 12 and the side wall 13 are removed from the bottom 11, and the projectile 30 is ejected, the ceiling 12 and the side wall 13 separate from the bottom 11, are launched upward, and fall. For example, if the projectile 30 is a parachute, the parachute is packed so as to be pushed into the container 10. In this state, when the actuator 40 is activated and the ceiling 12 and the side wall 13 are ejected, thereby breaking the pins 21 and 22, each of the multiple segments 13a and 13b after ejection will spread out due to the self-restoring force of the parachute (the force with which the parachute pushed into the container 30 naturally unfolds), and will rotate outward, as shown in FIG. 6 . This allows the projectile 30 to be separated from the side wall 13, preventing the projectile 30 from experiencing sliding resistance or the like from the side wall 13, thereby preventing the projectile 30 from getting stuck in the side wall 13 and preventing the side wall 13 from interfering with the projection of the projectile 30. Furthermore, since each of the multiple segments 13a, 13b is rotated outward, air resistance increases, preventing the velocity of the projectile 30 from increasing. Therefore, the difference between the velocity of the projectile 30 after separation from the ceiling 12 and side wall 13 and the velocity of the projectile 30 after separation from the ceiling 12 and side wall 13 (after deployment begins) can be made smaller, preventing the force with which the projectile 30 is pulled by the ceiling 12 and side wall 13 after separation from the projectile 30 from increasing. The maximum angle at which the segments 13a, 13b rotate can be changed by changing the angle of the chamfered portion 12e. By appropriately setting the maximum angle at which the segments 13a, 13b rotate (for example, to 45 degrees), the air resistance of the projectile 30 immediately after the ceiling portion 12 and the side wall portion 13 are ejected can be reduced compared to conventional methods, thereby improving the ejection performance of the projectile 30 (the ability to eject the projectile 30 farther from the container 10).

[0067] Here, we describe the results of actual measurements of the tensile load applied to the connecting member (here, the string) connecting the parachute to the safety device or the main body of the aircraft when the actuator is activated to launch the projectile for a safety device with the same configuration as this embodiment. The measured tensile load applied to the connecting member was approximately 275 [N]. However, if the string used in the connecting member has a load capacity of 1000 [N], for example, the tensile load applied to the connecting member during launch would naturally be smaller than the load capacity of the connecting member. Furthermore, when a similar experiment was conducted on a safety device (comparative example) in which the container has a one-piece, cylindrical structure without being divided like this embodiment, the tensile load applied to the connecting member (here, the string) during launch was 730 [N]. From these experimental results, the following can be inferred. That is, while the safety device of the comparative example is likely to achieve a long projectile flight distance, the tensile load described above is relatively high, making it more likely to place a load on the projectile. For example, if the projectile is a parachute, a parachute capable of withstanding the load (e.g., one with a high-strength fabric parachute; generally, the stronger the parachute, the heavier it tends to be) must be used to prevent tearing. In contrast, in a safety device with the same configuration as this embodiment, the divided pieces constituting the container are configured to pivot and open, resulting in a larger projected area than the container structure of the comparative safety device, and thus higher air resistance during launch. As a result, while the projectile can be launched with a longer distance, the momentum of the launch can be prevented from being too strong, allowing for control to prevent excessive tension on the parachute. Therefore, it was found that the safety device with the same configuration as this embodiment not only facilitates projectile launch distances similar to the comparative safety device, but also allows for a lower tensile load compared to the container of the comparative safety device. In other words, if the projectile is a parachute, the safety device with the same configuration as this embodiment can relatively reduce the load on the parachute during launch, so the parachute employed in the safety device with the same configuration as this embodiment does not need to be as strong as the parachute of the comparative safety device.The tensile load applied to the connecting member after injection was measured by fixing the load sensor and the bottom of the container to a vice, attaching one end of the connecting member to the ceiling, and attaching the other end of the connecting member to the load sensor.

[0068] As shown in FIG. 7 , the safety device 100 includes a trigger device 80. For example, the trigger device 80 is housed in a housing (not shown) or the like and mounted on the aircraft 1. The trigger device 80 includes a control unit 81, a determination unit 82, a memory unit 83, and an alarm unit 84. The control unit 81 includes a CPU, ROM, RAM, etc. The determination unit 82 determines whether the aircraft 1 is in an abnormal state based on a signal received from a detection unit 90 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 80 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 (abnormal)), or to receive command signals, etc. from an external device via the communication unit 91 and transmit 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 40 to automatically start the actuator 40, 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 40.

[0069] Examples of the detection unit 90 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 90 includes at least one of these. Other examples of the detection unit 90 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 flying object 1, etc.

[0070] Furthermore, the above-mentioned "abnormal state" refers to a case where the determination unit 82 determines that the aircraft 1 is in an abnormal state (such as a malfunction, inoperability, or an abnormal fall) based on a signal from the above-mentioned detection unit 90 provided in the aircraft 1 or the safety device 100. Specifically, the determination unit 82 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 transceiver, or an abnormal signal has been received from the remote signal transceiver," "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," "a signal has been lost for a certain period of time or more from the ground station, or an abnormal signal has been received from the ground station, based on the position information of the aircraft 1," "the aircraft 1 is approaching or entering a prohibited area, or deviating from the planned route," "the remaining amount of power (battery) or fuel of the aircraft 1 is below a specified value," "the acceleration of the aircraft 1 is below a specified value or above a specified value," "the angular velocity of the aircraft 1 is above a specified value," "the attitude angle of the aircraft 1 is above a specified value (for example, horizontal This occurs when it is determined that one or more of the following conditions have occurred: "Aircraft 1 is tilted at an angle of 45° or more relative to the ground," "Aircraft 1 is approaching an obstacle that could 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 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)," "A fatal malfunction has occurred in the equipment installed in the aircraft 1," "The rotation speed of the propulsion unit of the aircraft 1 is below or above the specified value," "An abnormal frequency has been detected or normal frequency has disappeared in the vibration frequency of the aircraft 1," or "The descent speed of the aircraft 1 is above the specified value."

[0071] The control unit 81 is an example of an activation unit that activates the actuator 40 when it is determined that the aircraft 1 is in an abnormal state or when an instruction to activate the actuator 40 is received from the operator of the aircraft 1. As described above, the control unit 81 activates the actuator 40 by transmitting a signal to the actuator 40 to activate the actuator 40. Specifically, the control unit 81 activates the gas generator 49 by transmitting a signal to the gas generator 49 to activate the gas generator 49.

[0072] The control unit 81 is an example of a stopping unit that stops one or more propulsion mechanisms 3 (described later) when the determination unit 82 determines that the aircraft 1 is in an abnormal state. For example, the control unit 81 stops one or more propulsion mechanisms 3 by transmitting a signal to stop one or more propulsion mechanisms 3 via the communication unit 91 to a control unit of the aircraft 1 that controls the one or more propulsion mechanisms 3. Specifically, for example, the control unit 81 stops one or more propulsion mechanisms 3 by "cutting off the signal between the ESC and the FC or exclusively using a zero throttle signal," "cutting off the signal (PWM or CAN) between the ESC and the aircraft propulsion device (motor or engine), exclusively using a zero throttle signal, or cutting off the power," "cutting off the signal (PWM or CAN) between the FC and the aircraft propulsion device (motor or engine)," "sending a motor stop request to the FC," "sending a motor stop request to the companion computer," "sending a motor signal or current cut-off request to the PMU," "cutting off the power supply between the ESC and the motor," "cutting off the power supply between the ESC and the PMU," "cutting off the power supply between the FC and the battery," "cutting off the power supply between the ESC and the battery," "cutting off the power supply between the PMU and the battery," "cutting off the power supply between the PDB and the battery," "cutting off the power supply between the ESC and the PDB," "sending a zero throttle signal from the ATS to the FC," "sending a zero throttle signal from the ATS to the PDB," "sending a zero throttle signal from the ATS to the ESC," "motor electromagnetic brake," or the like.

[0073] The determination unit 82 determines whether the aircraft 1 is in an abnormal state. As described above, for example, the determination unit 82 determines whether the aircraft 1 is in an abnormal state based on a signal received from the detection unit 90, 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 82 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 82 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 82 determines that the aircraft 1 is in an abnormal state if the distance from an obstacle is below a threshold. Furthermore, the determination unit 82 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 82 has a CPU, ROM, RAM, etc.

[0074] The storage unit 83 stores the determination data when the determination unit 82 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 83 has a ROM, a RAM, etc.

[0075] When the determination unit 82 determines that the flying object 1 is in an abnormal state, the notification unit 84 notifies the flying object 1 that it is in an abnormal state by using at least one of sound and light. For example, the notification unit 84 includes a speaker that emits a sound such as an alarm. The notification unit 84 also includes an LED that emits light such as a warning light.

[0076] Next, the flying vehicle 1 will be described with reference to Fig. 8. As shown in Fig. 8, the flying vehicle 1 includes a body 2, a plurality of propulsion mechanisms 3, a plurality of legs 4, and a safety device 100.

[0077] 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.

[0078] 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.

[0079] 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 bottom 11, a ceiling 12 facing the bottom 11, and a side wall 13 that is divided into multiple pieces and supported by the ceiling 12 so that each of the multiple pieces 13a, 13b can rotate outward; a regulating unit 20 that regulates the rotation of each of the multiple pieces 13a, 13b relative to the ceiling 12 when the side wall 13 is attached to the bottom 11; a projectile 30 contained in the container 10; and an actuator 40 that, when activated, removes the side wall 13 together with the ceiling 12 from the bottom 11 and ejects the projectile 30; when the side wall 13 is removed from the bottom 11 by the actuator 40, the regulation by the regulating unit 20 is released, and each of the multiple pieces 13a, 13b can rotate relative to the ceiling 12.

[0080] According to this, when the side wall portion 13 is removed from the bottom portion 11 by the actuator 40, the restriction by the restricting portion 20 is released and each of the multiple divided pieces 13a, 13b becomes rotatable relative to the ceiling portion 12, making it easier to separate the side wall portion 13 from the projectile 30 and preventing the projectile 30 from getting stuck in the side wall portion 13, thereby preventing the side wall portion 13 from interfering with the projection of the projectile 30.

[0081] Furthermore, in the safety device 100 according to the first embodiment of the present invention, each of the plurality of divided pieces 13a, 13b is supported by the ceiling portion 12 by a hinge structure so as to be able to rotate outward.

[0082] According to this, the hinge structure allows each of the multiple divided pieces 13a, 13b to be easily rotated, so that the side wall portion 13 can easily be prevented from interfering with the ejection of the projectile 30.

[0083] Furthermore, the safety device 100 in the first embodiment of the present invention is provided with a trigger device 80 having a control unit 81 that activates the actuator 40 when the aircraft 1 is determined to be in an abnormal state or when an instruction to activate the actuator 40 is received from the operator of the aircraft 1.

[0084] According to this, the actuator 40 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 40 is received from the operator of the aircraft 1.

[0085] 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 80 has a judgment unit 82 that judges whether the aircraft 1 is in an abnormal state or not, and a control unit 81 that stops the one or more propulsion mechanisms 3 when the judgment unit 82 judges that the aircraft 1 is in an abnormal state.

[0086] This allows one or more propulsion mechanisms 3 to be stopped if it is determined that the aircraft 1 is in an abnormal state.

[0087] 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.

[0088] This provides the same effects as the safety device 100 described above.

[0089] Second Embodiment A safety device according to a second embodiment will be described below with reference to Fig. 9. 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.

[0090] As shown in FIG. 9, a safety device 200 according to this embodiment differs from the safety device 100 mainly in that a container 110 is provided instead of the container 10 .

[0091] Container 110 differs from container 10 mainly in that it has ceiling portion 112 instead of ceiling portion 12, side wall portion 113 instead of side wall portion 13, and support member 114 instead of support member 14.

[0092] The ceiling portion 112 differs from the ceiling portion 12 mainly in that it has holes 112g and 112h instead of the notches 12c and 12d. The holes 112g and 112h penetrate the top plate portion 112a.

[0093] The side wall portion 113 differs from the side wall portion 13 mainly in that it has a hole 113e instead of the protrusion 13c. The hole 113e of the segment 113a penetrates the segment 113a. The hole 113e of the segment 113b penetrates the segment 113b.

[0094] The support member 114 differs from the support member 14 mainly in that it has string-like members 114c and 114d instead of the shafts 14a and 14b. The string-like member 114c is threaded through the hole 112g and the hole 113e of the segment 113a. This allows the segment 113a to be supported by the top plate 112a so as to be able to rotate outward. The string-like member 114d is threaded through the hole 112h and the hole 113e of the segment 113b. This allows the segment 113b to be supported by the top plate 112a so as to be able to rotate outward.

[0095] As described above, in the safety device 200 of the second embodiment of the present invention, each of the multiple segments 113a, 113b is supported on the ceiling portion 112 so as to be able to rotate outward by a structure in which string-like members 114c, 114d are passed through holes 112g, 112h provided in the ceiling portion 112 and holes 113e provided in the segments 113a, 113b.

[0096] According to this, the structure in which the string-like members 114c, 114d are passed allows each of the multiple divided pieces 113a, 113b to be easily rotated, thereby easily preventing the side wall portion 113 from interfering with the ejection of the projectile.

[0097] Although the embodiments of the present invention have been described above with reference to the drawings, the specific configuration is not limited to these embodiments. The scope of the present invention is defined by the claims rather than the description of the above embodiments, and includes all modifications within the meaning and scope of the claims. For example, the present invention can be applied as a safety device for various purposes, not just for aircraft.

[0098] 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. If the lift-generating member has a control line, the safety device preferably includes a steering mechanism that can change the inclination angle of the projectile using the control line. 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 reel in or reel out the control lines, thereby tensioning or loosening the lift-generating member as needed.

[0099] 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.

[0100] In the above embodiment, the side wall portion 13, 113 is divided into two pieces, but this is not limiting. For example, the side wall portion may be divided into three or more pieces, or may have three or more divided pieces.

[0101] Furthermore, in the above embodiment, the segment pieces 13a, 13b, 113a, 113b are rotatably supported on the ceiling portion 12, 112, but this is not limiting. For example, unlike the above embodiment in which the segment pieces are rotatably provided on the ceiling portion, one end of the segment piece in the sliding direction may be rotatably supported on the bottom portion, and the other end of the segment piece in the sliding direction may be restricted by a restricting portion on the ceiling portion so as not to rotate in the initial state. In this case, when the safety device is activated, the restriction by the restricting portion on the ceiling portion is released, and the segment piece rotates outward while supported on the bottom portion. In other words, when the safety device is activated, the other end of the segment piece is detached from the ceiling portion, and one end remains connected to the bottom portion, and the segment piece is not ejected together with the ceiling portion as in the above embodiment.

[0102] In the above embodiment, the segments 13a, 13b, 113a, and 113b rotate in a direction perpendicular to the sliding direction of the piston member 41. However, this is not limiting. For example, as shown in FIG. 10 , columns 212i may be provided extending from the outer periphery of the top plate 212a toward the bottom, and the segments 213a and 213b may be supported by the top plate 212a via the columns 212i so as to be rotatable in the sliding direction of the piston member. Note that, in the initial state, the bottom-side ends of the segments 213a and 213b are restricted from rotating by restricting portions similar to the restricting portions provided on the bottom of the first embodiment. The top-side ends of the pair of segments are not restricted from rotating. In addition, when the safety device is activated, the bottom ends of the split pieces 213a and 213b are ejected together with the top plate portion 212a and the column portion 212i, thereby being detached from the bottom of the container, and the restriction is released, causing them to rotate as shown in Figure 10.

[0103] In the modification shown in FIG. 10 , the rotation of the bottom ends of the segments 213 a, 213 b is initially restricted by restricting portions similar to the restricting portions provided on the bottom of the first embodiment. However, this is not limited to this. For example, a column (similar in shape to column 212 i) may be provided extending from the outer periphery of the bottom of the container toward the top plate, and the pair of segments (similar in shape to segments 213 a, 213 b) may be supported on the bottom of the container via the column (similar in shape to column 212 i) so as to be rotatable around the sliding direction of the piston member. Note that the rotation of the top plate-side ends of the pair of segments is initially restricted by restricting portions similar to the restricting portions provided on the bottom of the first embodiment. The rotation of the bottom ends of the pair of segments is not restricted. Furthermore, when the safety device is activated, the ends of the pair of segments on the top plate side are detached from the top plate of the container as the ceiling is ejected, and when the restriction is released, they rotate in the same direction as segments 213a and 213b shown in Fig. 10. That is, when the safety device is activated, the ends of the segments on the top plate side are detached from the ceiling and remain connected to the bottom via the pillars, and are not ejected together with the ceiling as in the modified example shown in Fig. 10.

[0104] Furthermore, in the above embodiment, the case where the ejection unit is the actuator 40 has been described, but the present invention is not limited to this. For example, the ejection unit may be one that pushes up the ejection platform with a gas generator (gunpowder, cold gas, hybrid, etc.) to eject a projectile, may be a gas-type piston actuator (gunpowder, cold gas, hybrid, etc.) with a sealed structure, may be one that uses gas to inflate an airbag and pushes out the projectile with the airbag, may be one that uses a compressed spring to push up the ejection platform to eject a projectile, or may be one that directly ejects a projectile with gas from a gas generator (gunpowder, cold gas, hybrid, etc.).

[0105] 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.

[0106] REFERENCE SIGNS LIST 1 Aircraft 2 Airframe 3 Propulsion mechanism 4 Legs 10, 110 Container 11, 111 Bottom 11a, 111a Bottom plate 11b, 111b Wall 11c, 11d, 11g, 12f, 13d, 41c, 41d, 46a, 48c, 71b, 111g, 112f, 112g, 112h, 113d, 113e Hole 11e, 111e Annular portion 11f, 13c, 111f Protrusion 12, 112 Ceiling 12a, 112a, 212a Top plate 12b, 112b Cylindrical portion 12c, 12d Notch 12e Chamfered portion 13, 113 Side wall DESCRIPTION OF SYMBOLS 13a, 13b, 113a, 113b, 213a, 213b Segments 14, 114 Support member 14a, 14b Shaft body 20 Restricting portion 21, 22 Pin 30 Projectile 40 Actuator 41 Piston member 41a, 71a Main body 41b Rod-shaped portion 41e, 46b, 46c Groove portion 42 Tubular member 43 Holding member 44, 47 Seal member 45, 145 Cylinder 45a Space 45b Through hole 46 Stopper member 48, 148 Base 48a Approximately cylindrical member 48b Flange portion 48d Insertion port 49 Gas generator 49a Cup body 49b Electrode 50 Cylindrical member 60, 160 Bolt 70, 170 Harness 71, 73, 173 Connector 72, 172 Wiring 80 Trigger device 81 Control unit 82 Determination unit 83 Storage unit 84 Notification unit 90 Detection unit 91 Communication unit 100, 200 Safety device 114c, 114d String-like member 212i Pillar portion

Claims

1. A safety device comprising: a container having a bottom, a ceiling facing the bottom, and side walls divided into a plurality of segments; a regulating unit that can regulate the rotation of each of the plurality of segments outward from the container while the plurality of segments is supported relative to any part of the container other than the segment itself so that the segment can rotate outward from the container relative to the other segment; a projectile contained in the container; and an ejection unit that, when activated, ejects the projectile together with the ceiling, wherein when the ceiling is ejected by the ejection unit, the regulation by the regulating unit is released and each of the plurality of segments can rotate relative to the container.

2. The safety device described in claim 1, characterized in that the regulating portion is provided on the bottom portion and regulates each of the plurality of divided pieces from rotating outside the container relative to the ceiling portion in the initial state when the side wall portion is attached to the bottom portion, and the side wall portion is detached from the bottom portion when the ejection portion is activated.

3. The safety device described in claim 1, characterized in that the regulating portion is provided on the ceiling portion and regulates each of the plurality of divided pieces from rotating outside the container relative to the bottom portion in the initial state when the side wall portion is attached to the ceiling portion, and the side wall portion is detached from the ceiling portion when the ejection portion is activated.

4. A safety device as described in any one of claims 1 to 3, characterized in that each of the multiple divided pieces is supported by a hinge structure on any part of the container so that it can rotate outside the container.

5. A safety device for an aircraft, as described in any one of claims 1 to 3, characterized in that it comprises a trigger device having a start-up unit that starts the launch unit when the aircraft is determined to be in an abnormal state or when an instruction to start the launch unit is received from the operator of the aircraft.

6. A safety device according to any one of claims 1 to 3, characterized in that the projectile is a pilot chute and is provided with a parachute connected to the pilot chute.

7. A flying vehicle comprising: an airframe; a safety device according to any one of claims 1 to 3 coupled to said airframe; and one or more propulsion mechanisms coupled to said airframe for propelling said airframe.

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