阅读说明：本技术 降落伞装置、飞行装置、飞行体发射机构 (Parachute device, flying device, and flying body launching mechanism ) 是由 酒本让 下久昌司 持田佳广 于 2019-12-25 设计创作，主要内容包括：本发明提供一种降落伞装置,即使在飞行装置飞行时或者降落时未能立即获得气流效果的情况下,该降落伞装置也能快速且可靠地打开降落伞。降落伞装置(4)的特征在于,包括：降落伞(400)；降落伞容纳部(40),其容纳所述降落伞；至少一个飞行体(43),其与所述降落伞连结；以及发射部(41),其用于保持所述飞行体,并将保持的所述飞行体发射,所述飞行体包括：飞行体主体部(44),其与所述发射部卡合；及气体产生装置(45),其配置在由所述发射部与所述飞行体主体部构成的内部空间(440),并产生气体。(The invention provides a parachute device which can rapidly and reliably open a parachute even if an air flow effect is not immediately obtained during flying or landing of a flying device. Parachute device (4) characterized in that it comprises: a parachute (400); a parachute accommodation section (40) which accommodates the parachute; at least one flying body (43) connected to the parachute; and a launching unit (41) for holding the flying object and launching the held flying object, the flying object including: a flying body main body (44) that engages with the emitting unit; and a gas generating device (45) which is disposed in an internal space (440) formed by the emitting section and the flight body main body section and generates gas.)

1. A parachute apparatus, comprising:

a parachute;

a parachute accommodating section for accommodating the parachute;

at least one flying body coupled to the parachute; and

a transmitting section for holding the flying object and transmitting the held flying object,

the flying object includes:

a flying body main body portion that engages with the emitting portion; and

and a gas generating device that is disposed in an internal space formed by the emitting portion and the flying body main body portion and generates gas.

2. A parachute arrangement according to claim 1,

the emitter is formed in a cylindrical shape with one end open and the other end closed,

the flying body main body portion is formed into a rod shape,

the gas generating device is disposed on one end side of the flight body main body,

the flight vehicle is configured in the following state: the one end side of the flight body main body portion is inserted into the inside of the launch portion, and the gas generation device faces the bottom of the launch portion inside the launch portion.

3. A parachute arrangement according to claim 2,

further comprises a connecting rope for connecting the parachute and the flying body,

the flying body main body portion includes:

a holding unit that holds the gas generating apparatus; and a coupling portion that is formed to protrude toward a side opposite to the holding portion in an axial direction of the flying body main body and is coupled to the coupling rope.

4. A parachute arrangement according to claim 3,

further comprising a lead for igniting the gas-generating device,

the connecting part is formed into a cylindrical shape,

at least a part of the lead is disposed inside the connecting portion.

5. A parachute arrangement according to claim 1,

the emitting portion is formed in a rod shape,

the flying body main body is formed in a cylindrical shape with one end open and the other end closed,

the gas generating device is arranged in the flying body main body part,

the flying object is supported by the launching section in a state in which at least a part of the launching section is inserted into the interior of the flying object main body section and the gas generating device faces the tip end section of the launching section.

6. A parachute arrangement according to claim 5,

also comprises a connecting rope for connecting the parachute and the flying body,

the flying body main body portion includes:

a support portion formed in a cylindrical shape, into which at least a part of the emitting portion is inserted from one end side;

a holding portion that holds the gas generating device in a state of facing a distal end portion of the emitting portion inserted from one end side of the supporting portion on the other end side of the supporting portion; and

and a connection portion formed to protrude from the holding portion toward a side opposite to the support portion, and connected to the connection string.

7. A parachute arrangement according to claim 6,

further comprising a lead for igniting the gas-generating device,

the connecting part is formed into a cylindrical shape,

at least a part of the lead is disposed inside the connecting portion.

8. A parachute arrangement according to any one of claims 1 to 7,

further comprising: an abnormality detection unit for detecting an abnormality during flight; and

and a parachute control unit that causes the flying object to be launched from the launching unit based on the abnormality detection by the abnormality detection unit.

9. A flying device, comprising:

a body unit;

a thrust generation unit that is connected to the body unit and generates thrust;

a flight control unit that controls the thrust generation unit;

an abnormality detection unit that detects an abnormality during flight;

a parachute apparatus as claimed in any one of claims 1 to 7; and

and a parachute control unit that causes the flying object to be launched from the launching unit based on the abnormality detection by the abnormality detection unit.

10. A flying body launching mechanism, comprising:

a flying body which can be connected to a parachute; and

a transmitting section for holding the flying object and transmitting the held flying object,

the flying object includes: a flying body main body portion that engages with the emitting portion; and a gas generating device which is disposed in an internal space formed by the emitting portion and the flying body main body portion and generates gas.

11. The flying body launching mechanism as defined in claim 10,

the emitter is formed in a cylindrical shape with one end open and the other end closed,

the flying body main body portion is formed into a rod shape,

the gas generating device is disposed on one end side of the flight body main body,

the flight vehicle is configured in the following state: the one end side of the flight body main body portion is inserted into the inside of the launch portion, and the gas generation device faces the bottom of the launch portion inside the launch portion.

12. The flying body launching mechanism as defined in claim 10,

the emitting portion is formed in a rod shape,

the flying body main body is formed in a cylindrical shape with one end open and the other end closed,

the gas generating device is arranged in the flying body main body part,

the flying object is supported by the launching section in a state in which at least a part of the launching section is inserted into the interior of the flying object main body section and the gas generating device faces the tip end section of the launching section.

Technical Field

The present invention relates to a parachute device, a flying device, and a flying body launching mechanism, and relates to a parachute device mounted on a rotorcraft type flying device having a plurality of rotors, for example, which is capable of remote operation and autonomous flight.

Background

In recent years, practical application of a multi-rotor type flight device (hereinafter, simply referred to as a "rotorcraft") that can be remotely operated and autonomously flown has been studied in the industrial field. For example, in the transportation industry, cargo transportation, passenger transportation, and the like using a rotorcraft (so-called unmanned aerial vehicle) are being studied.

The transport rotor machine has an autonomous flight function, and performs flight while determining its own position by a gps (global Positioning system) signal or the like. However, when an abnormality occurs in the rotorcraft for some reason, there is a possibility that an accident such as an autonomous flight or a descent of the rotorcraft may occur. Therefore, it is desirable to improve the safety of the rotorcraft.

In particular, it is expected that autogyro for transportation will become larger in size in the future so as to be able to transport larger cargo and more passengers. When such large rotorcraft are uncontrollably dropped for some reason, there is a greater risk of injury to personnel and structures than with prior art rotorcraft. Therefore, when the size of the rotorcraft is increased, safety must be emphasized more than ever.

Therefore, in order to improve the safety of the rotorcraft, the present inventors have studied to attach a parachute for a flying body disclosed in, for example, the following patent documents to the rotorcraft.

(Prior art document)

(patent document)

Patent document 1: JP patent No. 4785084.

Disclosure of Invention

(problems to be solved by the invention)

However, the inventors have found the following problems after their studies: in the conventional parachute for a flight vehicle, since the parachute is designed to be easily opened by an airflow generated during flight, the parachute may not be immediately opened when an airflow effect cannot be immediately obtained such as when the parachute starts to land from an airborne hovering state.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a parachute device that can open a parachute quickly and reliably even in a case where an airflow effect cannot be obtained immediately when a flying device flies or lands.

(means for solving the problems)

A parachute device according to a representative embodiment of the present invention includes a parachute, a parachute housing section for housing the parachute, at least one flying body connected to the parachute, and a launching section for holding the flying body and launching the held flying body, wherein the flying body includes a flying body main body section for engaging with the launching section, and a gas generating device for generating gas, the gas generating device being disposed in an internal space formed by the launching section and the flying body main body section.

(effect of the invention)

According to an aspect of the present invention, even when the airflow effect cannot be obtained immediately when the flying device flies or lands, the parachute can be opened quickly and reliably.

Drawings

Fig. 1 is a view schematically showing the external appearance of a flying device on which a parachute device according to embodiment 1 is mounted.

Fig. 2 is a functional block diagram of an aircraft equipped with the parachute device according to embodiment 1.

Fig. 3 is a view schematically showing the configuration of the parachute device according to embodiment 1.

Fig. 4 is a view schematically showing an opened state of the parachute.

Fig. 5 is a diagram showing a configuration of the flying object launching mechanism according to embodiment 1.

Fig. 6 is a view schematically showing an opened state of a parachute in an aircraft in which the parachute device according to embodiment 1 is mounted.

Fig. 7 is a view schematically showing the configuration of the parachute device according to embodiment 2.

Fig. 8 is a diagram showing a configuration of a flying object launching mechanism according to embodiment 2.

Fig. 9 is a functional block diagram of a parachute apparatus including an abnormal state detection mechanism.

Detailed Description

1. Brief description of the embodiments

First, a typical embodiment of the invention disclosed in the present application will be briefly described. In the following description, reference numerals corresponding to components of the present invention in the drawings are shown with parentheses as an example.

(1) A parachute device (4, 4A) according to a representative embodiment of the present invention is characterized by comprising a parachute (400), a parachute housing section (40) for housing the parachute, at least one flying body (43, 43A) connected to the parachute, and a launching section (41, 41A) for holding the flying body and launching the held flying body, wherein the flying body comprises a flying body main body section (44, 44A) engaged with the launching section, and a gas generation device (45), and the gas generation device (45) is disposed in an internal space (440, 440A) formed by the launching section and the flying body main body section, and generates gas.

(2) In the parachute device (4), the emitting portion may be formed in a cylindrical shape having an opening at one end and a bottom at the other end, the flying body main body portion may be formed in a rod shape, the gas generating device may be disposed on one end side of the flying body main body portion, and the flying body may be disposed in the following state: the one end side of the flying body main body portion is inserted into the inside of the launching portion, and the gas generating device faces the bottom portion (412) of the launching portion inside the launching portion.

(3) The parachute device (4) may further include a connection rope (46) that connects the parachute and the flying object, and the flying object main body (44) may include: a holding section (441) for holding the gas generating device; and a coupling section (442) that is formed to protrude toward the opposite side of the holding section in the direction of the axis (Q) of the flying body main body, and that is coupled to the coupling cord.

(4) The parachute device (4) may further include a lead wire (47) for igniting the gas generator, the connection portion may be formed in a tubular shape, and at least a part of the lead wire may be disposed inside the connection portion.

(5) In the parachute device (4A), the launching section (41A) may be formed in a rod shape, the flying body main body section may be formed in a cylindrical shape having one end open and the other end closed, the gas generator may be provided inside the flying body main body section, and the flying body (43A) may be supported by the launching section in a state where at least a part of the launching section is inserted into the flying body main body section (44A) and the gas generator faces a tip end section (414A) of the launching section.

(6) The parachute device (4A) may further include a connection rope (46) that connects the parachute and the flying object (43A), and the flying object main body (44A) may include: a support portion (443A) formed in a cylindrical shape, into which at least a part of the emitting portion is inserted from one end side; a holding section (441A) that holds the gas generating device in a state facing a distal end section (414A) of the emission section inserted from one end side of the support section, on the other end side of the support section; and a connecting portion (442A) that is formed to protrude from the holding portion toward the opposite side of the support portion and is connected to the connecting string.

(7) The parachute device (4A) may further include a lead wire (47) for igniting the gas generator, the connection portion (442A) may be formed in a cylindrical shape, and at least a part of the lead wire may be disposed inside the connection portion.

(8) The parachute device (4, 4A) may further include: an abnormality detection unit (15B) that detects an abnormality during flight; and a parachute control unit (16B) that causes the emission unit to emit the flying object based on the abnormality detection by the abnormality detection unit.

(9) A flying device (1) according to an exemplary embodiment of the present invention is characterized by comprising: a body unit (2); a thrust generation unit (3) that is connected to the body unit and generates thrust; a flight control unit (14) that controls the thrust generation unit; an abnormality detection unit (15) that detects an abnormality during flight; the parachute device (4, 4A); and an emission control unit (42) that causes the emission unit to emit the flying object based on the abnormality detection by the abnormality detection unit.

(10) A flying object launching mechanism (50, 50A) according to a representative embodiment of the present invention is characterized by comprising: a flight body (43, 43A) that can be connected to the parachute (400); and a launching unit (41, 41A) for holding the flying object and launching the held flying object, wherein the flying object has a flying object body (44, 44A) engaged with the launching unit, and a gas generating device (45), and the gas generating device (45) is disposed in an internal space (440, 440A) formed by the launching unit and the flying object body and generates gas.

(11) The flying object launching mechanism (50) may be configured such that the launching section (41) is formed in a cylindrical shape having an opening at one end and a bottom at the other end, the flying object body section is formed in a rod shape, the gas generating device is disposed on one end side of the flying object body section, and the flying object is disposed in a state in which: the one end side of the flying body main body portion is inserted into the inside of the launching portion, and the gas generating device faces the bottom portion (412) of the launching portion inside the launching portion.

(12) The flying body launching mechanism (50A) may be configured such that the launching section (41A) is formed in a rod shape, the flying body main body section is formed in a cylindrical shape with one end open and the other end closed, the gas generating device is provided inside the flying body main body section, and the flying body (43A) is supported on the launching section in a state where at least a part of the launching section is inserted inside the flying body main body section (44A) and the gas generating device faces a tip end section (414A) of the launching section.

2. Specific examples of the embodiments

Specific examples of embodiments of the present invention will be described below with reference to the drawings. In the following description, the same reference numerals are given to the common components in the respective embodiments, and redundant description is omitted. Note that the drawings are schematic diagrams, and the dimensional relationships and the ratios of the components may differ from those of the actual components. The drawings may include portions having different dimensional relationships and ratios from each other.

< embodiment 1>

Fig. 1 is a view schematically showing the external appearance of a flying device on which a parachute device according to embodiment 1 is mounted. The flying apparatus 1 shown in fig. 1 is, for example, a multi-rotor type flying apparatus having three or more rotors, that is, a so-called drone.

As shown in fig. 1, the flight device 1 includes a body unit 2, thrust generation units 3_1 to 3_ n (n is an integer of 3 or more), a parachute device 4, a notification device 5, and an arm unit 6.

The fuselage airframe 2 is the main part of the flying apparatus 1. The fuselage cell 2 houses various functional parts for controlling the flight of the flying apparatus 1 as described below. In fig. 1, a columnar body unit 2 is illustrated as an example, but the shape of the body unit 2 is not particularly limited.

The thrust generation units 3_1 to 3_ n are rotors that generate thrust. In the following description, the thrust generation units 3_1 to 3_ n are simply referred to as "thrust generation unit 3" unless otherwise specified. The number of thrust generation units 3 included in the flight device 1 is not particularly limited, but is preferably three or more. For example, the flying apparatus 1 may be any one of a three-axis aircraft including three thrust generation sections 3, a four-axis aircraft including four thrust generation sections 3, a six-axis aircraft including six thrust generation sections 3, an eight-axis aircraft including eight thrust generation sections 3, and the like.

Fig. 1 illustrates, as an example, a four-axis aircraft in which four (n-4) thrust generators 3_1 to 3_4 are mounted on the flight device 1.

The thrust generation unit 3 has a structure in which, for example, the propeller 30 and the motor 31 for rotating the propeller 30 are accommodated in the cylindrical case 32. A mesh (for example, a resin material or a metal material (stainless steel or the like)) for preventing contact with the propeller 30 is provided at an opening portion of the cylindrical case 32.

The arm portion 6 is a structure for connecting the body unit 2 and each thrust generation portion 3. The arm portion 6 is formed to protrude radially from the body unit 2, for example, around the central axis O of the body unit 2. The thrust generation unit 3 is attached to the tip of each arm 6.

The reporting device 5 is a device for notifying the outside of the flying device 1 of a hazard. The reporting device 5 includes a light source including an led (light Emitting diode) or the like, and a sound generating device (an amplifier, a speaker, or the like), for example. The notification device 5 notifies the outside of the dangerous state of the flying apparatus 1 by light or sound based on the abnormality detection by the abnormality detection unit 15 described later.

The notification device 5 may be exposed to the outside of the body unit 2, or may be housed in the body unit 2 in a form capable of outputting light generated by a light source, sound generated by a speaker, or the like to the outside.

The parachute device 4 is used to reduce the landing speed of the flying device 1 and safely land the flying device 1 when there is a possibility that the flying device 1 may land due to an abnormality.

As shown in fig. 1, the parachute device 4 is provided on the body unit 2, for example. The specific structure of the parachute device 4 will be described below.

Fig. 2 is a functional block diagram of the flight device 1 mounted with the parachute device 4 according to embodiment 1.

As shown in fig. 2, the body unit 2 includes a power supply unit 11, a sensor unit 12, motor drive units 13_1 to 13_ n (n is an integer of 3 or more), a flight control unit 14, an abnormality detection unit 15, a landing control unit 16, a communication unit 17, and a storage unit 18.

Among these functional units, the flight control unit 14, the abnormality detection unit 15, and the landing control unit 16 are realized by cooperation of a program process executed by a program Processing device such as a microcontroller including a storage device such as a cpu (central Processing unit) and a memory, and a peripheral circuit (hardware resource).

The power supply unit 11 includes a battery 22 and a power supply circuit 23. The battery 22 is, for example, a secondary battery (e.g., a lithium-ion secondary battery). The power supply circuit 23 generates a power supply voltage based on the output voltage of the battery 22, and supplies the power supply voltage to each hardware implementing the above-described functional section. The power supply circuit 23 includes, for example, a plurality of regulator circuits, and supplies a power supply voltage of an appropriate magnitude to each of the above-described hardware.

The sensor unit 12 is a functional unit for detecting the state of the flying apparatus 1. The sensor unit 12 detects the inclination of the body of the flying apparatus 1. Specifically, the sensor unit 12 includes an angular velocity sensor 24, an acceleration sensor 25, a magnetic sensor 26, and an angle calculation unit 27.

The angular velocity sensor 24 is a sensor for detecting an angular velocity (rotational speed). For example, the angular velocity sensor 24 is a three-axis gyro sensor that detects an angular velocity based on three reference axes, i.e., an x-axis, a y-axis, and a z-axis.

The acceleration sensor 25 is a sensor for detecting acceleration. For example, the acceleration sensor 25 is a three-axis acceleration sensor that detects acceleration based on three reference axes, i.e., an x-axis, a y-axis, and a z-axis.

The magnetic sensor 26 is a sensor for detecting geomagnetism. For example, the magnetic sensor 26 is a three-axis geomagnetic sensor (electronic compass) that detects an azimuth (absolute direction) based on three reference axes, i.e., an x-axis, a y-axis, and a z-axis.

The angle calculation unit 27 calculates the body inclination of the flying apparatus 1 based on the detection result of at least one of the angular velocity sensor 24 and the acceleration sensor 25. Here, the body inclination of the flying apparatus 1 refers to an angle of the body (body unit 2) with respect to the ground (horizontal direction).

For example, the angle calculation unit 27 may calculate the angle of the body with respect to the ground based on the detection result of the angular velocity sensor 24, or may calculate the angle of the body with respect to the ground based on the detection results of the angular velocity sensor 24 and the acceleration sensor 25. In the method of calculating the angle using the detection results of the angular velocity sensor 24 and the acceleration sensor 25, a known calculation formula may be used.

The angle calculation unit 27 may correct the angle calculated based on the detection result of at least one of the angular velocity sensor 24 and the acceleration sensor 25 based on the detection result of the magnetic sensor 26.

The sensor unit 12 may include, for example, an air pressure sensor, an air volume (wind direction) sensor, an ultrasonic sensor, a GPS receiver, a camera, and the like, in addition to the angular velocity sensor 24, the acceleration sensor 25, and the magnetic sensor 26.

The communication unit 17 is a functional unit for communicating with the external device 9. Here, the external device 9 is a transmitter, a server, or the like that controls the operation of the flight device 1 and monitors the state of the flight device 1. The communication unit 17 is configured by, for example, an antenna and an rf (radio frequency) circuit. The communication between the communication unit 17 and the external device 9 is realized by wireless communication in the ISM band (2.4GHz band), for example.

The communication unit 17 receives the operation information of the flying apparatus 1 transmitted from the external apparatus 9 and outputs it to the flight control unit 14, and transmits various measurement data and the like measured by the sensor unit 12 to the external apparatus 9. When the abnormality detection unit 15 detects an abnormality of the flying apparatus 1, the communication unit 17 transmits information indicating that an abnormality has occurred in the flying apparatus 1 to the external apparatus 9. Further, the communication unit 17 transmits information indicating that the flying apparatus 1 has landed to the external apparatus 9 when the flying apparatus 1 lands on the ground.

The motor driving units 13_1 to 13_ n are functional units that are provided for each thrust generation unit 3 and drive the motor 31 to be driven in accordance with an instruction from the flight control unit 14.

In the following description, the motor driving units 13_1 to 13_ n are simply referred to as "motor driving unit 13" unless otherwise specified.

The motor drive unit 13 drives the motor 31 so that the motor 31 rotates at the rotation speed instructed by the flight control unit 14. For example, the motor drive section 13 is an ESC (Electronic Speed Controller).

The flight control unit 14 is a functional unit that controls each functional unit of the flight device 1 as a whole.

The flight control unit 14 controls the thrust generation unit 3 to make the flight device 1 fly stably. Specifically, the flight control unit 14 calculates an appropriate rotation speed of the motor 31 of each thrust generation unit 3 so that the airframe flies in a desired direction in a stable state based on the operation information (instructions such as ascending, descending, advancing, and retreating) of the external device 9 received by the communication unit 17 and the detection result of the sensor unit 12, and instructs each motor drive unit 13 of the calculated rotation speed.

When the attitude of the fuselage is unstable due to external influences such as wind, for example, the flight control unit 14 calculates appropriate rotation speeds of the motors 31 of the thrust generation units 3 so that the fuselage becomes horizontal based on the detection result of the angular velocity sensor 24, and instructs the calculated rotation speeds to the motor drive units 13.

Further, for example, in order to prevent the flying apparatus 1 from drifting when the flying apparatus 1 hovers, the flight control unit 14 calculates an appropriate rotation speed of the motor 31 of each thrust generation unit 3 based on the detection result of the acceleration sensor 25, and instructs each motor drive unit 13 of the calculated rotation speed.

The flight control unit 14 controls the communication unit 17 to transmit and receive the various data to and from the external device 9.

The storage unit 18 is a functional unit for storing various programs, parameters, and the like for controlling the operation of the aircraft 1. For example, the storage unit 18 is constituted by a flash memory, a nonvolatile memory such as a ROM, a RAM, and the like.

The parameters stored in the storage unit 18 are, for example, a remaining capacity threshold 28, a slope threshold 29, and the like, which will be described later.

The abnormality detection unit 15 is a functional unit for detecting an abnormality during flight. Specifically, the abnormality detection unit 15 monitors the detection result of the sensor unit 12, the state of the battery 22, and the operating state of the thrust generation unit 3, and determines whether or not the aircraft 1 is in an abnormal state.

Here, the abnormal state refers to a state in which the flying apparatus 1 may not fly autonomously. For example, a state in which at least one of a failure of the thrust generation unit 3, a remaining capacity of the battery 22 being lower than a predetermined threshold value, and an abnormal inclination of the body (body unit 2) has occurred is referred to as an abnormal state.

The abnormality detection unit 15 determines that the flight device 1 is in an abnormal state when detecting a failure of the thrust generation unit 3. Here, the failure of the thrust generation unit 3 refers to, for example, the motor 31 not rotating at the rotation speed specified by the flight control unit 14, the propeller 30 not rotating, and the propeller 30 being damaged.

When detecting that the remaining capacity of the battery 22 is lower than a predetermined threshold value (hereinafter also referred to as "remaining capacity threshold value") 28, the abnormality detection unit 15 determines that the aircraft 1 is in an abnormal state.

Here, the remaining capacity threshold value 28 may be, for example, a capacity value of a degree to which the motor cannot rotate at the rotation speed instructed by the flight control unit 14. The remaining capacity threshold 28 is stored in the storage unit 18 in advance, for example.

When the abnormality detection unit 15 detects an abnormal slope of the flight device 1 (fuselage), it determines that an abnormality has occurred in the flight device 1. For example, the abnormality detection unit 15 determines that the aircraft 1 is in an abnormal state when a state in which the angle calculated by the angle calculation unit 27 exceeds a predetermined threshold (hereinafter also referred to as "slope threshold") 29 continues for a predetermined period.

The slope threshold 29 may be set to a value larger than an angle (pitch angle) when the flying apparatus 1 moves in the front-rear direction and an angle (roll angle) when the flying apparatus 1 moves in the left-right direction, which are obtained in advance through experiments, for example. The slope threshold 29 is stored in the storage unit 18 in advance, for example.

The parachute control unit (one example of a parachute control unit) 16 is a functional unit for controlling the descent of the flying apparatus 1. Specifically, when the abnormality detection unit 15 detects that the flying apparatus 1 is in an abnormal state, the landing control unit 16 executes a landing preparation process for safely landing the flying apparatus 1.

Specifically, the landing control unit 16 executes the following processing as landing preparation processing. That is, the landing control unit 16 controls the reporting device 5 to report the dangerous state to the outside based on the abnormality detection by the abnormality detection unit 15. The landing control unit 16 controls the motor driving units 13 to stop the rotation of the motors 31 based on the abnormality detection by the abnormality detection unit 15. Further, the parachute control unit 16 outputs a control signal for instructing the parachute to open to the parachute device 4 based on the abnormality detection by the abnormality detection unit 15, and opens the parachute 400.

Next, the parachute device 4 according to embodiment 1 will be specifically described.

Fig. 3 is a diagram schematically showing the structure of the parachute device 4 according to embodiment 1. Fig. 3 shows a side section of the parachute apparatus 4.

The parachute device 4 includes a parachute 400, a parachute housing section 40, a launching section 41, a launch control section 42, and a flying body 43.

Fig. 4 is a view schematically showing an opened state of the parachute 400.

As shown in fig. 4, the parachute 400 includes a parachute body (canopy)406 and a suspension cable 407 for connecting the parachute body 406 and the parachute housing section 40 (parachute installation section 404).

The umbrella body 406 is connected to the flying body 43 by the connection cord 46. For example, as shown in fig. 4, the connection cord 46 is connected to the umbrella body 406 at the apex of the umbrella body 406 toward the edge (periphery). More specifically, the connecting strings 46 are connected to each other at a distance from each other at the peripheral portion of the parachute 400. For example, as shown in fig. 4, when the shape of the parachute 400 is circular when viewed from the apex side when the parachute 400 is opened, the connection strings 46 are connected at equal intervals in the circumferential direction of the peripheral portion of the parachute 400.

In addition, when there is only one flying body 43, the connection rope 46 may be connected to the peripheral portion of the parachute 400. At this time, the position of the connection with the connection rope 46 on the peripheral portion of the parachute 400 is not particularly limited.

The connecting string 46 is made of, for example, a metal material (e.g., stainless steel) or a fiber material (e.g., nylon string).

For example, the diameter D of the umbrella body 406 required to lower the flying apparatus 1 at a low speed can be calculated based on the following formula (1). In the equation (1), m is the total weight of the flying device 1, v is the landing speed of the flying device 1, ρ is the air density, and Cd is the drag coefficient.

[ formula 1]

For example, when the total weight m of the flying device 1 is 250(kg), the drag coefficient Cd is 0.9, and the air density ρ is 1.3kg/m, the diameter D of the umbrella body 406 required to set the landing speed v of the flying device 1 to 5(m/s) is 14.6(m) as calculated by the formula (1).

For example, as shown in fig. 3, the parachute 400 is accommodated in the parachute accommodation portion 40 in a folded state of the parachute body 406 before use.

The parachute container 40 is a container for containing the parachute 400. The parachute receiving section 40 is made of, for example, resin. As shown in fig. 1, the parachute housing section 40 is provided on the upper surface of the body unit 2, that is, on the surface of the flying apparatus 1 opposite to the ground surface during flying. For example, the parachute housing 40 is preferably provided on the upper surface of the body unit such that the central axis O of the body unit 2 overlaps the central axis P of the parachute housing 40.

As shown in fig. 3, the parachute housing section 40 has, for example, a cylindrical shape with one end open and the other end closed.

Specifically, the parachute housing section 40 includes a cylindrical (for example, cylindrical) side wall portion 401 and a bottom portion 402 formed so as to close an opening at one end side of the side wall portion 401.

The side wall portion 401 and the bottom portion 402 constitute an accommodation space 403 for accommodating the parachute 400. The side wall portion 401 and the bottom portion 402 may be formed separately and then joined, or may be formed integrally.

As shown in fig. 4, a parachute mounting portion 404 for connecting the parachute housing portion 40 and the parachute 400 is provided on the bottom portion 402. For example, the parachute 400 and the parachute housing section 40 are coupled by coupling one end of a sling 407 of the parachute 400 to the parachute mounting section 404.

Further, a cover may be provided in the parachute housing section 40 to cover the open one end side of the side wall portion 401 in a state where the parachute 400 is housed in the housing space 403.

The flying body 43 is a device for releasing the parachute 400 to the outside of the parachute accommodation part 40 and assisting the parachute 400 to be opened (deployed). The flight body 43 can obtain thrust by injecting gas, for example. The flying body 43 is connected to the parachute 400 via the connection rope 46 as described above.

The parachute device 4 includes at least one flying body 43. For example, the parachute device 4 preferably includes three or more flying bodies 43. In the present embodiment, a case where the parachute device 4 includes three flying objects will be described as an example. The specific structure of the flying object 43 will be described later.

The launching section 41 is a device for holding the flying object 43 and launching the held flying object 43. The emitting portion 41 is provided at each flying body 43. The parachute device 4 according to the present embodiment includes three launching sections 41 for accommodating three flying objects 43, respectively.

Fig. 5 is a diagram showing a configuration of the flying object launching mechanism according to embodiment 1.

Fig. 5 shows a cross-sectional shape of the flying body launching mechanism 50 including the flying body 43 and the launching section 41.

As shown in fig. 5, the emitter 41 is formed in a cylindrical shape (for example, a cylindrical shape) having one end open and the other end closed. Specifically, the radiation portion 41 includes a side wall portion 411 having, for example, a cylindrical shape, and a bottom portion 412 covering one end of the side wall portion 411. The side wall portion 411 and the bottom portion 412 define a housing space for housing the flying body 43. The side wall 411 and the bottom 412 are made of resin, for example.

A respective launching part 41 is provided at each parachute accommodation part 40. Specifically, as shown in fig. 1 and the like, the respective launching sections 41 are joined to the outer peripheral surface of the parachute housing section 40 so that the launching ports 413, which are openings formed in the end portions of the side wall sections 411 opposite to the bottom section 412, face the open one end side of the parachute housing section 40.

The respective launching portions 41 are disposed at equal intervals in the rotational direction about the central axis P of the parachute housing portion 40. For example, when there are three flying bodies 43 and three launching units 41 as in the present embodiment, the launching units 41 are arranged at intervals of 120 ° ((360 °/3)) in the rotation direction around the central axis P of the parachute housing unit 40.

In addition, when only one launching part 41 is provided, it is sufficient to engage with the outer peripheral surface of the parachute receiving part 40. At this time, the position on the outer circumferential surface of the parachute accommodation part 40 for engaging the launching part 41 is not particularly limited.

The flying object 43 includes a gas generator 45 and a flying object body 44. As shown in fig. 5, the flight vehicle 43 is arranged in the following state: one end side of the flight body main body portion 44 is inserted into the inside of the emitting portion 41, and the gas generating device 45 faces the bottom portion 412 (bottom surface 412a) of the emitting portion 41 inside the emitting portion 41.

The gas generating device 45 is a device that generates gas that serves as a basis for thrust for emitting the flying object 43 from the emission port 413 of the emission part 41 to the outside. For example, as shown in fig. 5, the gas generator 45 includes a housing 451, a seal member 452, an igniter 453, a gas generating agent 454, and an igniter (not shown).

The ignition section is electrically connected to an emission control section 42 (described later) via a lead wire (lead wire) 47. The ignition section ignites the ignition agent 453 based on the ignition signal output from the emission control section 42, and causes the gas generating agent 454 to generate a chemical reaction to generate gas.

The housing 451 is a casing having a gas release chamber 455, the gas release chamber 455 accommodates an igniter 453 and a gas generating agent 454 therein, and releases gas generated from the gas generating agent 454. For example, the housing 451 has a dome shape. The housing 451 is made of, for example, resin. Preferably, the housing 451 is made of Fiber-Reinforced plastic (FRP), or the like. The housing 451 is not limited to resin, and may be made of metal.

As shown in fig. 5, in the gas release chamber 455, a gas generating agent 454 is filled. In the gas releasing chamber 455, a gas releasing hole 456 for releasing gas generated by the gas generating agent 454 is formed. Further, the gas release chamber 455 is provided with a sealing member 452 that covers the gas release hole 456 and seals the gas generating agent 454 in the gas release chamber 455. The sealing member 452 is made of a material that is easily broken by the pressure of the generated gas when the gas generating agent 454 generates gas. The sealing member 452 is a film such as polyester.

The gas generator 45 is disposed in an internal space 440 formed by the emitter 41 and the flight body main body 44.

The flight body 44 is a component that holds the gas generator 45 and is connected to the connection rope 46. The flying body main body portion 44 is formed in a rod shape, for example. More specifically, the flight body main body portion 44 is formed in a partially hollow cylindrical shape, for example. The flight body main body portion 44 engages with the launch portion 41.

The gas generator 45 is held at one end of the flight body 44, and the connection rope 46 is connected to the other end. In other words, the flying body main body 44 is divided into two functional portions, i.e., a holding portion 441 for holding the gas generator 45 and a coupling portion 442 for coupling to the coupling rope 46, in the direction of the axis Q of the flying body main body 44.

The flying body main body portion 44 is made of, for example, resin. The holding portion 441 and the coupling portion 442 may be integrally molded as a resin molded product, or may be formed as separate parts and joined to each other. In the present embodiment, a case where the flying body main body portion 44 is a component formed integrally by the holding portion 441 and the coupling portion 442 will be described as an example.

The holding portion 441 accommodates and holds the gas generating device 45 therein. Specifically, the holding portion 441 holds the gas generator 45 inside the emitter 41 so that the gas discharge side of the gas generator 45, that is, the side of the gas discharge hole 456 (sealing member 452) of the housing 451 faces the bottom portion 412 (bottom surface 412a) of the emitter 41. For example, the holding portion 441 has a hole 441a formed to correspond to the shape of the gas generating device 45. The holding portion 441 holds the gas generator 45 by, for example, pressing or bonding the gas generator 45 into the hole 441 a.

The coupling portion 442 is formed to protrude toward the opposite side of the holding portion 441 in a direction parallel to the axis Q of the flight body main body portion 44. The coupling portion 442 is formed in a cylindrical shape (for example, a cylindrical shape). The coupling section 442 has a locking section 442a for locking the coupling cord 46 at an end opposite to the holding section 441. The locking portion 442a is, for example, a through hole. For example, the connecting string 46 is inserted into a through hole as the locking portion 442a and is locked to the locking portion 442 a.

At least a part of lead 47 extends into cylindrical coupling portion 442. The lead wire 47 is made of, for example, an ethylene-based wire, a tin-plated wire, or an enameled wire. For example, the lead 47 is disposed in the internal space 442b of the coupling portion 442, and passes through a through-hole 441b formed in the bottom surface of the holding portion 441 of the flight body main body portion 44, to connect the gas generator 45 held by the holding portion 441.

In order to prevent the flying body 43 from falling from the launching section 41 when the parachute apparatus 4 is not in use, the flying body 43 may be fixed to the launching section 41 by a pin (shear pin) 48 as shown in fig. 5. For example, as shown in fig. 5, a through-hole 480 is formed in the side wall portion 411 of the emitter 41, and a hole (e.g., a non-through-hole) is formed in the flying body main body portion 44 of the flying body 43. Then, the pin 48 is inserted into the through-hole 480 on the side wall 411 and the hole on the side of the flying body main body 44 in a state where the through-hole 480 on the side wall 411 and the hole on the side of the flying body main body 44 overlap each other. Thereby, when the parachute device 4 is not used, the flying body 43 is fixed to the launching section 41.

The pin 48 is configured such that, when the flying body 43 is launched, the pin 48 can be broken by applying a force in the direction of the axis Q of the flying body main body 44. Thus, the pin 48 does not interfere with the launch of the flying body 43. For example, an aluminum alloy, a resin, or the like is preferably used for the pin 48.

As shown in fig. 5, the flying object 43 is disposed inside the launching section 41 as follows: the gas generating devices 45 (sealing members 452) face the bottom portion 412 (bottom surface 412a) of the emitter 41 and are spaced apart from each other. Thereby, a space 418 is formed between the gas generator 45 of the flying object 43 and the bottom part 412 of the emitter 41.

In addition, the distance between the gas generation device 45 of the flying object 43 and the bottom portion 412 of the launching section 41 can be appropriately changed so that the pressure of the gas for launching the flying object 43 becomes appropriate.

The emission control section 42 is a functional section for controlling the emission of the flying body 43 from the emission section 41. For example, when the parachute control section 16 outputs a control signal instructing to open the parachute 400, the transmission control section 42 outputs an ignition signal. The ignition signal is input to an ignition portion (not shown) of the gas generator 45 provided in each flight body 43 via the lead wire 47, and the ignition portion ignites the ignition agent 453 in accordance with the input ignition signal.

Next, the parachute opening flow of the parachute 400 of the parachute device 4 according to embodiment 1 will be described.

For example, when the flying apparatus 1 equipped with the parachute apparatus 4 is flying, and a state in which the slope of the body (body unit 2) of the flying apparatus 1 exceeds the slope threshold value 29 continues for a predetermined period of time due to the influence of strong wind and the abnormality detection units 15 and 15A determine an abnormal state, the parachute control unit 16 on the flying apparatus 1 side or the parachute control unit 16A on the parachute apparatus 4 side transmits a control signal instructing to open the parachute 400 to the transmission control unit 42 of the parachute apparatus 4.

The transmission control unit 42 of the parachute device 4 outputs an ignition signal when receiving a control signal instructing to open the parachute 400. The ignition signal is sent to an ignition portion (not shown) of the gas generating apparatus 45 via a lead wire 47.

The ignition portion of the gas generator 45 ignites the ignition agent 453 in response to the received ignition signal to cause the gas generating agent 454 to chemically react with each other, thereby generating gas in the gas releasing chamber 455. When the pressure of the gas generated in the gas release chamber 455 increases, the sealing member 452 covering the gas release hole 456 is broken. Thereby, the gas in the gas release chamber 455 is released from the gas release hole 456 into the space 418 in the emitter 41, and the space 418 is filled with the gas. Then, when the pressure of the gas in the space 418 exceeds a predetermined value, the flying body 43 moves to the side of the emission port 413 by the gas pressure, and is emitted from the emission port 413 of the emission part 41.

After the flying bodies 43 are launched from the launching units 41, the flying bodies 43 pull the parachute 400 through the connecting ropes 46. Thereby, the parachute 400 is released from the parachute accommodation part 40. Then, the parachute 400 further pulled by each flying body 43 enters air into the folded parachute body 406, and the parachute body 406 is unfolded. Thereby, the parachute 400 is opened.

Fig. 6 is a diagram schematically showing an opened state of parachute 400 of flying apparatus 1 according to embodiment 1.

For example, when each flying body 43 is launched through the above-described processing steps, each flying body 43 pulls the umbrella body 406 of the parachute 400 after release from the apex portion thereof toward the edge (periphery) side. Thus, the umbrella body 406 is unfolded to easily contain air, so that the parachute 400 can be immediately opened.

As described above, the parachute device 4 according to embodiment 1 includes at least one flying object 43 connected to the parachute 400, and the flying object 43 includes: a flight body main body portion 44 engaged with the launching portion 41, and a gas generating device 45, wherein the gas generating device 45 is disposed in an internal space 440 formed by the launching portion 41 and the flight body main body portion 44.

As a result, as described above, the gas generating device 45 generates gas, the pressure of the gas in the internal space 440 formed by the launching section 41 and the flying object body 44 is increased, and the flying object 43 can be flown out from the launching section 41. Since the flying body 43 flies, the umbrella body 406 of the parachute 400 connected to the flying body 43 is pulled from the apex portion thereof toward the edge (periphery) side, and therefore the umbrella body 406 easily contains air, and the parachute 400 can be opened immediately.

Therefore, even when the air flow effect cannot be obtained in the rotorcraft that can be kept stationary in the air like the flying apparatus 1, the parachute can be opened quickly and reliably by attaching the parachute apparatus 4 according to the present embodiment.

In addition, in the parachute apparatus 4, the flying body 43 itself includes the gas generating device 45 as a thrust generating device. This eliminates the need to provide a separate thrust generator in addition to the flight members 43 in the parachute apparatus 4, and thus can reduce the cost while suppressing an increase in the weight of the parachute apparatus 4.

Further, when the parachute device 4 is provided with a plurality of flying bodies 43, since each flying body 43 includes the gas generating device 45, the control of the timing of launching of each flying body 43 becomes easy. For example, in the launching system in which one gas generator is provided as the thrust generator in the parachute device 4 and each flying object is released by the gas generated by the gas generator, only all the flying objects can be launched simultaneously. In contrast, according to the parachute device 4 of the present embodiment, the timing of launching the plurality of flying objects 43 can be easily changed.

Thus, according to the flight vehicle 43 of the present embodiment, the degree of freedom in controlling the parachute device 4 can be improved.

In addition, in the parachute device 4 according to embodiment 1, the flying object 43 is disposed in the following state: one end side of the flying body main body portion 44 holding the gas generating device 45 is inserted into the inside of the emitting portion 41, and the gas generating device 45 faces the bottom portion 412 of the emitting portion 41 inside the emitting portion 41.

Thus, the gas generating device 45 is accommodated inside the emitting portion 41, and therefore, the gas generating device 45 can be prevented from being exposed to rainwater, foreign matter, deterioration of the gas generating device 45, and the like. Further, since the flying body 43 is accommodated in the launching part 41, when the gas generating device 45 is ignited, the gas generated by the gas generating device 45 is accumulated in the launching part 41 to increase the gas pressure, thereby violently launching the flying body 43.

Further, the inner circumferential surface of the launching section 41 formed in a cylindrical shape functions as a guide mechanism for guiding the movement of the flying object 43 at the time of launching, and the flying object 43 can fly more linearly.

In addition, in the parachute device 4, the flying body main body portion 44 includes: a holding portion 441 that holds the gas generating device 45; and a coupling portion 442 that is formed to protrude toward the opposite side of the holding portion 441 in the direction of the axis line Q of the flight body main body portion 44 and is coupled to the coupling rope 46.

This allows the flying body 43 to be stably held by the launching section 41, and the flying body 43 and the parachute 400 to be easily connected by the connecting string 46.

In the parachute apparatus 4, the connection portion 442 is formed in a tubular shape, and at least a part of the lead wire 47 for igniting the gas generator 45 is disposed inside the connection portion 442.

Thus, the lead 47 extending from the gas generator 45 held by the holding portion 441 can be easily wired inside the flight body main body portion 44.

In addition, in the parachute device 4, the parachute housing section 40, the launching section 41, the flight body main body section 44, and the like are made of resin (for example, synthetic resin), so that the weight of the parachute device 4 can be reduced.

< embodiment mode 2>

Fig. 7 is a diagram schematically showing the structure of a parachute device 4A according to embodiment 2. Fig. 7 shows a side cross section of the parachute device 4A.

The parachute device 4A according to embodiment 2 is different from the parachute device 4 according to embodiment 1 in the configuration of the flight body and the launching section, and is otherwise the same as the parachute device 4 according to embodiment 1.

Fig. 8 is a diagram showing a configuration of a flying object launching mechanism 50A including a flying object 43A and a launching section 41A according to embodiment 2.

The flying body 43A is disposed on the emitting portion 41A so as to cover at least a part of the outer peripheral surface of the emitting portion 41A. Specifically, as shown in fig. 8, the flight object 43A is supported by the emitter 41A in a state in which at least a part of the emitter 41A is inserted into the interior of the flight object body portion 44A and the gas generator 45 faces the tip end portion 414A of the emitter 41A.

The flying body 43A includes a gas generator 45 and a flying body main body 44A. The gas generator 45 is disposed in an internal space 440A formed by the emitter 41A and the flight body main body 44A.

The flight body portion 44A is formed in a cylindrical shape (for example, a cylindrical shape) having one end open and the other end closed. The flying body main body portion 44A is made of, for example, resin. The gas generator 45 is disposed inside the flight body main body portion 44A.

More specifically, in the flight body portion 44A, the opening portion side of the tube is inserted through the emitter 41A, the gas generator 45 is held on the bottom portion side of the tube, and the end portion on the opposite side of the opening portion with the bottom portion interposed therebetween is connected to the connection string 46. In other words, the flying body 44A is divided along the axis Q of the flying body 44A into three functional sections, namely, a support section 443A for supporting the flying body 43A on the launching section 41A, a holding section 441A for holding the gas generating device 45, and a coupling section 442A for coupling with the coupling rope 46.

Here, the supporting portion 443A, the holding portion 441A, and the coupling portion 442A may be integrally molded as a resin molded product, or may be formed as separate parts and joined to each other. In the present embodiment, a case where the flying body main body portion 44A is a component integrally molded from the support portion 443A, the holding portion 441A, and the coupling portion 442A will be described as an example.

The support portion 443A is formed in a cylindrical shape (for example, a cylindrical shape). The inner diameter of the support portion 443A has a size corresponding to the outer diameter of the emitting portion 41A. The support portion 443A is inserted into at least a part of the emitting portion 41A from one end side. Specifically, the distal end portion 414A of the emitting portion 41A is inserted into the support portion 443A from one end side of the support portion 443A.

The holding portion 441A has, for example, a hole 441Aa formed in accordance with the shape of the gas generator 45. The holding portion 441A holds the gas generating device 45 by, for example, pressing or bonding the gas generating device 45 into the hole 441 Aa.

The holding portion 441A holds the gas generator 45 at the other end side of the support portion 443A in a state facing the distal end portion 414A of the emitter 41A inserted from the one end side of the support portion 443A. That is, the gas generator 45 is disposed such that the gas discharge side of the gas generator 45, that is, the side of the gas discharge hole 456 (seal member 452) of the housing 451 faces the distal end 414A of the emitting portion 41A.

As shown in fig. 8, the flying objects 43A are arranged in a state where the gas generating device 45 (sealing member 452) faces the distal end portion 414A (distal end surface 414Aa) of the emission portion 41A and is spaced apart from each other. Thereby, a space 418A is formed between the gas generator 45 of the flying object 43A and the tip end 414A of the emitting portion 41A.

Further, the distance between the gas generator 45 of the flying object 43A and the tip end 414A of the launching section 41A can be appropriately changed so that the pressure of the gas for launching the flying object 43A becomes appropriate.

The coupling portion 442A is formed to protrude from the holding portion 441A toward the side opposite to the support portion 443A in the direction parallel to the axis line Q of the flight body main body portion 44A. The coupling portion 442A is formed in a cylindrical shape (e.g., a cylindrical shape) having one end open and the other end closed.

The connection portion 442A is connected to the connection cord 46. Specifically, the coupling portion 442A has an engaging portion 442Aa for engaging the coupling cord 46 at the end opposite to the support portion 443A. The locking portion 442Aa is, for example, a through hole. For example, the connection cord 46 is inserted into a through hole as the locking portion 442Aa and is locked by the locked portion 442 Aa.

At least a part of lead 47 extends into cylindrical coupling portion 442A. For example, the lead wire 47 is disposed in the internal space 442Ab of the coupling section 442A, passes through a through-hole 441Ab formed in the bottom surface of the holding section 441A of the flying body main body section 44A, and is connected to the gas generator 45 held by the holding section 441A.

As described above, in the parachute device 4A according to embodiment 2, the flight object 43A is supported by the launching section 41A in a state in which at least a part of the launching section 41A formed in a rod shape is inserted into the interior of the flight object body section 44A and the gas generator 45 faces the tip end 414A of the launching section 41A.

Thus, the gas generator 45 is sealed by the emitter 41A in a state of being accommodated in the flight body main body portion 44A, and the gas generator 45 can be prevented from being exposed to rainwater or foreign matter to cause deterioration of the gas generator 45. In particular, since the flying body main body 44A is disposed so as to cover the rod-like emitter 41A (like a cover), even if the flying body 43A is exposed to wind and rain when the parachute apparatus 4A is installed in the flying apparatus 1, rainwater and foreign matter are less likely to enter the inside of the flying body main body 44A.

Further, according to the parachute device 4A of embodiment 2, the gas generated by the gas generator 45 is accumulated in the space formed by the inner wall surface of the support portion 443A and the distal end surface 414Aa of the launching portion 41A to increase the gas pressure, and the flying object 43A can be launched vigorously. The side surface 41Aa of the launching section 41A functions as a guide mechanism for guiding the movement of the flying object 43A during launching, and the flying object 43A can fly more linearly.

Further, in the parachute device 4A, the gas generation device 45 is provided on the other end side (holding portion 441A side) of the cylindrical support portion 443A, and therefore, after the flying body 43A is launched from the launching portion 41A, the gas generated by the gas generation device 45 continues to be released from the one end side through the inside of the support portion 443A. This enables the flying body 43A to fly straight after the flying body 43A is launched.

When the flying body 43A is designed to have the same outer diameter size as the flying body 43 according to embodiment 1, the flying body 43A has a larger weight than the flying body 43, and therefore the inertial force at the time of launching the flying body 43A is larger than the flying body 43. As a result, the parachute 400 is more easily opened.

In addition, in the parachute device 4A, the coupling portion 442A of the flying object 43A is formed in a cylindrical shape, and at least a part of the lead wire 47 for igniting the gas generator 45 is disposed inside the coupling portion 442A.

Thus, the lead wires 47 can be easily wired inside the flight body main body portion 44A, as in the parachute device 4 according to embodiment 1.

< extensions of embodiments >)

The present invention has been described specifically based on the embodiments, but the present invention is not limited to the embodiments, and various modifications can be made without departing from the scope of the present invention.

For example, in the above-described embodiment, the case where the launch control unit 42 is provided in the parachute devices 4 and 4A is exemplified, but the present invention is not limited thereto. For example, the launch control section 42 may also be provided in the flying apparatus 1.

In the above embodiment, the case where the parachute devices 4 and 4A radiate the flying objects 43 and 43A in response to the signal from the parachute control unit 16 provided on the body unit 2 side has been described as an example, but the present invention is not limited to this. For example, as shown in fig. 9, the parachute device 4B may include an abnormal state detection mechanism including a sensor unit 12B, an abnormality detection unit 15B, and a parachute control unit 16B. The sensor unit 12B, the abnormality detection unit 15B, and the landing control unit 16B have the same functions as the sensor unit 12, the abnormality detection unit 15, and the landing control unit 16, respectively. This allows parachute devices 4 and 4B to detect an abnormal state by itself and to emit flying objects 43 and 43A.

In this case, the body unit 2 may or may not have an abnormal state detection mechanism including the sensor unit 12, the abnormality detection unit 15, and the landing control unit 16. By providing the body unit 2 and the parachute device 4B with the abnormal state detection means, respectively, even when one of the abnormal state detection means fails to detect an abnormal state for some reason, the other abnormal state detection means can be used to detect an abnormal state, and the parachute 400 can be opened more reliably.

In the above embodiment, the case where the parachute accommodating section 40 is cylindrical is exemplified, but the present invention is not limited to this. That is, the parachute housing section 40 may have a polygonal column (for example, a square column) shape, for example, as long as it has a space for housing the parachute 400 therein.

In the above embodiment, the space 418 is formed between the gas generator 45 and the emitters 41 and 41A to dispose the flying objects 43 and 43A, but the present invention is not limited thereto. That is, the gas generator 45 may be disposed so as to contact the emitting portions 41 and 41A (the bottom surface 412a and the distal end surface 414Aa) as long as a sufficient gas pressure required for emitting the flying objects 43 and 43A can be obtained.

In the above embodiment, the case where the outer shape of the emitting portions 41 and 41A is cylindrical is exemplified, but the present invention is not limited thereto. That is, the launching section 41 may be configured to accommodate the flying object 43 therein and to be capable of launching the flying object 43, and may have, for example, a polygonal column (for example, a square column) shape in its outer shape and a cylindrical shape in its inner space for accommodating the flying object 43. Similarly, the emitting portion 41A may be configured to externally dispose the flying object 43A and emit the flying object 43A, and may have a polygonal column (for example, a square column) shape, for example. However, in this case, the internal shape of the flying object 43A needs to be matched to the emitting portion 41A.

Further, the parachute devices 4 and 4A may be provided with a mechanism for preventing the flying bodies 43 and 43A from being launched by mistake. For example, safety pins are provided in the parachute devices 4 and 4A, and the parachute devices 4 and 4A are not operated in the safety pin inserted state, but the parachute devices 4 and 4A are operable in the safety pin extracted state.

In the flying apparatus 1 according to the above-described embodiment, the case where the flight control unit 14 and the like as the functional units for controlling the normal state flight and the abnormality detection unit 15, the landing control unit 16, and the storage unit 18 as the functional units for performing the landing control when the control abnormality occurs are operated by supplying power from the same battery 22 has been described as an example.

For example, a battery for a functional unit for controlling normal flight and a battery for a functional unit for performing landing control when an abnormality occurs may be prepared separately. Thus, even if the battery for the functional unit for controlling the normal flight is abnormal and the power supply is disabled, the landing control process can be executed.

Further, the function unit for performing the landing control at the time of occurrence of an abnormality may be configured to be able to selectively supply power from the two batteries. Thus, even if one battery is abnormal, power can be supplied from the other battery, and therefore the landing control process can be reliably executed.

In the above embodiment, a shock absorbing member such as an airbag may be provided on the lower surface of the body unit 2. This can further improve the safety of the flying device 1 at the time of landing.

[ Explanation of marks ]

1, a flying device; 2a body unit; 3. 3_1 to 3_ n thrust generation units; 4. 4A, 4B parachute devices; 5a reporting means; 6 an arm part; 9 an external device; 11 a power supply unit; 12. a 12B sensor section; 13. 13_ 1-13 _ n motor driving parts; 14a flight control unit; 15. 15B an abnormality detection unit; 16. a 16B landing control unit; 17 a communication unit; 18a storage section; 22 batteries; 23 a power supply circuit; a 24-degree angular velocity sensor; 25 an acceleration sensor; 26 a magnetic sensor; 27 an angle calculating section; 28 residual capacity threshold; 29 slope threshold; 30 propellers; 31 a motor; 32 a housing; 40a parachute accommodation part; 41. a 41A emitting part; 41Aa side face; 42 an emission control section; 43. 43A flight object; 44. a 44A flight body main body portion; 45 a gas generating device; 46 connecting ropes; 47 lead wires; 50. a 50A flight launching mechanism; 400 of parachute; 401 a side wall portion; 402 bottom; 403 an accommodation space; 404 parachute installation section; 406 umbrella body (canopy); 407 slings; a 411 side wall portion; 412, a bottom portion; 412a bottom surface; 413 an emission port; 414A front end portion; 414Aa front end face; 418. 418A space; 440. 440A interior space; 441. a holding part 441A; 441a holes; 441b, 441Ab pass through the holes; 442. 442A connecting part; 442a, 442Aa locking portions; 442b, 442Ab interior space; 443A supporting part; 451 a housing; 452 a sealing member; 453 an igniting agent; 454 a gas generating agent; 455 gas release chamber; 456 gas release holes.