WO2020250598A1

WO2020250598A1 - Parachute device and flying device

Info

Publication number: WO2020250598A1
Application number: PCT/JP2020/018420
Authority: WO
Inventors: 譲酒本; 昌司下久; 佳広持田
Original assignee: ミネベアミツミ株式会社
Priority date: 2019-06-14
Filing date: 2020-05-01
Publication date: 2020-12-17
Also published as: JP7104662B2; JP2020203497A

Abstract

Provided is a parachute device that can reliably deploy a parachute even when an airflow effect during flight or fall of a flying device cannot be obtained immediately.　A parachute device (4) includes: a parachute accommodation part (40) for accommodating a parachute (400); a flying object (43) having a flying object body (44) connected to the parachute and a gas generating device (45); and an ejection part (41) for holding the flying object and ejecting the held flying object, and is characterized as follows: The flying object body is engaged with the ejection part. The gas generating device is disposed in a space (440) defined by the ejection part and the flying object body. The ejection part is inclined, with respect to a central axis of the parachute accommodation part, in a direction in which an end (413) of the ejection part in an ejection direction of the flying object is away from a central axis P of the parachute accommodation part.

Description

Parachute and flight equipment

The present invention relates to a parachute device and a flight device, for example, a parachute device attached to a multi-rotor rotorcraft type flight device capable of remote operation and autonomous flight.

In recent years, practical application of a multi-rotor rotorcraft type flight device (hereinafter, also simply referred to as "rotorcraft") capable of remote control and autonomous flight to the industrial field has been studied. For example, in the transportation industry, transportation of luggage and passengers by rotary-wing aircraft (so-called drones) are being considered.

The rotary wing aircraft for transportation has an autonomous flight function that flies while specifying its own position by a GPS (Global Positioning System) signal or the like. However, if an abnormality occurs in the rotorcraft for some reason, autonomous flight may not be possible, and an accident such as a fall of the rotorcraft may occur. Therefore, it is desired to improve the safety of the rotary wing aircraft.

In particular, it is expected that the size of rotary wing aircraft for transportation will increase in the future so that larger luggage and passengers can be transported. If such a large rotorcraft falls out of control for some reason, it may cause more damage to people and structures than conventional rotorcraft aircraft. Therefore, when increasing the size of a rotary wing aircraft, it is necessary to place more importance on safety than ever before.

Therefore, in order to improve the safety of the rotorcraft, the inventors of the present application have considered attaching a parachute device for a flying object, for example, as disclosed in the following patent document, to the rotorcraft.

Japanese Patent No. 4785084

However, the conventional parachute for a flying object is designed so that the parachute can be easily opened by the airflow generated during the flight of the rotary wing aircraft, so when the rotary wing aircraft falls from a stationary state in the sky. It was clarified by the examination of the inventors that the effect of the airflow could not be obtained immediately and the parachute might not open immediately.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to reliably parachute even when the effect of airflow during flight or fall of a flight device cannot be obtained immediately. The purpose is to provide a parachute device that can be opened.

A parachute apparatus according to a typical embodiment of the present invention includes a parachute, a parachute accommodating portion accommodating the parachute, a flying object main body portion connected to the parachute, and a gas generator for generating gas. A parachute and an injection unit for holding the parachute and ejecting the held parachute are provided, the parachute body is engaged with the parachute, and the gas generator is the gas generator. The injection portion is arranged in a space defined by the injection portion and the flying object main body portion, and the end portion of the injection portion in the ejection direction of the flying object is the end portion of the parachute accommodating portion with respect to the central axis. It is characterized in that it is inclined in a direction away from the central axis of the parachute accommodating portion.

According to one aspect of the present invention, it is possible to reliably open the parachute even when the effect of the airflow when the flight device is flying or falling is not immediately obtained.

It is a figure which shows typically the appearance of the flight apparatus equipped with the parachute apparatus which concerns on Embodiment 1. FIG. It is a functional block diagram of the flight apparatus equipped with the parachute apparatus which concerns on Embodiment 1. FIG. It is a figure which shows typically the structure of the parachute apparatus which concerns on Embodiment 1. FIG. It is a figure which shows typically the state which the parachute is open. It is a perspective view of the parachute accommodating part which concerns on Embodiment 1. FIG. It is a top view of the parachute accommodating part which concerns on Embodiment 1. FIG. It is a side sectional view of the parachute accommodating part which concerns on Embodiment 1. FIG. It is a figure which shows the structure of the flying object injection mechanism which concerns on Embodiment 1. FIG. It is a figure which shows typically the state in which the parachute of the flight apparatus equipped with the parachute apparatus which concerns on Embodiment 1 is open. It is a figure which shows typically the appearance of the flight apparatus equipped with the parachute apparatus which concerns on Embodiment 2. FIG. It is a figure which shows typically the structure of the parachute apparatus which concerns on Embodiment 2. It is a top view of the parachute accommodating part which concerns on Embodiment 2. FIG. It is a side sectional view of the parachute accommodating part which concerns on Embodiment 2. FIG.

1. 1. Outline of Embodiment First, an outline of a typical embodiment of the invention disclosed in the present application will be described. In the following description, as an example, reference numerals on drawings corresponding to the components of the invention are described in parentheses.

[1] The parachute device (4,4A) according to a typical embodiment of the present invention is connected to the parachute (400), the parachute accommodating portion (40, 40A) accommodating the parachute, and the parachute. A parachute (43) having a parachute main body (44) and a gas generator (45) for generating gas, and an injection unit (41) for holding the parachute and ejecting the held parachute. ), The parachute body is engaged with the parachute, and the gas generator is arranged in a space (440) defined by the parachute and the parachute body. The injection portion is such that the end portion (413) of the injection portion in the injection direction of the flying object is separated from the central axis (P) of the parachute housing portion with respect to the central axis (P) of the parachute housing portion. It is characterized by being inclined.

[2] In the parachute device (4), one end of the parachute accommodating portion is open and the other end is formed in a bottomed tubular shape, and the injection portion is arranged inside the parachute accommodating portion. May be good.

[3] In the parachute device (4), the parachute accommodating portion has a tubular side wall portion (401) and a bottom portion (402) formed so as to close one end side of the side wall portion. The side wall portion has a protrusion (405) formed so as to project in a direction away from the central axis (P) of the parachute housing portion, and at least a part of the injection portion is the protrusion inside the parachute housing portion. It may be arranged in the space (415) defined by the unit.

[4] In the parachute device (4A), the parachute accommodating portion (40A) has a tubular side wall portion (401A) and a bottom portion (402A) formed so as to close one end side of the side wall portion. However, the injection portion may be arranged on the outer peripheral surface (4010) of the side wall portion.

[5] The parachute device (4, 4A) may further include a cover member (49) that covers the opening of the side wall portion.

[6] In the parachute device, the parachute device has a plurality of the projectiles, the injection unit is provided for each of the projectiles, and each injection unit is in a rotation direction about the central axis of the parachute accommodating unit. It may be arranged at equal intervals.

[7] The flight device (1,1A) according to a typical embodiment of the present invention is connected to the airframe unit (2) and the thrust generation unit (3,3_1 to 3_n) that generates thrust. ), The flight control unit (14) that controls the thrust generation unit, the abnormality detection unit (15) that detects an abnormality during flight of the aircraft unit, the parachute device (4, 4A), and the abnormality detection. A drop control unit (16) for ejecting the flying object from the injection unit may be provided according to the detection of the abnormality by the unit.

2. 2. Specific Examples of Embodiments Hereinafter, specific examples of embodiments of the present invention will be described with reference to the drawings. In the following description, the same reference reference numerals will be given to the components common to each embodiment, and the repeated description will be omitted. In addition, it should be noted that the drawings are schematic, and the relationship between the dimensions of each element, the ratio of each element, and the like may differ from the reality. Even between drawings, there may be parts with different dimensional relationships and ratios.

<< Embodiment 1 >>
FIG. 1 is a diagram schematically showing the appearance of a flight device equipped with the parachute device according to the first embodiment. The flight device 1 shown in FIG. 1 is, for example, a multi-rotor rotary-wing aircraft type flight device equipped with three or more rotors, and is a so-called drone.

As shown in FIG. 1, the flight device 1 includes an airframe unit 2, thrust generating 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 airframe unit 2 is the main body of the flight device 1. As will be described later, the airframe unit 2 houses various functional units for controlling the flight of the flight device 1. Although the columnar airframe unit 2 is shown as an example in FIG. 1, the shape of the airframe unit 2 is not particularly limited.

Thrust generating units 3_1 to 3_n are rotors that generate thrust. In the following description, when each thrust generating unit 3_1 to 3_n is not particularly distinguished, it is simply referred to as "thrust generating unit 3".

The thrust generating unit 3 has, for example, a structure in which a propeller 30 and a motor 31 for rotating the propeller 30 are housed in a tubular housing 32. A net (for example, a resin material, a metal material (stainless steel, etc.), etc.) for preventing contact with the propeller 30 may be provided in the opening of the tubular housing 32.

The number n of the thrust generating units 3 included in the flight device 1 is not particularly limited, but is preferably three or more. For example, the flight device 1 includes a tricopter with three thrust generators 3, a quadcopter with four thrust generators 3, a hexacopter with six thrust generators, and eight thrust generators 3. It may be any of the provided octocopters.

Note that FIG. 1 shows a case where the flight device 1 is a quadcopter equipped with four (n = 4) thrust generating units 3_1 to 3_4 as an example.

The arm portion 6 is a structure for connecting the airframe unit 2 and each thrust generating portion 3. The arm portion 6 is formed so as to radiate from the airframe unit 2, for example, from the central portion O of the airframe unit 2. A thrust generating portion 3 is attached to the tip of each arm portion 6.

The notification device 5 is a device for notifying the outside of the flight device 1 of danger. The notification device 5 includes, for example, a light source including an LED (Light Emitting Diode) and a sound generator (amplifier, speaker, etc.). The notification device 5 notifies the outside by light or voice that the flight device 1 is in a dangerous state in response to the detection of the abnormality by the abnormality detection unit 15 described later.

The notification device 5 may be exposed to the outside of the airframe unit 2, or is housed inside the airframe unit 2 in a form capable of outputting light generated from a light source, voice generated from a speaker, or the like to the outside. You may.

The parachute device 4 is a device for safely dropping the flight device 1 by slowing the fall speed of the flight device 1 when an abnormality occurs in the flight device 1 and there is a risk of falling. The parachute device 4 is installed on the airframe unit 2, for example, as shown in FIG. The specific configuration of the parachute device 4 will be described later.

FIG. 2 is a functional block diagram of the flight device 1 equipped with the parachute device 4 according to the first embodiment.

As shown in FIG. 2, the airframe unit 2 includes a power supply unit 11, a sensor unit 12, a motor drive unit 13_1 to 13_n (n is an integer of 3 or more), a flight control unit 14, an abnormality detection unit 15, and a drop control unit 16. The communication unit 17 and the storage unit 18 are included.

Among these functional units, the flight control unit 14, the abnormality detection unit 15, and the drop control unit 16 are, for example, a program by a program processing device (for example, a microcontroller) including a processor (for example, CPU: Central Processing Unit) and a memory. It is realized by processing.

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

The sensor unit 12 is a functional unit that detects the state of the flight device 1. The sensor unit 12 detects the inclination of the airframe of the flight device 1. The sensor unit 12 includes, for example, 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 that detects the angular velocity (rotational velocity). For example, the angular velocity sensor 24 is a 3-axis gyro sensor that detects an angular velocity based on three reference axes of x-axis, y-axis, and z-axis.

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

The magnetic sensor 26 is a sensor that detects the geomagnetism. For example, the magnetic sensor 26 is a 3-axis geomagnetic sensor (electronic compass) that detects an orientation (absolute direction) based on three reference axes of x-axis, y-axis, and z-axis.

The angle calculation unit 27 calculates the inclination of the airframe of the flight device 1 based on the detection results of at least one of the angular velocity sensor 24 and the acceleration sensor 25. Here, the inclination of the airframe of the flight device 1 is the angle of the airframe (airframe unit 2) with respect to the ground (horizontal direction).

For example, the angle calculation unit 27 may calculate the angle of the aircraft with respect to the ground based on the detection result of the angular velocity sensor 24, or the angle of the aircraft with respect to the ground based on the detection results of the angular velocity sensor 24 and the acceleration sensor 25. May be calculated. As a 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.

Further, 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 angle calculation unit 27 is realized by program processing by a microcontroller, for example, like the flight control unit 14 and the like.

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

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 composed of, for example, an antenna, an RF (Radio Frequency) circuit, and the like. Communication between the communication unit 17 and the external device 9 is realized, for example, by wireless communication in the ISM band (2.4 GHz band).

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

The motor drive units 13_1 to 13_n are provided for each thrust generation unit 3_n, and are functional units that drive the motor 31 to be driven in response to an instruction from the flight control unit 14.

In the following description, when each motor drive unit 13_1 to 13_n is not particularly distinguished, it is simply referred to as "motor drive unit 13".

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 unit 13 is an ESC (Electronic Speed Controller).

The flight control unit 14 is a functional unit that comprehensively controls each functional unit of the flight device 1.
The flight control unit 14 controls the thrust generation unit 3 so that the flight device 1 flies stably. Specifically, the flight control unit 14 is based on the operation information (instructions for ascending / descending, forward / backward, etc.) from the external device 9 received by the communication unit 17 and the detection result of the sensor unit 12. The appropriate rotation speed of the motor 31 of each thrust generating unit 3 is calculated, and the calculated rotation speed is instructed to each motor driving unit 13 so that the aircraft flies in a desired direction in a stable state.

The flight control unit 14 is a motor 31 of each thrust generating unit 3 so that the aircraft becomes horizontal based on the detection result of the angular velocity sensor 24 when the posture of the aircraft is disturbed by an external influence such as wind. Appropriate rotation speeds are calculated, and the calculated rotation speeds are instructed to each motor drive unit 13.

Further, for example, the flight control unit 14 determines the appropriate rotation speed of the motor 31 of each thrust generating unit 3 based on the detection result of the acceleration sensor 25 in order to prevent the flight device 1 from drifting when the flight device 1 is hovering. It is calculated, and the calculated rotation speed is instructed to each motor drive unit 13.

Further, the flight control unit 14 controls the communication unit 17 to realize the transmission and reception of various data described above with the external device 9.

The storage unit 18 is a functional unit for storing various programs, parameters, etc. for controlling the operation of the flight device 1. For example, the storage unit 18 is composed of a flash memory, a non-volatile memory such as a ROM, a RAM, and the like.

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

The abnormality detection unit 15 is a functional unit that detects an abnormality during flight. Specifically, the abnormality detecting unit 15 monitors the detection result of the sensor unit 12, the state of the battery 22, and the operating state of the thrust generating unit 3, and determines whether or not the flight device 1 is in an abnormal state. To do.

Here, the abnormal state means a state in which autonomous flight of the flight device 1 may become impossible. For example, an abnormal state is a state in which at least one of a state in which the thrust generating unit 3 has failed, the remaining capacity of the battery 22 has dropped below a predetermined threshold value, and the airframe (airframe unit 2) is abnormally tilted is generated. Say.

When the abnormality detecting unit 15 detects a failure of the thrust generating unit 3, it determines that the flight device 1 is in an abnormal state. Here, the failure of the thrust generating unit 3 means, for example, that the motor 31 does not rotate at the rotation speed specified by the flight control unit 14, the propeller 30 does not rotate, the propeller 30 is damaged, and the like.

Further, when the abnormality detection unit 15 detects 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 flight device 1 is in an abnormal state. judge.

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

Further, when the abnormality detection unit 15 detects an abnormal inclination of the flight device 1 (airframe), the abnormality detection unit 15 determines that the flight device 1 is abnormal. For example, in the abnormality detection unit 15, the flight device 1 is abnormal when the angle calculated by the angle calculation unit 27 exceeds a predetermined threshold value (hereinafter, also referred to as “tilt threshold value”) 29 for a predetermined period of time. Determined to be in a state.

For example, the angle (pitch angle) when the flight device 1 moves in the front-rear direction and the angle (roll angle) when the flight device 1 moves in the left-right direction are acquired in advance by an experiment. The inclination threshold value 29 may be set to a value larger than the angle obtained by the experiment. The inclination threshold value 29 is stored in the storage unit 18 in advance, for example.

The fall control unit 16 is a functional unit for controlling the fall of the flight device 1. Specifically, the drop control unit 16 executes a fall preparation process for safely dropping the flight device 1 when the abnormality detection unit 15 detects that the flight device 1 is in an abnormal state.

Specifically, the fall control unit 16 executes the following process as the fall preparation process. That is, the drop control unit 16 controls the notification device 5 in response to the detection of the abnormality by the abnormality detection unit 15 to notify the outside that it is in a dangerous state. Further, the drop control unit 16 controls each motor drive unit 13 in response to the detection of the abnormality by the abnormality detection unit 15, and stops the rotation of each motor 31. Further, the drop control unit 16 outputs a control signal instructing the parachute to open the umbrella to the parachute device 4 in response to the detection of the abnormality by the abnormality detection unit 15, and causes the parachute 400 to open the umbrella.

Next, the parachute device 4 according to the first embodiment will be specifically described.
FIG. 3 is a diagram schematically showing the configuration of the parachute device 4 according to the first embodiment. FIG. 3 shows a side cross section (partial cross section) of the parachute device 4.

The parachute device 4 includes a parachute 400, a parachute accommodating unit 40, an injection unit 41, an injection control unit 42, a flying object 43, a lead wire 47, and a cover member 49.

FIG. 4 is a diagram schematically showing a state in which the parachute 400 is open.
As shown in the figure, the parachute 400 includes an umbrella body (canopy) 406 and a suspension rope 407.

The suspension rope 407 connects the umbrella body 406 and the parachute accommodating portion 40 (parachute attachment portion 404).

The umbrella body 406 is connected to the flying body 43 by the connecting rope 46. For example, as shown in FIG. 4, the connecting rope 46 is connected to the umbrella body 406 on the edge (peripheral) side of the apex of the umbrella body 406. More specifically, the connecting ropes 46 are separated from each other and connected to the peripheral edge of the parachute 400. For example, as shown in FIG. 4, when the shape of the parachute 400 when viewed from the apex side when the parachute 400 is opened is circular, each connecting rope 46 is the circumference of the peripheral portion of the parachute 400. It is connected to the parachute 400 (umbrella body 406) at equal intervals along the direction.

If only one flying object 43 is provided, the connecting rope 46 may be connected to somewhere on the peripheral edge of the parachute 400. In this case, the position on the peripheral edge of the parachute 400 to which the connecting rope 46 is connected is not particularly limited.

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

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

For example, when the total weight of the flight device 1 is m = 250 [kg], the drag coefficient Cd = 0.9, and the air density ρ = 1.3 kg / m, the falling speed v of the flight device 1 is 5 [m / s]. The diameter D of the umbrella body 406 required for this is calculated as 14.6 [m] from the equation (1).

For example, as shown in FIG. 3, the parachute 400 is housed in the parachute housing unit 40 in a folded state of the umbrella body 406 before its use.

5A to 5C are views showing the configuration of the parachute accommodating portion 40.
FIG. 5A shows a perspective view of the parachute accommodating portion 40, FIG. 5B shows a top view of the parachute accommodating portion 40, and FIG. 5C shows a cross section of the parachute accommodating portion 40 in FIG. A side sectional view showing is shown.
In FIGS. 5A to 5C, all or part of the parachute 400, the flying object 43, the injection unit 41, the injection control unit 42, and the lead wire 47 are not shown.

The parachute accommodating portion 40 is a container for accommodating the parachute 400.
As shown in FIGS. 5A to 5C, the parachute accommodating portion 40 has, for example, a cylindrical shape with one end open and the other end bottomed. As shown in FIG. 1, the parachute accommodating portion 40 is set on the upper surface of the airframe unit 2, that is, the surface facing the opposite side to the ground during flight of the flight device 1. For example, the parachute accommodating portion 40 is preferably installed on the upper surface of the airframe unit so that the central portion O of the airframe unit 2 and the central axis P of the parachute accommodating portion 40 overlap.

The parachute accommodating portion 40 has a tubular side wall portion 401 and a bottom portion 402 formed so as to close an opening on one end side of the side wall portion 401. The parachute accommodating portion 40 is made of, for example, a resin. The side wall portion 401 and the bottom portion 402 may be integrally molded, for example, as a resin molded product, or may be formed as separate parts and joined to each other. In the present embodiment, the side wall portion 401 and the bottom portion 402 will be described as integrally molded parts.

The side wall portion 401 has, for example, a tapered tubular shape. More specifically, the side wall portion 401 has a truncated cone-like outer shape in which the area of the upper surface and the area of the lower surface are different. In the side wall portion 401, the radius r1 on the opening side is larger than the radius r2 on the bottom portion 402 side.

In the parachute accommodating portion 40, an accommodating space 403 for accommodating the parachute 400 is defined by a side wall portion 401 and a bottom portion 402.

The bottom portion 402 is provided with a parachute mounting portion 404 for connecting the parachute accommodating portion 40 and the parachute 400. For example, as shown in FIG. 4, one end of the suspension rope 407 of the parachute 400 is connected to the parachute attachment portion 404, whereby the parachute 400 and the parachute accommodating portion 40 are connected.

As shown in FIGS. 5A to 5C, the side wall portion 401 has a protruding portion 405 formed so as to project in a direction away from the central axis P of the parachute accommodating portion 40. In other words, the projecting portion 405 is formed by projecting a part of the side wall portion 401 outward from the other portion.

Inside the parachute accommodating portion 40, a space 415 is defined by a protruding portion 405 of the side wall portion 401. As shown in FIGS. 5A to 5C, at least a part of the injection portion 41 is arranged in the space 415 inside the parachute accommodating portion 40.

The parachute accommodating portion 40 may be provided with a cover member 49 that covers the opening of the side wall portion 401. The cover member 49 may be, for example, a lid made of a resin material or a thin film member. As shown in FIG. 3, the cover member 49 is preferably arranged so as to cover the opening of the parachute accommodating portion 40 as a whole so as to cover the opening formed by the protruding portion 405. The cover member 49 is fixed to the parachute accommodating portion 40 after accommodating the parachute 400 and the projectile injection mechanism 50 in the accommodating space 403. The cover member 49 is fixed to the parachute accommodating portion 40 by a fastening force such that the cover member 49 can be easily disengaged from the parachute accommodating portion 40 when the flying object 43 is ejected.

The flying object 43 is a device for discharging the parachute 400 to the outside of the parachute accommodating portion 40 and assisting in opening (deploying) the parachute 400. The projectile 43 has a gas generator 45 that generates gas.

The lead wire 47 is an electric wiring for igniting the gas generator 45. The lead wire 47 is composed of, for example, a vinyl wire, a tin-plated wire, an enamel wire, or the like. One end of the lead wire 47 is connected to the gas generator 45, and the other end of the lead wire 47 is connected to the injection control unit 42.

When the injection control unit 42 ignites the gas generator 45 via the lead wire 47, gas is generated from the gas generator 45. The projectile 43 obtains thrust by injecting the gas generated from the gas generator 45, and is ejected from the injection unit 41.

The parachute device 4 includes at least one flying object 43. For example, the parachute device 4 preferably includes three or more projectiles 43. In the present embodiment, as an example, as shown in FIG. 1, a case where the parachute device 4 includes three flying objects will be described as an example. The specific configuration of the flying object 43 will be described later.

The injection control unit 42 is a functional unit that controls the flying object 43 to be ejected from the injection unit 41. The injection control unit 42 is, for example, an electronic circuit that outputs an ignition signal when a control signal instructing the opening of the parachute 400 is received from the drop control unit 16 in the airframe unit 2. When the ignition signal is input to the gas generator 45 provided in each flying object 43 via the lead wire 47, the igniter 453 described later is ignited, and gas is generated from the gas generator 45.

The injection unit 41 is a device for holding the flying object 43 and injecting the holding flying object 43. The injection unit 41 is provided for each flying object 43. As shown in FIG. 1, the parachute device 4 according to the first embodiment includes three injection portions 41 for separately accommodating the three projectiles 43.

As shown in FIGS. 3 and 5C, the injection portion 41 is formed in a tubular shape with one end open and the other end bottomed. Specifically, the injection portion 41 has a tubular (for example, cylindrical) side wall portion 411 and a bottom portion 412 that covers one opening of the side wall portion 411. The side wall portion 411 and the bottom portion 412 define a storage space for accommodating the flying object 43. As will be described later, the side wall portion 411 is formed with a through hole 4110 for passing the lead wire 47.

The side wall portion 411 and the bottom portion 412 are made of, for example, resin. The side wall portion 411 and the bottom portion 412 may be integrally molded, for example, as a resin molded product, or may be formed as separate parts and joined to each other. In the present embodiment, the injection portion 41 will be described as a component in which the side wall portion 411 and the bottom portion 412 are integrally molded.

The injection unit 41 is provided in the parachute accommodating unit 40. Specifically, as described above, each injection portion 41 is arranged one by one in each space 415 defined by a plurality of protrusions 405 formed on the side wall portion 401 of the parachute accommodating portion 40. ..

Here, as shown in FIG. 1, for example, each injection unit 41 is parallel to the central axis P of the parachute accommodating unit 40 in the injection direction of the flying object 43 of the injection unit 41 (parallel to the central axis Q of the injection unit 41). Direction: The end portion in the axial direction Q) is inclined in a direction away from the central axis P of the parachute accommodating portion 40.

More specifically, as shown in FIG. 5C, each injection portion 41 has a central axis P of the parachute accommodating portion 40 when viewed from a direction perpendicular to the central axis P of the parachute accommodating portion 40 (side wall portion 401). It is arranged so that the angle (angle φ) formed by the center axis Q of each injection portion 41 is an acute angle (0 ° <φ <90 °).

Further, the plurality of injection portions 41 are arranged at equal intervals in the rotation direction about the central axis P of the parachute accommodating portion 40. For example, when the parachute device 4 has three injection portions 41 as in the present embodiment, each injection portion 41 is 120 in the rotation direction about the central axis P of the parachute accommodating portion 40. They are arranged at ° (= 360 ° / 3) intervals.

FIG. 6 is a diagram showing a configuration of a flying object injection mechanism according to the first embodiment.
The figure shows the cross-sectional shape of the flying object injection mechanism 50 including the flying object 43, the injection portion 41, and the lead wire 47.

The flying object 43 has a gas generator 45 and a flying object main body 44. As shown in FIG. 6, one end side of the flying object main body 44 is inserted inside the injection section 41, and the gas generator 45 faces the bottom 412 (bottom surface 412a) of the injection section 41 inside the injection section 41. As described above, the flying object 43 is arranged.

The gas generator 45 is a device that generates gas that is the basis of thrust for injecting the flying object 43 from the injection port 413 of the injection unit 41. The gas generator 45 has, for example, a housing 451, a sealing member 452, an igniter 453, and a gas generator 454, as shown in FIG.

The housing 451 is a housing having a gas discharge chamber 455 that houses the gas generator 45 and discharges the gas generated from the gas generator 45. For example, the housing 451 has a dome shape. The housing 451 is made of, for example, a resin. Preferably, the housing 451 is made of fiber reinforced plastic (FRP: Fiber-Reinforced Plastics) or the like. The housing 451 is not limited to resin and may be made of metal.

As shown in FIG. 6, the gas discharge chamber 455 is filled with the gas generating agent 454. Ignition agent 453 is an agent for igniting a gas generating agent. The igniter 453 is formed at one end of the lead wire 47. For example, the igniter 453 can be fixed to one end of the lead wire 47 by applying a liquid igniter mixed with resin or the like to the tip of the lead wire 47.

Although FIG. 6 illustrates a case where the ignition charge 453 is spherical, the shape of the ignition charge 453 is not particularly limited.

The ignition charge 453 is fixed in a state where at least a part thereof is covered with the gas generating agent 454. For example, as shown in FIG. 6, the ignition charge 453 is fixed in the housing 451 in a state of being embedded in the gas generating agent 454. The method of fixing the ignition charge 453 is as follows, for example.

First, a powdery gas generator 454 mixed with a resin or the like is poured into the gas discharge chamber 455 of the housing 451. Then, the gas generating agent 454 is filled with the igniter 453 formed at the tip of the lead wire 47 in the powdery gas generating agent 454. As a result, the ignition charge 453 is fixed inside the gas generator 454, and one end of the lead wire 47 is connected to the gas generator 45.

The ignition charge 453 is electrically connected to the injection control unit 42 via a lead wire (lead wire) 47. The igniting agent 453 ignites in response to the ignition signal output from the injection control unit 42, and chemically reacts the gas generating agent 454 to generate gas.

The gas discharge chamber 455 is formed with a gas discharge hole 456 that discharges the gas generated from the gas generator 454. Further, the gas discharge chamber 455 is provided with a sealing member 452 that covers the gas discharge hole 456 and seals the gas generating agent 454 in the gas discharge chamber 455.

The sealing member 452 is made of a material that is easily destroyed by the pressure of the generated gas when gas is generated from the gas generating agent 454. For example, the sealing member 452 is a thin film such as polyester.

As shown in FIG. 6, the gas generator 45 is arranged in the space 440 defined by the injection unit 41 and the projectile body unit 44.

The flying object main body 44 is a part connected to the parachute. The flying object main body 44 holds the gas generator 45 and is connected to the connecting rope 46. The flying object main body 44 is formed in a rod shape, for example. More specifically, the flying object main body 44 is formed in a hollow columnar shape, for example. The projectile body portion 44 is engaged with the injection portion 41.

The flying object main body 44 holds the gas generator 45 at one end and is connected to the connecting rope 46 at the other end. In other words, the flying object main body 44 is divided into two functional parts in the axial direction Q: a holding part 441 that holds the gas generator 45 and a connecting part 442 for connecting to the connecting rope 46. For example, the holding portion 441 and the connecting portion 442 each have a bottomed tubular shape. The holding portion 441 and the connecting portion 442 are joined so that their bottom surfaces face each other and are coaxial with each other.

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

The holding unit 441 accommodates and holds the gas generator 45 inside. Specifically, in the holding portion 441, inside the injection portion 41, the side on which the gas of the gas generator 45 is discharged, that is, the gas discharge hole 456 (sealing member 452) side of the housing 451 is the bottom portion 412 of the injection portion 41. The gas generator 45 is held so as to face (bottom surface 412a). For example, the holding portion 441 has a hole 441a formed so as to correspond to the shape of the gas generator 45. For example, the gas generator 45 (housing 451) is press-fitted or adhered to the hole 441a to hold the gas generator 45 in the holding portion 441.

The connecting portion 442 is formed so as to project on the opposite side of the holding portion 441 in a direction parallel to the axial direction Q. As described above, the connecting portion 442 is formed in a bottomed tubular shape (for example, a cylindrical shape). The connecting portion 442 has a locking portion 4420 for locking the connecting rope 46 at an end opposite to the holding portion 441. The locking portion 4420 is, for example, a through hole. For example, the connecting rope 46 is locked to the locking portion 4420 in a state of being inserted into the through hole as the locking portion 4420.

In the projectile injection mechanism 50 according to the first embodiment, the lead wire 47 is pulled out from the space 440 in a direction different from the injection direction (axis direction Q) of the projectile 43 with one end connected to the gas generator 45. It has been.

Specifically, the lead wire 47 is pulled out in a direction intersecting the injection direction of the flying object 43. For example, the lead wire 47 is drawn out in the R direction orthogonal to the axial direction Q in FIG. More specifically, as shown in FIG. 6, the lead wire 47 has a through hole 4510 formed in the housing 451 of the gas generator 45 and a through hole 4410 formed in the holding portion 441 of the flying object main body 44. And through the through hole 4110 formed in the side wall portion 411 of the injection portion 41, the injection portion 41 is pulled out to the outside.

The lead wire 47 is configured to be cuttable when the projectile 43 is ejected from the injection port 413 of the injection unit 41. For example, when the projectile 43 is ejected from the injection port 413, the lead wire 47 is pulled by the projectile 43, and the lead wire 47 is pressed against the edge of the through hole 4110 by the tensile force of the lead wire 47. It is possible to break.

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

For example, when the flight device 1 equipped with the parachute device 4 is flying, the state in which the tilt of the aircraft (aircraft unit 2) of the flight device 1 exceeds the tilt threshold 29 continues for a predetermined period due to strong wind, and the abnormality detection unit When it is determined that 15 is in an abnormal state, the fall control unit 16 on the flight device 1 side transmits a control signal instructing the opening of the parachute 400 to the injection control unit 42 of the parachute device 4.

When the injection control unit 42 receives the control signal instructing the opening of the parachute 400, the injection control unit 42 outputs an ignition signal to the gas generator 45 via the lead wire 47. Specifically, the injection control unit 42 causes a predetermined current to flow through the lead wire 47 to ignite the igniter 453 formed at one end of the lead wire 47.

When the igniter 453 ignites, the gas generating agent 454 covering the igniter 453 chemically reacts to generate gas. When the pressure of the gas generated in the gas discharge chamber 455 increases, the sealing member 452 covering the gas discharge hole 456 breaks. As a result, the gas in the gas discharge chamber 455 is discharged from the gas discharge hole 456 into the space 418 in the injection section 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 projectile 43 moves to the injection port 413 side by the pressure of the gas and is ejected from the injection port 413 of the injection unit 41.

At this time, the lead wire 47 fixed to the gas generating agent 454 together with the ignition charge 453 becomes separable from the projectile 43 by the chemical reaction of the gas generating agent 454. Therefore, when the projectile 43 is ejected from the injection section 41, for example, the lead wire 47 is separated from the projectile 43 and remains on the injection section 41 side. Alternatively, the lead wire 47 is cut by the edge of the through hole 4110 of the injection portion 41, a part of the lead wire 47 is ejected together with the projectile 43, and the remaining portion of the lead wire 47 remains on the injection portion 41 side.

When the projectile 43 is ejected from each injection unit 41, each projectile 43 pulls the parachute 400 (umbrella body 406) via the connecting rope 46. As a result, the parachute 400 is released from the parachute accommodating portion 40. After that, the parachute 400 further pulled by each projectile 43 is opened by air entering the inside of the folded umbrella body 406.

FIG. 7 is a diagram schematically showing a state in which the parachute 400 of the flight device 1 according to the first embodiment is opened.
For example, when each projectile 43 is ejected through the above-described processing procedure, each projectile 43 projects in the axial direction of the central axis Q of the injection unit 41. That is, each projectile 43 flies in a direction away from the central axis P of the parachute accommodating portion 40. As a result, each projectile 43 has an edge (a direction) from the apex of the released parachute 400 umbrella body 406 as compared with the case where each projectile ejects directly above (in a direction parallel to the central axis P of the parachute accommodating portion 40). It can be effectively pulled to the peripheral) side. As a result, the umbrella body 406 can be quickly expanded to facilitate the inclusion of air.

As described above, the parachute device 4 according to the first embodiment includes a parachute accommodating portion 40 for accommodating the parachute 400, a flying object main body 44 connected to the parachute 400, and a flying object 43 having a gas generating device 45 for generating gas. The projectile 43 is provided with an injection unit 41 for holding the projectile 43 and ejecting the held projectile 43. The injection unit 41 of the projectile 43 of the injection unit 41 with respect to the central axis P of the parachute accommodating unit 40. The end portion (injection port 413) in the injection direction is inclined in a direction away from the central axis P of the parachute accommodating portion 40.

According to this, as described above, the injection portion 41 has the end portion (injection port 413) of the projectile 43 of the injection portion 41 in the injection direction with respect to the central axis P of the parachute accommodating portion 40. Since it is inclined in the direction away from the central axis P of the parachute, the flying object main body 44 ejected by the pressure of the gas generated from the gas generator 45 flies in the direction away from the central axis P of the parachute accommodating portion 40. .. As a result, the umbrella body 406 of the parachute 400 is pulled from the apex portion of the umbrella body 406 to the edge (peripheral) side by each flying body 43. As a result, the umbrella body 406 can be quickly expanded to facilitate the inclusion of air, so that the parachute 400 can be opened quickly and reliably.

Therefore, even when the parachute device 4 is attached to a rotary wing aircraft that often moves in a direction perpendicular to the ground such as the flight device 1, the parachute 400 can be reliably opened. ..

Further, in the parachute device 4, the injection unit 41 is arranged inside the parachute accommodating unit 40. According to this, it is possible to prevent an impact or the like from being directly applied to the injection unit 41 or the flying object 43 from the outside, so that the reliability of the flying object injection mechanism 50 can be improved.

Further, in the parachute device 4, the side wall portion 401 of the parachute accommodating portion 40 has a protruding portion 405 formed so as to project in a direction away from the central axis P of the parachute accommodating portion 40, and at least a part of the injection portion 41 is formed. It is arranged in the space 415 defined by the protrusion 405 inside the parachute accommodating portion 40.

According to this, it is possible to suppress the narrowing of the accommodation space 403 in the parachute accommodating portion 40 by providing the injection portion 41 inside the parachute accommodating portion 40. That is, since the accommodation space 403 for accommodating the parachute 400 in the parachute accommodating portion 40 can be secured more widely, it is possible to adopt a larger parachute 400.

Further, the parachute device 4 further includes a cover member 49 that covers the opening of the side wall portion 401 of the parachute accommodating portion 40.

According to this, it is possible to prevent not only the parachute 400 but also the flying object injection mechanism 50 from being exposed to rainwater or foreign matter, resulting in deterioration of the flying object injection mechanism 50, for example, deterioration of the gas generator 45 of the flying object 43. It will be possible.

Further, as shown in FIGS. 5A to 5C, the injection portions 41 are arranged at equal intervals in the rotation direction about the central axis P of the parachute accommodating portion 40. According to this, the ejected projectile 43 makes it possible to evenly pull the umbrella body 406 of the parachute 400 from a plurality of directions. This makes it possible to open the parachute 400 more reliably.

<< Embodiment 2 >>
FIG. 8 is a diagram schematically showing the appearance of a flight device equipped with the parachute device according to the second embodiment.

The parachute device 4A according to the second embodiment shown in FIG. 8 is different from the parachute device 4 according to the first embodiment in that the projectile injection mechanism 50A is arranged outside the parachute accommodating portion 40A. In this respect, it is the same as the parachute device 4 according to the first embodiment.

FIG. 9 is a diagram schematically showing the configuration of the parachute device 4A according to the second embodiment. FIG. 9 shows a side cross section (partial cross section) of the parachute device 4A.
As shown in FIG. 9, in the parachute device 4A, the projectile injection mechanism 50A including the projectile 43, the injection section 41A, and the lead wire 47 is installed outside the side wall portion 401A of the parachute accommodating section 40A.

10A and 10B are diagrams showing the configuration of the parachute accommodating portion 40A according to the second embodiment.
FIG. 10A shows a top view of the parachute accommodating portion 40A, and FIG. 10B shows a side sectional view showing a cross section of the parachute accommodating portion 40 in FIG. 10A.

Note that in FIGS. 10A and 10B, all or part of the parachute 400, the projectile 43, the injection unit 41A, the injection control unit 42, and the lead wire 47 are not shown.

The parachute accommodating portion 40A has a tubular side wall portion 401A and a bottom portion 402A formed so as to close an opening on one end side of the side wall portion 401A. The parachute accommodating portion 40A is, for example, a resin molded product in which the side wall portion 401A and the bottom portion 402A are integrally formed, similarly to the parachute accommodating portion 40 according to the first embodiment.

The side wall portion 401A has, for example, a truncated cone-like (tapered) outer shape in which the area of the upper surface and the area of the lower surface are different. In the side wall portion 401A, the radius r1A on the opening side is larger than the radius r2 on the bottom portion 402A side.

In the parachute accommodating portion 40A, the accommodating space 403 for accommodating the parachute 400 is defined by the side wall portion 401A and the bottom portion 402A.

A parachute mounting portion 404 for connecting the parachute accommodating portion 40A and the parachute 400 is provided on the surface of the bottom portion 402A on the opening side of the side wall portion 401A. An injection control unit 42 is provided on the surface of the bottom portion 402A opposite to the opening of the side wall portion 401A (the surface on the airframe unit 2 side in FIG. 1).

The injection unit 41A is provided in the parachute accommodating unit 40A. Specifically, as shown in FIG. 10A and the like, each injection portion 41A is arranged on the outer peripheral surface 4010 of the side wall portion 401A.

Here, in the injection unit 41A, the end portion of the injection unit 41A in the injection direction (axis direction Q of the injection unit 41A) with respect to the central axis P of the parachute accommodation unit 40A is the central axis of the parachute accommodation unit 40. It is inclined in the direction away from P.

Specifically, the central axis Q of each injection portion 41A (side wall portion 411A) has an injection port 413, which is an opening formed at an end of each side wall portion 411A opposite to the bottom portion 412A, of the parachute accommodating portion 40A. It is inclined in a direction away from the central axis P.

More specifically, as shown in FIG. 10B, each injection portion 41A has a central axis P of the parachute accommodating portion 40A and each injection portion 41A when viewed from a direction perpendicular to the central axis P of the parachute accommodating portion 40A. It is arranged so that the angle (angle φ) formed by the central axis Q of the above is an acute angle (0 ° <φ <90 °).

Further, the plurality of injection portions 41A are arranged at equal intervals in the rotation direction about the central axis P of the parachute accommodating portion 40A. For example, when the parachute device 4A has three injection portions 41A as in the second embodiment, each injection portion 41A is 120 in the rotation direction about the central axis P of the parachute accommodating portion 40A. They are arranged at ° (= 360 ° / 3) intervals.

The parachute accommodating portion 40A may be provided with a cover member 49 that covers the opening of the side wall portion 401A. For example, as shown in FIG. 9, the cover member 49 is preferably arranged so as to cover not only the side wall portion 401A but also at least a part of the projectile injection mechanism 50A.

As described above, in the parachute device 4A according to the second embodiment, the injection unit 41A has the projectile body 43 of the injection unit 41A with respect to the central axis P of the parachute accommodating unit 40A, similarly to the parachute device 4 according to the first embodiment. The end portion in the injection direction (axis direction Q) of the parachute accommodating portion 40A is inclined in a direction away from the central axis P of the parachute accommodating portion 40A.

According to this, similarly to the parachute device 4 according to the first embodiment, the flying object main body 44 ejected by the pressure of the gas generated from the gas generator 45 is in the direction away from the central axis P of the parachute accommodating portion 40A. Fly to. As a result, the umbrella body 406 can be quickly expanded to facilitate the inclusion of air, so that the parachute 400 can be opened quickly and reliably.

Further, in the parachute device 4A, the injection portion 41A is arranged on the outer peripheral surface 4010 of the side wall portion 411A of the parachute accommodating portion 40A. According to this, since it is possible to secure a wider accommodation space 403 for accommodating the parachute 400 in the parachute accommodating portion 40A, it is possible to adopt a larger parachute 400.

≪Expansion of embodiment≫
Although the inventions made by the present inventors have been specifically described above based on the embodiments, it goes without saying that the present invention is not limited thereto and can be variously modified without departing from the gist thereof. No.

For example, in the above embodiment, the case where the injection control unit 42 is provided in the

parachute devices

4 and 4A has been illustrated, but the present invention is not limited to this. For example, the injection control unit 42 may be provided in the airframe unit 2.

Further, in the above embodiment, the case where the

parachute accommodating portions

40 and 40A are cylindrical is illustrated, but the present invention is not limited to this. That is, the

parachute accommodating portions

40 and 40A may have a space for accommodating the parachute 400 inside, and may be, for example, a hollow polygonal column (for example, a square column).

Further, the case where the

parachute accommodating portions

40 and 40A are tapered has been illustrated, but the present invention is not limited to this. If the outer shapes of the

parachute accommodating portions

40 and 40A are not tapered, the parachute so that the angle of the central axis Q of the

injection portions

41 and 41A (the angle φ of the central axis Q with respect to the central axis P) becomes appropriate. It is necessary to devise a joining structure of the injection portion 41 to the

accommodating portions

40 and 40A.

Further, in the above embodiment, the case where the outer shapes of the

injection portions

41 and 41A are cylindrical has been illustrated, but the present invention is not limited to this. That is, the

injection portions

41 and 41A may have a structure in which the flying object 43 is housed and the flying body 43 can be injected. For example, the outer shape is a polygonal column (for example, a square column) and the flying object 43 is housed. The space to be used may be cylindrical.

Further, in the first embodiment, the case where the injection control unit 42 is arranged inside the parachute accommodating unit 40 has been illustrated, but the present invention is not limited to this, and the injection control unit is similar to the parachute device 4A according to the second embodiment. 42 may be arranged outside the parachute accommodating portion 40 (for example, the surface of the bottom portion 402 on the aircraft unit 2 side). Further, in the second embodiment, the case where the injection control unit 42 is arranged outside the parachute accommodating unit 40A has been illustrated, but the present invention is not limited to this, and the injection control unit is similar to the parachute device 4 according to the first embodiment. 42 may be arranged inside the parachute accommodating portion 40A (for example, the surface of the bottom portion 402A on the opening side of the side wall portion 401A).

1,1A ... Flight device, 2 ... Aircraft unit, 3,3_1 to 3_n ... Thrust generator, 4,4A ... Parachute device, 5 ... Notification device, 6 ... Arm section, 9 ... External device, 11 ... Power supply section, 12 ... Sensor unit, 13, 13_1 to 13_n ... Motor drive unit, 14 ... Flight control unit, 15 ... Abnormality detection unit, 16 ... Drop control unit, 17 ... Communication unit, 18 ... Storage unit, 22 ... Battery, 23 ... Power supply circuit , 24 ... angular velocity sensor, 25 ... acceleration sensor, 26 ... magnetic sensor, 27 ... angle calculation unit, 28 ... remaining capacity threshold, 29 ... tilt threshold, 30 ... propeller, 31 ... motor, 32 ... housing, 40, 40A ... Parachute accommodating unit, 41, 41A ... injection unit, 42 ... injection control unit, 43 ... flying object, 44 ... flying object main body, 45 ... gas generator, 46 ... connecting rope, 47 ... lead wire (lead wire), 49 ... Cover member, 50, 50A ... Flying object injection mechanism, 400 ... Parachute, 401, 401A ... Side wall, 402, 402A ... Bottom, 403 ... Storage space, 404 ... Parachute mounting part, 405 ... Projection, 406 ... Umbrella ( Canopy), 407 ... Suspension rope, 411, 411A ... Side wall, 421, 412A ... Bottom, 412a ... Bottom, 413 ... Outlet, 415, 418 ... Space, 440 ... Space, 441 ... Holding, 441a ... Hole, 442 ... Connecting part, 451 ... Housing, 452 ... Sealing member, 453 ... Ignition agent, 454 ... Gas generator, 455 ... Gas discharge chamber, 456 ... Gas discharge hole, 4010 ... Outer surface, 4110, 4410, 4510 ... Through hole , 4420 ... Locking portion, O ... Central portion, P ... Central axis, Q ... Central axis, axial direction.

Claims

With a parachute
A parachute accommodating portion for accommodating the parachute and
A flying object having a flying object main body connected to the parachute and a gas generator for generating gas, and a flying object.
An injection unit for holding the projectile and ejecting the held projectile is provided.
The flying object main body is engaged with the injection portion,
The gas generator is arranged in a space defined by the injection portion and the flying object main body portion.
The injection portion is a parachute device in which an end portion of the injection portion in the injection direction of the flying object is inclined with respect to the central axis of the parachute accommodating portion in a direction away from the central axis of the parachute accommodating portion.
In the parachute device according to claim 1,
The parachute accommodating portion is formed in a tubular shape with one end open and the other end bottomed.
The parachute device, characterized in that the injection portion is arranged inside the parachute accommodating portion.
In the parachute device according to claim 2.
The parachute accommodating portion has a tubular side wall portion and a bottom portion formed so as to close one end side of the side wall portion.
The side wall portion has a protruding portion formed so as to project in a direction away from the central axis of the parachute accommodating portion.
A parachute device, characterized in that at least a part of the injection portion is arranged in a space defined by the protrusion inside the parachute accommodating portion.
In the parachute device according to claim 1,
The parachute accommodating portion has a tubular side wall portion and a bottom portion formed so as to close one end side of the side wall portion.
A parachute device characterized in that the injection portion is arranged on an outer peripheral surface of the side wall portion.
In the parachute device according to claim 3 or 4.
A parachute device further comprising a cover member that covers the opening of the side wall portion.
In the parachute device according to any one of claims 1 to 5.
Having a plurality of the projectiles
The injection portion is provided for each of the projectiles.
A parachute device characterized in that the injection portions are arranged at equal intervals in a rotation direction centered on the central axis of the parachute accommodating portion.
Airframe unit and
A thrust generating unit that is connected to the airframe unit and generates thrust,
A flight control unit that controls the thrust generation unit and
An abnormality detection unit that detects an abnormality during flight of the airframe unit, and a parachute device according to any one of claims 1 to 6.
A flight device including a drop control unit that ejects the flying object from the injection unit in response to detection of an abnormality by the abnormality detection unit.