WO2021161685A1 - Flying device and parachute device - Google Patents

Abstract

Provided is a flying device in which it is possible to quickly and reliably deploy a parachute even in the case where the efficacy of air current cannot be instantly availed during flight or during plunge.　This flight device (1) is provided with: a lift-generating unit (3) which is connected to a fuselage unit (2) and which is for generating lift; a flight control part (14) which controls the lift-generating unit (3); a parachute housing unit (40) which is provided to the fuselage unit (2) and which houses a parachute (400) therein; multiple projectiles (43) that are linked to the parachute (400); multiple ejectors (41) which are provided to the respective projectiles (43) and which are for ejecting the retained projectiles (43); and an abnormality detection part (15) for detecting an abnormality during flight; and a plunge control part (16) which, upon detection of an abnormality by the abnormality detection part (15), causes the projectiles (43) to be ejected from the ejectors (41). The plunge control part (16) preferentially ejects a projectile (43) held in at least one of the multiple ejectors (41).

Description

Flight equipment and parachute equipment

The present invention relates to a flight device and a parachute device, for example, 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 rotary wing aircraft for some reason, autonomous flight may not be possible, and an accident such as a fall of the rotary wing aircraft 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 greater 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 for a flying object, for example, as disclosed in the following patent document, to the rotorcraft.

Japanese Patent No. 4785084

However, conventional parachutes for flying objects are designed so that the parachute can be easily opened by the airflow generated during flight, so the airflow is immediate, such as when falling from a stationary state in the sky. It has become clear from the examination by the inventors that the parachute may not open immediately if the effect of the above is not obtained.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to quickly and surely parachute even when the effect of airflow when the flight device is flying or falling is not immediately obtained. Is to provide a flight device that can open the umbrella.

The flight device according to a typical embodiment of the present invention includes an aircraft unit, a lift generating unit connected to the aircraft unit to generate lift, a flight control unit that controls the lift generating unit, a parachute, and the like. A parachute accommodating portion provided in the aircraft unit and accommodating the parachute, a plurality of flying objects connected to the parachute, and the flight provided for each of the flying objects to hold and hold the corresponding flying object. A plurality of injection units for injecting a body, an abnormality detection unit for detecting an abnormality during flight, and a drop control unit for injecting the flying object from the injection unit in response to detection of an abnormality by the abnormality detection unit. The drop control unit is characterized in that the flying object of at least one of the plurality of injection units is preferentially ejected.

According to one aspect of the present invention, it is possible to open the parachute quickly and surely 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 which concerns on Embodiment 1. FIG. It is a figure which shows typically the structure of the parachute apparatus mounted on the flight apparatus which concerns on Embodiment 1. FIG. It is a figure which shows typically the state which the parachute is open. It is a functional block diagram of the flight apparatus which concerns on Embodiment 1. FIG. It is a flowchart which shows the flow of the fall preparation process by the flight apparatus which concerns on Embodiment 1. FIG. It is a flowchart which shows the flow of abnormality detection by the flight apparatus which concerns on Embodiment 1. It is a flowchart which shows the flow of the parachute opening control (step S5) which concerns on Embodiment 1. It is a figure for demonstrating the injection procedure of a flying object in the case where a parachute device includes three injection parts. It is a figure for demonstrating the injection procedure of a flying object in the case where a parachute device includes four injection parts. It is a figure for demonstrating the injection procedure of a flying object in the case where a parachute device includes six injection parts. It is a figure for demonstrating the injection procedure of a flying object in the case where a parachute device includes eight injection parts. It is a figure which shows typically the state of the opening of the parachute when the flying object is ejected by dividing into the 1st injection part group and the 2nd injection part group. It is a figure which shows typically the state in which the parachute of the flight apparatus which concerns on Embodiment 1 is open. It is a functional block diagram of the flight apparatus which concerns on Embodiment 2. FIG. It is a flowchart which shows the flow of the parachute opening control (step S5) which concerns on Embodiment 2. It is a figure which shows typically the state of the airframe unit at the time of injection of a flying object. It is a figure which shows typically the state of the airframe unit at the time of injection of a flying object. It is a functional block diagram of the parachute apparatus which concerns on another embodiment.

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 flight device (1,1A, 1B) according to a typical embodiment of the present invention includes a body unit (2) and a lift generating unit (3) connected to the body unit to generate lift. A flight control unit (14) for controlling the lift generating unit, a parachute (400), a parachute accommodating unit (40) provided in the aircraft unit and accommodating the parachute, and a plurality of parachutes connected to the parachute. A parachute (43), a plurality of injection units (41) provided for each parachute to hold the corresponding parachute and eject the held parachute, and an abnormality during flight are detected. An abnormality detection unit (15) and a drop control unit (16, 16A, 16B) for ejecting the flying object from the injection unit in response to the detection of the abnormality by the abnormality detection unit are provided. It is characterized in that the flying object of at least one of the plurality of ejection portions is preferentially ejected.

[2] In the flight device, the fall control unit may preferentially inject the flying object of the injection unit located at the most windward position of the airframe unit.

[3] In the flight device, the drop control unit identifies a first injection unit group based on the most windward position of the airframe unit and the position of each injection unit, and the first injection unit. The flying object of the group may be preferentially ejected.

[4] In the flight device, the fall control unit may preferentially inject the flying object of the injection unit located at the position farthest from the ground of the airframe unit.

[5] In the flight device, the drop control unit identifies a first injection unit group based on the position farthest from the ground of the airframe unit and the position of each injection unit, and the first injection unit. The projectiles of the group may be preferentially ejected.

[6] In the flight device, the fall control unit may eject the flying object of the remaining ejecting unit after giving priority to the flying object.

[7] In the flight device, the fall control unit may eject the flying object with priority given to the flying object, and then eject the flying object of the remaining ejection unit at different times.

[8] The flight device further includes sensor units (12, 28) for detecting the wind direction, and the drop control unit is based on the detection result of the sensor unit and the position of each injection unit. The injection unit group may be specified, and the flying object of the first injection unit group may be emitted first.

[9] The flight device further includes sensor units (12, 24, 27) for detecting the inclination of the airframe unit, and the drop control unit is based on the detection result of the sensor unit and the position of each injection unit. Therefore, the first injection unit group may be specified, and the flying object of the first injection unit group may be emitted first.

[10] The parachute apparatus (4,4A, 4B) according to a typical embodiment of the present invention is provided on the parachute (400) and the airframe unit (2,2A), and is a parachute accommodating portion for accommodating the parachute. (40), a plurality of projectiles (43) connected to the parachute, and a plurality of ejections provided for each projectile to hold the corresponding projectile and eject the held projectile. A unit (41), an abnormality detection unit (15, 15B) that detects an abnormality during flight, and a drop control unit (16) that ejects the flying object from the injection unit in response to the detection of the abnormality by the abnormality detection unit. , 16A, 16B), and the drop control unit preferentially ejects the flying object of at least one of the plurality of injection portions.

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 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 dimensional relationship 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 rotorcraft 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, lift (propulsion force) 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. There is.

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 FIG. 1 shows a columnar airframe unit 2 as an example, the shape of the airframe unit 2 is not particularly limited.

Lift generating units 3_1 to 3_n are rotors that generate lift. In the following description, when each lift generating unit 3_1 to 3_n is not particularly distinguished, it is simply referred to as “lift generating unit 3”. The number n of the lift 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 lift generators 3, a quadcopter with four lift generators 3, a hexacopter with six lift generators, and eight lift 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) lift generating units 3_1 to 3_4 as an example.

The lift 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 arm portion 6 is a structure for connecting the airframe unit 2 and each lift generating portion 3. The arm portion 6 is formed so as to project radially from the airframe unit 2, for example, about the central axis O of the airframe unit 2. A lift 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 provided in the airframe unit 2 of the flight device 1. For example, as shown in FIG. 1, the parachute device 4 is installed on the upper surface of the airframe unit 2, that is, on the surface of the airframe unit 2 in flight opposite to the ground.

FIG. 2 is a diagram schematically showing the configuration of the parachute device 4. The figure shows a side cross section of the parachute device 4.
FIG. 3 is a diagram schematically showing a state in which the parachute 400 of the parachute device 4 is open.

The parachute device 4 includes a parachute 400, a parachute accommodating unit 40, an injection unit 41, an injection control unit 42, and a flying object 43. As shown in FIG. 3, the parachute 400 has an umbrella body (canopy) 406 and a chordee 407 connecting 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. 3, 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. 3, 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).

For example, the diameter D of the umbrella body 406 required to drop the flight device 1 at a low speed can be calculated based on the following formula (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. 2, the parachute 400 is housed in the parachute housing unit 40 in a folded state of the umbrella body 406 before its use.

The parachute accommodating unit 40 is a container for accommodating the parachute 400. The parachute accommodating portion 40 is made of, for example, resin. As shown in FIG. 1, the parachute accommodating portion 40 is set on the upper surface of the airframe unit 2, that is, on the surface opposite 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 axis O of the airframe unit 2 and the central axis P of the parachute accommodating unit 40 overlap.

As shown in FIG. 2, the parachute accommodating portion 40 has, for example, a tubular shape with one end open and the other end bottomed. Specifically, the parachute accommodating portion 40 has, for example, a cylindrical 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.

A storage space 403 for accommodating the parachute 400 is defined by the side wall portion 401 and the bottom portion 402. The side wall portion 401 and the bottom portion 402 may be individually formed and joined, or may be integrally formed.

As shown in FIG. 3, 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, by connecting one end of the suspension rope 407 of the parachute 400 to the parachute attachment portion 404, the parachute 400 and the parachute accommodating portion 40 are connected.

The parachute accommodating portion 40 may be provided with a lid that covers one end side of the side wall portion 401 with the parachute 400 accommodating in the accommodating space 403.

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 obtains thrust, for example, by injecting gas. The projectile 43 is connected to the parachute 400 via the connecting rope 46 as described above.

The parachute device 4 includes a plurality of projectiles 43. For example, the parachute device 4 preferably includes three or more projectiles 43. FIG. 1 illustrates a case where the parachute device 4 includes three flying objects. The specific configuration of the flying object 43 will be described later.

The injection unit 41 is a device for holding the flying object 43 and ejecting the holding flying object 43. The injection unit 41 is provided for each flying object 43. The parachute device 4 according to the present embodiment includes three injection units 41 for separately accommodating the three flying objects 43.
As shown in FIGS. 1 and 2, the injection portion 41 is formed in a cylindrical shape (for example, a cylindrical shape) having an opening at one end and a bottom at the other end. Specifically, the injection portion 41 has, for example, a cylindrical side wall portion 411 and a bottom portion 412 that covers one end 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. The side wall portion 411 and the bottom portion 412 are made of, for example, resin.

Each injection unit 41 is provided in the parachute accommodating unit 40. Specifically, as shown in FIG. 2 and the like, in each injection portion 41, the injection port 413, which is an opening formed at the end of the side wall portion 411 opposite to the bottom portion 412, opens the parachute accommodating portion 40. It is joined to the outer peripheral surface of the parachute accommodating portion 40 so as to face one end side.

Further, the 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 there are three flying objects 43 and three injection portions 41 as in the present embodiment, each injection portion 41 is 120 ° (= 360) in the rotation direction about the central axis P of the parachute accommodating portion 40. ° / 3) Arranged at intervals.

The flying object 43 has a gas generator 45 and a flying object main body 44. As shown in FIG. 2, in the flying object 43, one end side of the flying object main body portion 44 is inserted inside the injection portion 41, and the gas generator 45 faces the bottom portion 412 of the injection portion 41 inside the injection portion 41. It is placed in the state of being.

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 to the outside. The gas generator 45 is arranged in an internal space 440 defined by an injection unit 41 and a flying object main body 44. The gas generator 45 includes, for example, an igniter and a gas generator.

The gas generator 45 is electrically connected to the injection control unit 42, which will be described later, via a lead wire (conductor) 47. The gas generator 45 ignites the igniting agent in response to the ignition signal output from the injection control unit 42, and chemically reacts the gas generating agent to generate gas.

The flying object main body 44 is a component that 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. The flying object main body 44 is made of, for example, resin.

The injection control unit 42 is a functional unit that controls to eject the flying object 43 held by each injection unit 41. The injection control unit 42 is, for example, an electronic circuit that outputs an ignition signal from the drop control unit 16 in response to a control signal instructing the parachute 400 to open the umbrella. The ignition signal is input to the ignition unit (not shown) of the gas generator 45 provided in each flying object 43 via the lead wire 47, and the ignition unit emits an ignition charge according to the input ignition signal. Ignite.

Next, each functional unit housed in the airframe unit 2 will be described.
FIG. 4 is a functional block diagram of the flight device 1 according to the first embodiment.

As shown in FIG. 4, 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 program processing devices (for example, a program processing device (for example, a CPU: Central Processing Unit) and a storage device such as a memory) including a processor (for example, a CPU: Central Processing Unit) and a storage device such as a memory. It is realized by the program processing by the (microcontroller) and the cooperation with the peripheral circuit (hardware resource).

The power supply unit 11 includes a battery 22 and a power supply circuit 23. The battery 22 is, for example, a secondary battery (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 above 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 air volume, the wind direction, and the like in the surrounding environment. For example, the sensor unit 12 includes an angular velocity sensor 24, an acceleration sensor 25, a magnetic sensor 26, an angle calculation unit 27, and an air volume sensor 28.

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.

The air volume sensor 28 is a sensor that detects the air volume and the wind direction.

Note that the sensor unit 12 may include, for example, a barometric pressure sensor, an ultrasonic sensor, a GPS receiver, a camera, and the like, in addition to the various sensors described above.

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. Further, the communication unit 17 transmits to the external device 9 information indicating that the control for opening the parachute 400 is executed when the parachute 400 is opened.

The motor drive units 13_1 to 13_n are functional units provided for each lift generating unit 3 and driving 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 lift generation unit 3 so that the flight device 1 flies stably. Specifically, the flight control unit 14 has the aircraft based on the operation information (instructions such as ascent / descent, forward / backward, etc.) received from the external device 9 received by the communication unit 17 and the detection result of the sensor unit 12. An appropriate rotation speed of the motor 31 of each lift generating unit 3 is calculated so as to fly in a desired direction in a stable state, and the calculated rotation speed is instructed to each motor driving unit 13.

The flight control unit 14 is a motor 31 of each lift generating unit 3 so that the airframe becomes horizontal based on the detection result of the angular velocity sensor 24 when the attitude of the airframe 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, in order to prevent the flight device 1 from drifting when the flight device 1 is hovering, the flight control unit 14 determines the appropriate rotation speed of the motor 31 of each lift generating unit 3 based on the detection result of the acceleration sensor 25. 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, a remaining capacity threshold value 180, a tilt threshold value 181, a failure motor number threshold value 182, a fall determination threshold value 183, and an upwind determination threshold value 184, which will be described later.

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

Here, the abnormal state means a state in which autonomous flight of the flight device 1 may become impossible (including a state in which autonomous flight is impossible). For example, the lift generating unit 3 has failed (the number of the failed lift generating units 3 has exceeded the failure motor number threshold value 182), the remaining capacity of the battery 22 has dropped below a predetermined threshold value, and the airframe (airframe unit). A state in which at least one of 2) being abnormally tilted and the aircraft being dropped is called an abnormal state.

When the abnormality detecting unit 15 detects a failure of the lift generating unit 3 (motor), the abnormality detecting unit 15 determines that the flight device 1 is in an abnormal state. Here, the failure of the lift 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.

Specifically, the abnormality detection unit 15 counts the number of failed lift generating units 3 (motors 31), and when the number of failed motors reaches the faulted motor number threshold value 182 or more, the flight device 1 is in an abnormal state. Is determined. The failed motor number threshold value 182 is a reference value regarding the number of failed lift generating units 3 (motors 31) for determining whether or not the flight device 1 is in an abnormal state. The fault motor number threshold value 182 is stored in the storage unit 18 in advance, for example.

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”) 180, the flight device 1 is in an abnormal state. judge.

Here, the remaining capacity threshold value 180 may be set to a capacity value such that the motor cannot rotate at the rotation speed specified by the flight control unit 14, for example. The remaining capacity threshold value 180 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”) 181 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 181 may be set to a value larger than the angle obtained by the experiment. The inclination threshold value 181 is stored in the storage unit 18 in advance, for example.

Further, when the abnormality detection unit 15 detects that the aircraft (airframe unit 2) of the flight device 1 is in a falling state, the abnormality detection unit 15 determines that the flight device 1 is abnormal. For example, the abnormality detection unit 15 has determined that the vertical downward acceleration of the airframe unit 2 exceeds a predetermined threshold value (hereinafter, also referred to as “fall determination threshold value”) 183 based on the detection result of the acceleration sensor 25. In this case, it is determined that the flight device 1 is abnormal.

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

Specifically, the fall control unit 16 executes the following process as the fall preparation process. 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, as a fall preparation process, the fall control unit 16 outputs a control signal instructing the opening of the parachute to the parachute device 4 (injection control unit 42) in response to the detection of the abnormality by the abnormality detection unit 15, and the parachute. Open the 400.

At this time, the fall control unit 16 controls the parachute opening to eject the plurality of flying objects 43 at different times. In the parachute opening control, the drop control unit 16 preferentially ejects the flying object 43 of at least one injection unit 41 out of the plurality of injection units 41. Specifically, the fall control unit 16 preferentially ejects the flying object 43 of the ejection unit 41 arranged at the most windward position of the airframe unit 2 as a parachute opening control.

More specifically, the drop control unit 16 identifies the first injection unit group based on the most upwind position of the airframe unit 2 and the position of each injection unit 41, and the flight of the first injection unit group. Priority is given to the body 43 to eject. The drop control unit 16 preferentially ejects the flying object 43 of the first ejection unit group, and then ejects the flying object 43 of the remaining ejection unit 41. At this time, for example, the drop control unit 16 further prioritizes (shifts the time) among the projectiles 43 of the remaining injection units 41 to inject.

Next, the flow of the fall preparation process by the flight device 1 according to the first embodiment will be described in detail.
FIG. 5 is a flowchart showing the flow of the fall preparation process by the flight device 1 according to the first embodiment.
FIG. 6 is a flowchart showing a flow of abnormality detection by the flight device 1 according to the first embodiment.

While the flight device 1 is in flight, the drop control unit 16 determines whether or not an abnormal state has been detected by the abnormality detection unit 15 (step S1). In step S1 of FIG. 5, the abnormality detection unit 15 detects whether or not the flight device 1 is in a state where autonomous flight may become impossible.

Specifically, as shown in FIG. 6, the abnormality detection unit 15 first receives an instruction signal instructing the opening of the parachute, which is transmitted in response to, for example, an operation of the external device 9 by the user, by the flight device 1. It is determined whether or not it has been done (step S101).

When the flight device 1 receives the instruction signal (step S101: YES), the abnormality detection unit 15 determines that the flight device 1 is in an abnormal state (step S106). As a result, when the user visually discovers an abnormality in the flight device 1, the flight device 1 can be instructed to open the parachute 400.

When the flight device 1 has not received the instruction signal (step S101: NO), the abnormality detection unit 15 determines whether or not the number of the failed lift generating units 3 exceeds the failed motor number threshold value 182. (Step S102). When the number of failed lift generating units 3 exceeds the failed motor number threshold value 182 (step S102: YES), the abnormality detecting unit 15 determines that the flight device 1 is in an abnormal state (step S106).

When the number of failed lift generating units 3 does not exceed the failed motor number threshold value 182 (step S102: NO), the abnormality detecting unit 15 has the inclination of the flight device 1 (airframe unit 2) exceeding the tilt threshold value 181. It is determined whether or not the state of being in the state has continued for a predetermined period (step S103).
When the state in which the inclination of the flight device 1 exceeds the inclination threshold value 181 continues for a predetermined period (step S103: YES), the abnormality detection unit 15 determines that the flight device 1 is in an abnormal state (step S106).

When the state in which the inclination of the flight device 1 exceeds the inclination threshold value 181 has not continued for a predetermined period (step S103: NO), the abnormality detection unit 15 determines whether the flight device 1 (airframe unit 2) is in the falling state. (Step S104). When it is determined that the flight device 1 is in the falling state (step S104: YES), the abnormality detection unit 15 determines that the flight device 1 is in the abnormal state (step S106).

When it is determined that the flight device 1 is not in the falling state (step S104: NO), the abnormality detection unit 15 determines whether or not the remaining capacity of the battery 22 is below the remaining capacity threshold value 180 (step S105). When it is determined that the remaining capacity is below the remaining capacity threshold value 180 (step S105: YES), the abnormality detection unit 15 determines that the flight device 1 is in an abnormal state (step S106). On the other hand, when it is determined that the remaining capacity is not less than the remaining capacity threshold value 180 (step S105: NO), the abnormality detection unit 15 again executes the processes of steps S101 to S105.

If the flight device 1 is not determined to be in an abnormal state by the abnormality detection unit 15 in the process of step S1 described above (step S1: NO), the drop control unit 16 does not start the fall preparation process and continues to fly. While controlling the device 1 to fly stably, the abnormality detection unit 15 monitors the presence or absence of detection of an abnormality.

On the other hand, in step S1, when the abnormality detection unit 15 determines that the flight device 1 is in an abnormal state (step S1: YES), the fall control unit 16 starts the fall preparation process (step S2). For example, when the airframe (airframe unit 2) of the flight device 1 is tilted beyond the tilt threshold value 181 due to a strong wind for a predetermined period of time, the abnormality detection unit 15 sends a signal to the drop control unit 16 indicating that an abnormality has been detected. Notice. The fall control unit 16 determines that the flight device 1 may fall when it receives the signal, and starts the fall control process.

In the fall control process, first, the fall control unit 16 controls the notification device 5 to notify the outside that the flight device 1 is in a dangerous state (step S3). For example, the drop control unit 16 drives a light source constituting the notification device 5 to generate blinking light. Further, the drop control unit 16 drives a voice generator constituting the notification device 5 to output a warning sound and an announcement prompting evacuation.

Next, the drop control unit 16 stops the motor 31 (step S4). Specifically, the drop control unit 16 instructs each motor drive unit 13_1 to 13_n to stop the motor 31. As a result, the motor 31 of the flight device 1 is stopped, and the rotation of the propeller 30 is stopped.

The instructions to the motor drive units 13_1 to 13_n may be given directly from the drop control unit 16 to the motor drive units 13_1 to 13_n, or from the drop control unit 16 via the flight control unit 14 to the motor drive units 13_1 to 13_n. You may go indirectly to.

Next, the fall control unit 16 controls the parachute opening (step S5).
FIG. 7 is a flowchart showing the flow of the parachute opening control (step S5).
8A to 8D are diagrams for explaining the injection procedure of the flying object 43 when the parachute device 4 includes a plurality of injection units 41.

In step S5, first, the drop control unit 16 selects a first injection unit group including at least one injection unit 41 arranged at the most windward position of the airframe unit 2 (S501). For example, the drop control unit 16 first determines the most windward position of the airframe unit 2 based on the coordinate information of each position in the airframe unit 2 stored in the storage unit 18 and the wind direction detected by the air volume sensor 28. Identify. Next, the fall control unit 16 is the most of the aircraft unit 2 based on the coordinate information of the identified windward position of the aircraft unit 2 and the coordinate information of each injection unit 41 stored in the storage unit 18. The distance between the position on the windward side and the position of each injection unit 41 is calculated, and the injection unit 41 whose distance is equal to or less than the windward determination threshold value of 184 is specified as the first injection unit group.

For example, as shown in FIG. 8A, when the parachute device 4 includes three injection units 41, when the drop control unit 16 specifies that the position a is the coordinate closest to the windward side in the airframe unit 2. The injection unit group A including the injection unit 41_1 whose distance to the position a is shorter than the windward determination threshold value is defined as the first injection unit group. Alternatively, in FIG. 8A, when the drop control unit 16 identifies that the position b is the coordinate closest to the windward side in the airframe unit 2, the injection unit 41_1 and the injection unit 16 whose distance to the position b is shorter than the windward determination threshold value. The injection unit group B including the unit 41_2 is defined as the first injection unit group.

As shown in FIGS. 8B, 8C, and 8D, when the parachute device 4 includes 4 to 6 injection units 41, similarly, from the positions a and b which are the coordinates closest to the windward side in the airframe unit 2. The first group of ejection parts is specified based on the distance of.

Next, the drop control unit 16 ejects the projectile 43 from the first ejection unit group specified in step S501 (step S502). Specifically, the drop control unit 16 outputs a control signal instructing the injection control unit 42 to inject the flying object 43 from the specified first injection unit group, and the injection control unit 42 outputs the ignition signal to the injection control unit 42. By outputting to the ejection group of 1, the projectile 43 is ejected.

Next, the drop control unit 16 ejects the flying objects of the remaining ejection units 41 (second ejection unit group) that have not ejected the flying objects 43 (step S503). For example, in FIG. 8D, when the projectiles 43 of the injection units 41_1, 41_2, 41_8 selected as the first injection unit group in step S502 are ejected, in step S503, the remaining injection units are ejected as the second injection unit group. The projectiles 41_3 to 41_7 are ejected.

At this time, the drop control unit 16 may simultaneously inject all the injection units 41_3 to 41_7 of the second injection unit group, or may inject the injection units 41 of the second injection unit group at different times. May be good. For example, in FIG. 8D, the drop control unit 16 may simultaneously inject all the projectiles 43 of the injection units 41_3 to 41_7 as the second injection unit group, or the projectiles 43 of the injection units 41_3 to 41_7 may be staggered. May be provided and injected one by one in order.

When the flying object 43 is ejected with a time lag, the drop control unit 16 starts from the first ejection unit group, and the second ejection unit 16 is clockwise or counterclockwise when viewed from the upper surface side of the airframe unit 2. The group of projectiles 43 may be ejected in sequence. Alternatively, the projectile 43 may be ejected in the order closest to the windward position specified in step S501 of the second ejection unit group. For example, in FIG. 8D, after ejecting the projectile 43 of the first ejection group A, the projectiles of the ejection sections 41_3 and 41_7 closest to the windward side of the second ejection group are simultaneously ejected, and then Of the remaining ejection portions 41, the projectiles of the ejection portions 41_4 and 41_6 closest to the windward may be ejected at the same time, and finally the projectiles 43 of the ejection portions 41_5 may be ejected.

Further, when the drop control unit 16 ejects the flying object 43 of the second ejection unit group, the drop control unit 16 identifies and identifies the ejection unit 41 closest to the windward side among the ejection units 41 that have not ejected the flying object 43. The process of ejecting the projectile 43 from the ejection unit 41 may be repeatedly executed.

FIG. 9 is a diagram schematically showing a state in which the parachute 400 is opened when the flying object 43 is ejected by dividing it into a first ejection unit group and a second ejection unit group.
FIG. 10 is a diagram schematically showing a flight device 1 in a state where the parachute 400 is open.

As shown in FIG. 9, the windward peripheral edge of the released parachute 400 (umbrella body 406) is the leeward peripheral edge by ejecting the projectile 43 preferentially from the windward first ejection group. Since the position is higher than the portion, the parachute 400 can easily catch the wind, and the parachute 400 can be opened reliably and quickly.
After all the projectiles 43 have been ejected, the parachute 400 opens as shown in FIG. As a result, the flight device 1 slowly falls toward the ground.

In FIG. 5, after the parachute opening control (step S5), the fall control unit 16 notifies the external device 9 that the flight device 1 has fallen via the communication unit 17 (step S6).
The notification to the external device 9 may be performed at any timing as long as it is after the start of the drop control process (step S2). For example, it may be performed after the flight device 1 has landed, or immediately after the start of the fall control process (step S2).

Further, when the fall control unit 16 notifies the external device 9 that the flight device 1 has fallen, the fall control unit 16 may also notify the external device 9 of the position information of the fall location acquired by the GPS receiver. According to the procedure described above, the fall control process of the flight device 1 is performed.

As described above, when the parachute is ejected, the flight device 1 according to the first embodiment preferentially ejects the flying object 43 of at least one of the plurality of ejection units 41.
According to this, it is possible to control the parachute to open the umbrella appropriately according to the flight environment. Specifically, as described above, the flying object 43 of the injection unit 41 arranged at the most windward position of the airframe unit 2 is preferentially ejected. More specifically, the first injection unit group is specified based on the most windward position of the airframe unit 2 and the position of each injection unit 41, and the projectile 43 of the first injection unit group is prioritized. And eject. According to this, the released parachute 400 becomes easy to catch the wind, and the parachute 400 can be opened reliably and quickly.

<< Embodiment 2 >>
FIG. 11 is a functional block diagram of the flight device 1A according to the second embodiment.
The flight device 1A according to the second embodiment preferentially ejects a flying object 43 arranged at the position farthest from the ground of the airframe unit 2A when the flight device 1A falls as a parachute opening control. It is different from the flight device 1 according to the first embodiment, and is the same as the flight device 1 according to the first embodiment in other respects.

The overall flow of the fall preparation process by the flight device 1A according to the second embodiment is the same as that of the flight device 1 according to the first embodiment, and the content of the parachute opening control (step S5) is different. Hereinafter, the parachute opening control (step S5A) by the flight device 1 according to the second embodiment will be described in detail.

FIG. 12 is a flowchart showing the flow of the parachute opening control (step S5A) by the flight device 1A according to the second embodiment.

In step S5A, first, based on the detection result of the sensor unit 12, the drop control unit 16A is arranged at least one of the injection units 41 in which the flying object 43 is not ejected at the position farthest from the ground of the airframe unit 2. A first group of injection units including one injection unit 41 is specified (step S501A).

Specifically, the drop control unit 16A selects the aircraft from all the injection units 41 based on the coordinate information of each injection unit 41 stored in the storage unit 18A and the angle calculated by the angle calculation unit 27. The injection unit 41 located at the position farthest from the ground of the unit 2 is specified and used as the first injection unit group.

Next, the drop control unit 16A ejects the projectile 43 from the first ejection unit group specified in step S501A (step S502A). Specifically, the drop control unit 16 outputs a control signal instructing the injection control unit 42 to inject the flying object 43 from the specified first injection unit group, and the injection control unit 42 outputs the ignition signal to the injection control unit 42. By outputting to the ejection group of 1, the projectile 43 is ejected.

Next, the drop control unit 16A ejects the flying objects of the remaining ejection units 41 (second ejection unit group) that have not ejected the flying objects 43 (step S503A).
At this time, the drop control unit 16A may simultaneously inject all the injection units 41 of the second injection unit group, or may inject the injection units 41 of the second injection unit group at different times. .. When each projectile 43 is ejected with a time lag, the drop control unit 16A starts from the first ejection unit group and ejects the second projectile in the order of clockwise or counterclockwise when viewed from the upper surface side of the airframe unit 2A. The projectiles 43 of the group may be sequentially ejected. Alternatively, the drop control unit 16A is arranged at the position farthest from the ground of the airframe unit 2A among the injection units 41 that have not ejected the flying object 43 when the flying object 43 of the second ejection unit group is ejected. The process of specifying the injection unit 41 and injecting the flying object 43 from the specified injection unit 41 may be repeatedly executed.

As described above, the flight device 1A according to the second embodiment preferentially ejects the flying object 43 of the ejection unit 41 arranged at the position farthest from the ground of the airframe unit 2A. According to this, it is possible to bring the aircraft of the flight device 1A closer to the horizontal state before the parachute 400 is completely opened, so that the attitude of the flight device 1A during the fall is stable and the fall speed of the flight device 1A is reduced. It can be made more lenient.

More specifically, the drop control unit 16A is an injection unit arranged at the position farthest from the ground of the airframe unit 2A among the injection units 41 that do not emit the flying object 43 based on the detection result of the sensor unit 12. 41 is selected, and the projectile 43 of the selected injection unit 41 is first ejected.

According to this, as shown in FIG. 13A, due to the reaction when the first projectile 43 is launched, a force F in the direction opposite to the injection direction S of the projectile 43 is applied to the farthest side of the airframe unit 2 from the ground. .. As a result, as shown in FIG. 13B, the airframe unit 2 can be brought into a state closer to horizontal. In this state, when the next projectile 43 is ejected, the parachute 400 towed by the projectile 43 can be launched in a direction more perpendicular to the ground, so that the parachute 400 is towed by the second projectile 43. The parachute 400 can easily catch air, and the parachute 400 can be opened faster. As a result, the force applied to the airframe unit 2 in the direction toward the ground can be reduced, and the fall time of the flight device 1A can be lengthened, so that the safety of the flight device 1A when it falls can be further improved. It will be possible.

<< Expansion of embodiment >>
The inventions made by the present inventors have been specifically described above based on the embodiments, but it goes without saying that the present invention is not limited thereto and can be variously modified without departing from the gist thereof. stomach.

For example, in the above embodiment, the case where the injection control unit 42 is provided in the parachute device 4 has been illustrated, but the present invention is not limited to this. For example, the injection control unit 42 may be provided in the flight device 1.

Further, in the above embodiment, the case where the parachute device 4 ejects the projectile 43 in response to the signals from the drop control units 16 and 16A provided on the airframe units 2 and 2A is illustrated, but the present invention is limited to this. No. For example, as shown in FIG. 14, the parachute device 4B may include an abnormality state detection mechanism including a sensor unit 12B, an abnormality detection unit 15B, and a drop control unit 16B. The sensor unit 12B, the abnormality detection unit 15B, and the drop control unit 16B have the same functions as the sensor unit 12, the abnormality detection unit 15, and the drop control unit 16, respectively. According to this, the parachute device 4B itself can detect the abnormal state and eject the projectile 43.

In this case, the airframe unit 2 may or may not have an abnormal state detection mechanism including a sensor unit 12, an abnormality detecting unit 15, and a drop control unit 16. Since the aircraft unit 2 and the parachute device 4B each have an abnormal state detection mechanism, even if one of the abnormal state detection mechanisms cannot detect the abnormal state for some reason, the other abnormal state detection mechanism can be used. It is possible to detect an abnormal state and open the parachute 400 more reliably.

Further, in the above embodiment, the case where the parachute accommodating portion 40 has a cylindrical shape is illustrated, but the present invention is not limited to this. That is, the parachute accommodating portion 40 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, in the above embodiment, the case where the outer shape of the injection portion 41 is cylindrical has been illustrated, but the present invention is not limited to this. That is, the injection unit 41 may have a structure in which the flying object 43 is housed and the flying body 43 can be ejected. The space may be cylindrical. However, in that case, it is necessary to match the internal shape of the flying object 43 with the injection portion 41.

Further, in the flight device 1 according to the above embodiment, a flight control unit 14 or the like as a functional unit for controlling flight in a normal state and an abnormality detection as a functional unit for performing fall control when an abnormality occurs. The case where the unit 15, the drop control unit 16, and the storage unit 18 operate by supplying power from the same battery 22 has been illustrated, but the present invention is not limited to this.
For example, a battery for a functional unit for controlling flight in a normal state and a battery for a functional unit for controlling a fall when an abnormality occurs may be prepared separately. According to this, even when an abnormality occurs in the battery for the functional unit for controlling the flight in the normal state and the power supply cannot be performed, the drop control process can be executed.

Further, the functional unit for performing drop control when an abnormality occurs may be configured so that power supply from the above-mentioned two batteries can be selected. According to this, even if an abnormality occurs in one battery, power can be supplied from the other battery, so that the drop control process can be reliably executed.

Further, in the above embodiment, a shock absorbing member such as an airbag may be provided on the lower surface of the airframe unit 2. According to this, it is possible to further improve the safety of the flight device 1 when it falls.

1,1A, 1B ... Flight device, 2,2A ... Aircraft unit, 3 ... Lift generator, 4,4A, 4B ... Parachute device, 5 ... Notification device, 6 ... Arm section, 9 ... External device, 11 ... Power supply section , 12, 12B ... Sensor unit, 13 ... Motor drive unit, 14 ... Flight control unit, 15, 15B ... Abnormality detection unit, 16, 16A, 16B ... Drop control unit, 17 ... Communication unit, 18, 18A ... Storage unit, 22 ... Battery, 23 ... Power circuit, 24 ... Angle speed sensor, 25 ... Acceleration sensor, 26 ... Magnetic sensor, 27 ... Angle calculation unit, 28 ... Air volume sensor, 30 ... Propeller, 31 ... Motor, 32 ... Housing, 40 ... Parachute accommodating unit, 41 ... injection unit, 42 ... injection control unit, 43 ... flying object, 44 ... flying object main body, 45 ... gas generator, 46 ... connecting cord, 47 ... lead wire, 180 ... remaining capacity threshold, 181 ... Tilt threshold, 182 ... Failure motor number threshold, 183 ... Fall judgment threshold, 184 ... Upwind judgment threshold, 400 ... Parachute, 401 ... Side wall, 402 ... Bottom, 403 ... Accommodation space, 404 ... Parachute mounting part, 406 ... Umbrella (canopy), 407 ... hanging rope, 411 ... side wall, 412 ... bottom, 413 ... outlet, 440 ... internal space.

Claims (10)

1. Airframe unit and
   A lift generating unit that is connected to the airframe unit and generates lift,
   A flight control unit that controls the lift generation unit and
   With a parachute
   A parachute accommodating portion provided in the airframe unit and accommodating the parachute,
   A plurality of flying objects connected to the parachute,
   A plurality of injection portions provided for each of the projectiles, for holding the corresponding projectiles and ejecting the held projectiles, and
   Anomaly detection unit that detects abnormalities during flight,
   A drop control unit that ejects the flying object from the injection unit in response to the detection of the abnormality by the abnormality detection unit is provided.
   The drop control unit is a flight device that preferentially ejects the flying object of at least one of the plurality of injection units.
2. In the flight apparatus according to claim 1,
   The drop control unit is a flight device that preferentially ejects the flying object of the injection unit arranged at the most windward position of the airframe unit.
3. In the flight apparatus according to claim 2.
   The drop control unit identifies the first injection unit group based on the most windward position of the airframe unit and the position of each injection unit, and gives priority to the flying object of the first injection unit group. A flight device characterized by firing.
4. In the flight apparatus according to claim 1,
   The fall control unit is a flight device that preferentially ejects the flying object of the injection unit located at the position farthest from the ground of the airframe unit.
5. In the flight apparatus according to claim 4,
   The drop control unit identifies the first injection unit group based on the position farthest from the ground of the airframe unit and the position of each injection unit, and gives priority to the flying object of the first injection unit group. A flight device characterized by ejecting.
6. In the flight apparatus according to any one of claims 1 to 5.
   The fall control unit is a flight device characterized in that after preferentially ejecting the flying object, the flying object of the remaining ejection unit is ejected.
7. In the flight apparatus according to any one of claims 1 to 5.
   The fall control unit is a flight device characterized in that after preferentially ejecting the flying object, the remaining projectile of the injection unit is ejected at different times.
8. In the flight apparatus according to claim 3,
   Further equipped with a sensor unit that detects the wind direction,
   The drop control unit
   A flight characterized in that the first injection unit group is specified based on the detection result of the sensor unit and the position of each injection unit, and the flying object of the first injection unit group is first emitted. Device.
9. In the flight apparatus according to claim 5.
   Further equipped with a sensor unit for detecting the inclination of the airframe unit,
   The drop control unit
   A flight characterized in that the first injection unit group is specified based on the detection result of the sensor unit and the position of each injection unit, and the flying object of the first injection unit group is first emitted. Device.
10. With a parachute
    A parachute accommodating unit provided in the airframe unit and accommodating the parachute,
    A plurality of flying objects connected to the parachute,
    A plurality of injection portions provided for each of the projectiles, for holding the corresponding projectiles and ejecting the held projectiles, and
    Anomaly detection unit that detects abnormalities during flight,
    A drop control unit that ejects the flying object from the injection unit in response to the detection of the abnormality by the abnormality detection unit is provided.
    The parachute device is characterized in that the drop control unit preferentially ejects the flying object of at least one of the plurality of injection portions.

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