JP2020049972A - Flying body with expansion device of parachute or paraglider - Google Patents

Abstract

To provide an expansion device of parachutes capable of performing ejection and expansion of the parachutes easily and accurately more than before, and provide a flying body with this expansion device.SOLUTION: An expansion device 90 includes an actuator 88 and a parachute or paraglider 86. The actuator 88 includes: a gas generator 84 having a cup-shaped case 85 for storing an ignition charge; a piston 81 having a recess 82 and a piston head 83 formed integrally with the recess 82; and a cylindrical bottomed housing 80 for storing the piston 81 and regulating the propulsive direction of the piston 81. The parachute or paraglider 86 is connected to the flying body 100 or a device attached to the flying body 100 by a string-like member while being arranged on the piston head 83 and housed. A communication part 51 is formed between an inner wall of the housing 80 and an outer circumferential part of the piston head 83.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a flying object equipped with a parachute or paraglider deployment device.

  2. Description of the Related Art In recent years, with the development of autonomous control technology and flight control technology, the use of a flying object having a plurality of rotary wings, for example, called a drone, in the industry has been accelerating. The drone flies, for example, by rotating a plurality of rotors in a well-balanced manner at the same time, ascending and descending by increasing or decreasing the number of revolutions of the rotor, and advancing and reversing tilts the aircraft through increasing or decreasing the number of revolutions of the rotor. This can be accomplished by: Such vehicles are expected to expand worldwide in the future.

  On the other hand, the risk of the above-mentioned falling accident of the flying object is regarded as dangerous, which hinders the spread of the flying object. In order to reduce the risk of such a fall accident, a deployment device of a parachute or paraglider, an airbag device, and the like are being commercialized as safety devices. For example, in Patent Literature 1, a resilient force of a spring is used to operate a piston in a cylinder, and the operation of the piston injects a canopy (cloth of a paraglider) to the outside from an opening to open the umbrella. There is disclosed a paraglider deployment device to be operated and an unmanned aerial vehicle (flying object) provided with the deployment device.

JP 2018-43467 A

  However, in the technique of the above-mentioned patent document, in the case of a relatively large airframe, a canopy of a size suitable for the airframe is required. That is, in the flying vehicle of the above-mentioned patent document, the larger the canopy is, the more it is necessary to output the canopy to the outside, and it is necessary to increase the size of the spring for obtaining this output. . However, increasing the size of the spring increases the weight of the spring and also increases the size of the part holding the spring, so that an overall reduction in weight is desired to lengthen the flight time. The weight of the flying object cannot be reduced.

  Therefore, the present invention provides a flying object equipped with a deploying device that can easily eject an ejected object including a canopy (cloth portion of a paraglider) without using a spring, and that can be reduced in weight more easily than when a spring is used. The purpose is to provide.

(1) The flying object of the present invention includes a flying object body, and a parachute or paraglider deploying device installed on the flying object body, wherein the deploying device includes a parachute umbrella or canopy, a steering unit, A connecting member that connects the parachute umbrella or the canopy and the steering unit, a storage unit that holds the parachute umbrella or the canopy in a closed state, and a gas generator provided in the storage, An emission unit that emits the parachute umbrella or the canopy from the storage unit using gas generated by the gas generator, wherein the emission unit is configured to operate the parachute umbrella or the canopy when activated. It is characterized in that the injection power in the injection direction is 100 N or more.

(2) The launching unit of the flying object of (1) above may have a launching power of 1000 N or more in the launching direction of the parachute head or the canopy when activated.

(3) The launching unit of the flying object according to the above (1) or (2), when activated, may have a launch power of 10 kN or more in a launching direction of the parachute head or the canopy.

  ADVANTAGE OF THE INVENTION According to this invention, the projectile (impact buffer), such as a canopy, can be easily ejected without using a spring. Can be provided. In particular, the present invention is suitable for a flying object such as a relatively large drone.

It is a figure showing an example of a flying object to which a deployment device of a parachute or a paraglider according to a first embodiment of the present invention is applied. BRIEF DESCRIPTION OF THE DRAWINGS It is sectional drawing which shows the deployment device of the parachute or paraglider which concerns on one Embodiment of this invention. FIG. 3 is a block diagram illustrating a functional configuration of a developing device provided in the developing device of FIG. 2. It is a figure showing an example of the flying object to which the deployment device of the paraglider according to the second embodiment of the present invention is applied. FIG. 5 is a block diagram illustrating a functional configuration of a developing device provided in the developing device of FIG. 4.

(1st Embodiment)
Hereinafter, a flying object to which the parachute or paraglider deployment device according to the first embodiment of the present invention is applied will be described with reference to the drawings.

  FIG. 1 is a diagram showing an example of a flying object to which a parachute or paraglider deployment device 90 is applied. As shown in FIG. 1, the flying body 100 is provided at a lower part of the aircraft 1, one or more propulsion mechanisms (for example, propellers) 2 coupled to the aircraft 1 and propelling the aircraft 1, and the like. A plurality of legs 3 and a parachute or paraglider deployment device 90 are provided. The parachute or paraglider deployment device 90 is provided on the airframe 1.

  In FIG. 2 showing an example of a parachute or paraglider deployment device 90, a deployment device for deploying a parachute will be described as an example.

  As shown in FIG. 2, the parachute or paraglider deployment device 90 includes an actuator 88 and a parachute or paraglider 86. The actuator 88 includes a gas generator 84 having a cup-shaped case 85 for accommodating an ignition charge (not shown), a concave portion (concave member) 82, and a piston head 83 (launch table) formed integrally with the concave portion 82. And a bottomed cylindrical housing 80 (storage portion) that accommodates the piston 81 and regulates the propulsion direction of the piston 81. The parachute or paraglider 86 is connected to and stored in the flying object 100 or a device attached to the flying object 100 by a connecting member (not shown) such as a string member while being arranged on the piston head 83.

  Further, as shown in FIG. 2, a communication portion 51 as a gap is formed between the inner wall of the housing 80 and the outer peripheral portion of the piston head 83. When the piston 81 moves (is ejected in the direction of the arrow in FIG. 2), the space S between the inner wall of the housing 80 and the piston head 83 has a negative pressure. Since it flows, the negative pressure at this time can be reduced, and the movement of the piston 81 can be made smooth.

  The gas generator 84 is provided in the recess 82. A gas outlet is provided at the tip of the gas generator 84, and a gas serving as a driving force for injecting the piston 81 in the direction of the arrow in FIG. it can. Further, a seal member 89 such as an O-ring is provided between the concave portion 82 and the outer wall of the gas generator 84 so that gas leakage does not occur during operation.

  In such a configuration, the parachute or paraglider 86 can be directly pushed out and deployed by the propulsion of the piston 81. The opening end of the housing 80 is closed by a lid 87 in an initial state, and is detached from the opening end by pushing a parachute or a paraglider 86.

  In addition, the parachute or paraglider deployment device 90 includes an abnormality detection device 40 (not shown in FIG. 2) including an acceleration sensor or the like for detecting an abnormality of the flying object.

  In such a configuration, when an abnormality is detected by the abnormality detection device 40, the piston 81 is propelled by the gas pressure generated based on the ignition operation of the gas generator 84. Thus, the parachute or paraglider 86 can be directly pushed out and deployed by the propulsive force of the piston 81.

  Here, a functional configuration of the abnormality detection device 40 will be described. As shown in FIG. 3, the abnormality detection device 40 includes a sensor (detection unit) 11, a storage unit 12, and a control unit (computer having a CPU, a ROM, a RAM, and the like) 20. Is electrically connected to an igniter (not shown) in the gas generator 84.

  The sensor 11 detects the position of the flying object 100, generates position information (including altitude information) of the flying object 100, and transmits the information to the storage unit 12. Specifically, the sensor 11 is a sensor selected from one or more of, for example, a GPS (Global Positioning System), an acceleration sensor, a gyro sensor, a barometric pressure sensor, an ultrasonic sensor, and the like. , Inclination, altitude, position, direction, presence or absence of a nearby object, and the like, data on the flight state of the flying object 100 and data on the external environment can be acquired.

  The storage unit 12 stores 3D map data 12a created in advance based on positional information (including information on the shape and altitude (height) of the terrain and the building, etc.) that actually exist in a predetermined area. ing. The storage unit 12 stores the position information of the flying object 100 transmitted from the sensor 11. Note that the 3D map data may be received only within a predetermined range from the current position of the flying object 100 every time a predetermined time or a predetermined distance has been traveled, and may be updated as appropriate. As a result, the storage capacity of the storage unit 12 can be relatively reduced, so that the storage unit 12 can be reduced in weight.

  The control unit 20 includes an abnormality detection unit 21, a prediction unit 22, an operation timing unit 23, and a notification unit 24 as a functional configuration. The abnormality detection unit 21, the prediction unit 22, the operation timing unit 23, and the notification unit 24 are functionally realized by the control unit 20 executing a predetermined program.

  The abnormality detection unit 21 not only detects an abnormal state of the sensor 11 but also detects a flight state of the flying object 100 (whether the flying object 100 is in an abnormal state such as a fall or a collision during flight). That is, the abnormality detection unit 21 detects whether or not the flying object 100 has an operation abnormality (whether or not it can operate normally).

  The prediction unit 22 detects the terrain and building position information in the 3D map data 12 a read from the storage unit 12 and the flying object obtained by the sensor 11 when the abnormality detection unit 21 detects an operation abnormality during the flight of the flying object 100. Based on the position information and the information on the moving direction and the speed of the vehicle 100, the distance to the collision or the landing or the time until the collision or the landing is predicted (calculated), and the collision timing between the terrain and the building and the flying object 100, or , For predicting (calculating) the landing timing of the flying object 100 on the land. The prediction unit 22 transmits a prediction timing signal to the operation timing unit 23 after predicting the collision timing or the landing timing.

  Further, the prediction unit 22 compares the altitude information in the 3D map data with the altitude information obtained by the sensor 11, corrects the zero point, and prevents the data from shifting in the initial state.

  The operation timing unit 23 controls the operation timing (deployment timing) of the parachute or paraglider 86 so that the parachute or paraglider 86 deploys a predetermined time before the collision timing or the landing timing. That is, an operation signal is transmitted to the igniter in the gas generator 84 of the deployment device 90 after a predetermined time has elapsed after receiving the prediction timing signal from the prediction unit 22. Here, "after the predetermined time" is, for example, immediately before the collision timing or the landing timing (for example, the setting can be changed as appropriate, for example, 10 seconds before).

  When the time approaches the collision timing or the landing timing, the operation timing unit 23 determines whether the flying object 100 is in contact with the flying object 100 based on information on an actual distance from an obstacle, a person, or the like or a land surface obtained from the sensor 11. It is also possible to determine whether or not the distance to a collision with the obstacle, the person, or the like or the land surface (hereinafter, collision distance) is within a predetermined distance. Here, when determining that the collision distance is within the predetermined distance, the operation timing unit 23 transmits an operation signal to an igniter in the gas generator 84 of the deployment device 90. The “within the predetermined distance” means, for example, a distance to a position corresponding to the collision timing or the landing timing (for example, when the collision distance is 20 m (preferably about 3 to 10 m)). Can be changed as appropriate). Here, when an ultrasonic sensor is used as the sensor 11, “within a predetermined distance” can be set to be within 6 m.

  The notification unit 24 notifies the administrator or the like that an abnormality has been detected when the abnormality detection unit 21 detects an abnormality.

  Although not shown, the gas generator 84 is small and lightweight, and includes a cup body filled with a gas generating agent, an igniter for igniting the gas generating agent, and a holder for holding the igniter. It is. The gas generator 84 is, for example, a micro gas generator, but may be any device as long as it can generate a gas having a pressure of 0.1 MPa (1 atm) or more. The gas generating agent is an agent (explosive or propellant) that is ignited by the heat particles generated by the operation of the igniter and generates gas by burning. Here, the size of the gas generator for generating a gas having a pressure of 0.1 MPa (1 atm) or more has a housing having a diameter of about 10 mm to 300 mm and a height of about 2 cm to 20 cm.

  In general, gas generators can be broadly classified into non-explosive and explosive types. Non-explosive type mainstream is to connect a sharp member such as a needle and a compressed spring to a gas cylinder filled with gas such as carbon dioxide or nitrogen, and to fly the sharp member using spring force and seal the cylinder. The gas is released by colliding with the sealing plate. At this time, a drive source such as a servomotor is usually used to release the compression force of the spring. Next, in the case of an explosive type, an igniter may be used alone, or an igniter and a gas generating agent may be provided. Further, a hybrid type or stored type gas generator may be used in which the sealing plate of a small gas cylinder is opened by the force of explosive and the gas inside is discharged to the outside. In this case, the pressurized gas in the gas cylinder is selected from at least one or more of nonflammable gases such as argon, helium, nitrogen, and carbon dioxide. Further, an explosive-type heating element may be provided in the gas generator in order to reliably inflate when the pressurized gas is released. Further, the gas generator may be provided with a filter and / or an orifice for adjusting the gas flow rate as required.

  It is preferable to use a non-azide-based gas generating agent as the gas generating agent. Generally, the gas generating agent is formed as a molded article containing a fuel, an oxidizing agent, and an additive. As the fuel, for example, a triazole derivative, a tetrazole derivative, a guanidine derivative, an azodicarbonamide derivative, a hydrazine derivative or the like, or a combination thereof is used. Specifically, for example, nitroguanidine, guanidine nitrate, cyanoguanidine, 5-aminotetrazole and the like are suitably used. The oxidizing agent is selected from, for example, basic nitrates such as basic copper nitrate, perchlorates such as ammonium perchlorate and potassium perchlorate, or alkali metals, alkaline earth metals, transition metals and ammonia. A nitrate containing a cation is used. As the nitrate, for example, sodium nitrate, potassium nitrate and the like are suitably used. In addition, examples of the additives include a binder, a slag forming agent, a combustion regulator, and the like. As the binder, for example, an organic binder such as a metal salt of carboxymethylcellulose or a stearate, or an inorganic binder such as synthetic hydroxytalcite or acid clay can be suitably used. As the slag forming agent, silicon nitride, silica, acid clay and the like can be suitably used. Further, as the combustion regulator, metal oxide, ferrosilicon, activated carbon, graphite, etc. can be suitably used. Alternatively, a single base explosive, a double base explosive, or a triple base explosive containing nitrocellulose as a main component may be used.

  The shape of the molded article of the gas generating agent includes various shapes such as a granular shape such as a granule, a pellet, and a column, and a disk. In addition, in the case of a cylindrical shape, a perforated (for example, a single-hole cylindrical shape or a perforated cylindrical shape) having a through hole inside the molded body is also used. In addition, it is preferable to appropriately select the size and the filling amount of the molded body in consideration of the linear burning speed, the pressure index, and the like of the gas generating agent in addition to the shape of the gas generating agent.

  The deploying device 90 having the above-described configuration is configured such that the parachute or paraglider 86 uses the gas pressure generated by the gas generator 84 in the injection direction (the direction of the arrow in FIG. 2). The output can be transmitted. In addition, this firing power is adjusted so as to have a firing power of 100 N or more when the mass of the parachute or paraglider 86 is about 1 kg to 2 kg, for example. At this time, the mass of the deployment device 90 (excluding the mass of the parachute or paraglider) is about 50 g to 1000 g.

  When the mass of the parachute or paraglider 86 exceeds 2 kg, it is preferable that the above-mentioned emission power is 1000 N or more. At this time, the mass of the deployment device 90 (excluding the mass of the parachute or paraglider) is about 50 g to 1000 g.

  Further, in order to increase the ejection speed of the parachute or paraglider 86, or in accordance with the size and mass of the parachute or paraglider 86, the firing power may be set to 10 kN or more. At this time, the mass of the deployment device 90 (excluding the mass of the parachute or paraglider) is about 50 g to 1000 g.

  Further, in order to further increase the ejection speed of the parachute or the paraglider 86, or in accordance with the size of the parachute or the paraglider 86, the above-mentioned firing power may be appropriately set (for example, 100 kN or more or 150 kN or more). The mass of the deployment device 90 (excluding the mass of a parachute or paraglider) when the above-mentioned firing power is 100 kN or more is about 50 g to 1000 g. The mass of the deployment device 90 (excluding the mass of the parachute or paraglider) when the above-mentioned firing power is 150 kN or more is about 50 g to 1500 g.

  Subsequently, the operation of the abnormality detection device 40 of the present embodiment will be described.

  First, an abnormality inspection of the sensor 11 is performed by the abnormality detection unit 21. Specifically, an inspection is performed by the abnormality detection unit 21 to determine whether an acceleration sensor or the like that measures the acceleration of the flying object operates normally.

  As a result of the inspection, when it is determined that there is an abnormality, the abnormality detection unit 21 notifies an administrator or the like of an error, and ends. On the other hand, as a result of the inspection, when it is determined that there is no abnormality in the sensor 11, the prediction unit 22 reads the data actually measured by the sensor 11 and the 3D map data 12a.

  Then, when an abnormal state during flight of the flying object 100 is detected, the abnormality detection unit 21 transmits an abnormality signal to the prediction unit. The prediction unit 22 that has received the abnormal signal, based on the position information of the terrain and the building in the 3D map data 12 a read from the storage unit 12 and the position information of the flying object 100 obtained by the sensor 11, The collision timing with the flying object 100 or the landing timing of the flying object 100 on the land is predicted.

  Next, when predicting the collision timing or the landing timing, the prediction unit 22 transmits a prediction timing signal to the operation timing unit. The operation timing unit 23 that has received the prediction timing signal controls the operation timing (deployment timing) of the parachute or paraglider 86 so that the parachute or paraglider 86 expands a predetermined time before the collision timing or the landing timing. That is, the operation timing unit 23 transmits the operation signal to the igniter in the gas generator 84 of the deployment device 90 after a predetermined time after receiving the timing signal from the prediction unit 22.

  Then, the parachute or paraglider deploying device 90 that has received the operation signal is activated, injects and deploys the parachute or paraglider 86 with a predetermined firing power, and ends. At this time, the flying object 100 to which the deployment device 90 is attached collides with an obstacle or the like or lands on land while the impact is buffered.

  According to the present embodiment, the deployment device 90 including the injection unit can be made smaller and more compact than when a spring is used. Therefore, it is possible to provide the flying object 100 including the parachute or the paraglider 86 deployment device 90 that can easily eject the parachute or the paraglider 86 without using a spring and that is easier to reduce the weight than when the spring is used. Further, according to the present embodiment, even if the flying object becomes large and a larger firing power is required, a gas generator is used, so that a sufficient firing power can be obtained without making the deployment device 90 so heavy. be able to. In particular, when an explosive gas generator is used, the deployment device 90 can be prevented from becoming heavy.

  Further, the collision timing or the landing timing is predicted, and the parachute or paraglider deployment device 90 can be accurately operated immediately before the collision timing or the landing timing. For example, it is predicted that the flying object 100 to which the parachute or paraglider deploying device 90 is attached has reached the vicinity of the target location, and the parachute or paraglider deploying device 90 is operated near the target location. it can. Therefore, the parachute or paraglider deployment device 90 can operate efficiently until an emergency even though there are fewer devices attached to the flying object 100 than before. Thus, when falling, obstacles and loads, particularly pedestrians, can be protected at appropriate timing.

  Also, according to the present embodiment, the distance to the collision or landing of the flying object 100, or the position information of the terrain and the building in the 3D map data, the current position information of the flying object, and the information of the moving direction and speed, or The time until collision or landing can be predicted (calculated) with high accuracy. As a result, the operation timing unit 23 does not operate until this prediction is made. That is, when an appropriate timing is predicted, the deployment device 90 can be started at an appropriate timing.

  In addition, since the gas generator 84 that operates by an electric signal and generates gas is used as an operating unit for deploying a parachute or a paraglider, the operation timing can be easily controlled. In particular, since the gas generator 84 is an explosive-type gas generator, a propulsive force for moving the piston 81 can be obtained instantaneously.

(2nd Embodiment)
Hereinafter, a flying object to which a deployment device (an example of an impact buffer) of a paraglider (an example of an impact buffer) according to the second embodiment of the present invention will be described with reference to the drawings. Note that parts having the same last two digits as those in the first embodiment are the same parts unless otherwise specified, and thus description thereof may be omitted.

  As shown in FIG. 4, the flying body 200 is provided on the lower part of the airframe 101, one or more propulsion mechanisms (for example, propellers and the like) 102 coupled to the airframe 101 and propelling the airframe 101. A plurality of legs 103 and a paraglider deployment device 190.

  The paraglider deployment device 190 is substantially the same as the deployment device 90 of the first embodiment, but as shown in FIGS. 4 and 5, mainly includes a paraglider 186, a break cord 131 (connection member), and a breaker. And a cord tensioning device 132. In addition, the paraglider 186 and the break cord 131 of the paraglider deployment device 190 in a normal state (before deployment) are folded and stored in a cylindrical housing 180, and are controlled by the control unit 120 of the flying object 200 in an emergency. After the gas generator 184 (see FIG. 5) receives a predetermined signal, it is injected from the inside of the housing 180 to the outside by the activation of the gas generator 184, and is developed and used as shown in FIG.

  In FIG. 4, the paraglider 186 includes a canopy 186 a having an airfoil shape as a whole by trapping air, and a plurality of suspension cables 186 b extending downward from the canopy 186 a and connected to the flying object 200. .

  As shown in FIG. 4, the canopy 186a is formed so as to extend in a substantially arc shape in the left-right direction above the flying object 200 when the paraglider 186 is viewed from the front. Further, the suspension ropes 186b are extended from the canopy 186a to the flying object 200 so as to be symmetrical four by four.

  The pair of left and right break cords 131 are for maneuvering the flying object 200, and one end is provided symmetrically branching from the middle at a rear end portion of the canopy 186a by four at one end and one at the other end. Are connected to respective break cord pulling devices 132 described later. Further, a pair of break cord pulling devices 132 are provided so as to correspond to the left and right break cords 131.

  In an emergency, the flying body 200 deployed by the paraglider deployment device 190 can control turning, ascending, or descending by changing the wind pressure resistance received by deforming the canopy 186a by operating the left and right break cords 131. It has become. For example, in the case of turning the flying object 200 rightward, by pulling the break code 131 on the right side and increasing the resistance on the right side of the canopy 186a, the speed on the right side of the canopy 186a is reduced to change the direction. When the flying object 200 is landed, the landing speed is reduced by pulling the left and right break cords 131 to increase the resistance of the entire canopy 186a, thereby reducing the descent speed. In addition, the pulling operation of the break cord 131 means that when the break cord pulling device 132 receives an operation signal related to the break cord pulling device 132 from the operation timing unit 123, the break cord 131 is pulled using a motor and a reel. The operation of pulling or winding.

  Subsequently, the operation of the abnormality detection device 140 of the present embodiment will be described. The operation of the abnormality detection device 140 of the present embodiment is substantially the same as that of the abnormality detection device 40 of the first embodiment, but differs in the following points.

  When the prediction unit 122 that has received the abnormality signal from the abnormality detection unit 121 predicts the collision timing or the landing timing, the prediction unit 122 transmits a prediction timing signal to the operation timing unit. The operation timing unit 123 that has received the prediction timing signal not only controls the operation timing (deployment timing) of the paraglider 186 so that the paraglider 186 deploys a predetermined time before the collision timing or the landing timing, but also performs a break. The operation timing of the cord tension device 132 is controlled. That is, the operation timing unit 123 transmits an operation signal to the motor of the break cord tensioning device 132 a predetermined time after receiving the timing signal from the prediction unit 122. Upon receiving the operation signal, the break cord pulling device 132 performs an operation such as winding the break cord 131 on a reel. Thus, immediately before landing, the descending speed of the flying object 200 is reduced by increasing the wind pressure resistance of the entire canopy 186a of the deployed paraglider 186, and landing is performed.

  According to the present embodiment, not only the same effects as in the first embodiment can be achieved, but also the timing at which the falling speed of the flying object 200 is suppressed can be controlled. For example, the falling speed of the flying object 200 can be suppressed in accordance with the timing immediately before the collision or the landing of the flying object 200. In particular, when each device is operated close to the building or the ground, even if there is a collision with a tree, an obstacle such as a car, an animal such as a person, which is not included in the 3D map data, the collision can be further buffered. it can.

(Example)
The actuator according to the present example having the same configuration as the actuator used in the first embodiment, and the actuator according to the comparative example using a spring having substantially the same output as the gas generator in the actuator according to the present example (other than the spring) The mass of the output portion (gas generator and spring) in each actuator was compared with the portion having the same configuration as the actuator according to the present embodiment.

  The gas generator (Squib manufactured by Nippon Kayaku Co., Ltd.), which is the output portion of the actuator according to this embodiment, uses 110 mg of a mixture (ZWPP) of zirconium powder, tungsten powder, and potassium perchlorate as an output igniting charge. It is provided. The mass of the actuator (before mounting the parachute or paraglider) using this gas generator was 9 g in total. Further, the output of the actuator of this example was measured with a load cell (manufactured by Kyowa Dengyo Co., Ltd., model number: LCX-A-20KN-ID-P), and was found to be 7974 N.

A spring having a maximum load of 7159 N which can be attached to the output portion of the actuator according to the comparative example in place of the gas generator according to the above-described embodiment and has substantially the same output as that of the gas generator (Misumi Group Inc.) Product number: F7414) was selected. The spring steel that can be attached to the actuator according to this comparative example has a specific gravity of 7.9, the radius of the spring wire is 0.8 cm, and the diameter of one turn of the spring is 11.2 cm. Was 11.5. Here, since the length of the spring = π × the diameter of one turn of the spring × the effective number of turns of the spring, the mass of the spring = the cross-sectional area of the wire of the spring × the length of the spring × the specific gravity, the mass of the spring = (π × 0.8 cm × 0.8 cm) × (π × 11.2 cm × 11.5) × 7.9 g / cm ³ ≒ 6.4 kg.

  As described above, the mass of the actuator according to the present embodiment is 9 g even if the actuator is provided with the gas generator, but the spring of the actuator according to the comparative example is found to be approximately 6.4 kg only by the spring itself. Therefore, it is understood that the actuator according to the present example is at least 6 kg lighter than the actuator according to the comparative example. That is, it was found that the use of the gas generator can obviously reduce the mass of the actuator (deployment device) as compared with the case of using the spring.

  Although the embodiments and examples of the present invention have been described above, it should be considered that the specific configuration is not limited to these embodiments. The scope of the present invention is defined by the terms of the claims, rather than the description of the embodiments, and includes all modifications within the scope and meaning equivalent to the terms of the claims.

  Further, in the above embodiment and the like, the abnormality detection unit, the prediction unit, the operation timing unit, and the notification unit are functionally realized by software. However, the present invention is not limited to this, and may be configured by hardware. Is also good.

  Although the explosive gas generator is mainly described as the above gas generator, another type of gas generator such as the above-described cylinder type gas generator may be used.

  In the second embodiment, the break cord pulling device 132 is provided inside the housing 180. Alternatively, for example, the break cord pulling device 132 may be provided on the outer wall of the housing 180. Alternatively, the break cord 131 may be provided on the body 101 after the break cord 131 is not caught on the propulsion mechanism 102.

  In each of the above embodiments, the flying object has a function of predicting a collision timing or a landing timing using 3D map data, but is not limited thereto. For example, in place of the flying object of each of the above embodiments, the launching unit of each of the above embodiments may be applied to a flying object that does not have the function of predicting and that the operator controls while checking with his own eyes. Good.

1, 101 Airframe 2, 102 Propulsion mechanism 3, 203 Leg 20, 120 Control unit 21, 121 Abnormality detection unit 22, 122 Prediction unit 23, 123 Operation timing unit 24, 124 Notification unit 80, 180 Housing 81 Piston 82 Recess 83 Piston head 84 Gas generator 85 Case 86 Parachute or paraglider 87 Lid 88 Actuator 89 Seal member 90, 190 Parachute or paraglider deployment device 100, 200 Flight object 131 Break cord 132 Break cord pulling device 186 Paraglider 186a Canopy 186b Hanging rope

Claims (3)

The flying body,
A deployment device for a parachute or paraglider installed on the flying body,
The deployment device,
With a parachute umbrella or canopy,
A steering section,
A connecting member that connects the parachute umbrella or the canopy and the steering unit;
A storage unit that holds the parachute umbrella unit or the canopy in a closed state,
A gas generator provided in the storage unit,
Using a gas generated by the gas generator, an ejection unit that ejects the parachute head or the canopy from the storage unit,
A flying object characterized in that, when activated, the launching unit has a launching power of 100 N or more in the launching direction of the parachute head or the canopy.   The flying object according to claim 1, wherein, when the launching unit is operated, a launching power of the parachute head or the canopy in a launching direction is 1000N or more. The flying object according to claim 1, wherein, when the launching unit is activated, a launching power of the parachute head or the canopy in a launching direction is 10 kN or more.

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