JP7227869B2 - Parachute devices, drones and flight systems - Google Patents

Description

The present invention relates to a parachute device, an unmanned floating aircraft, and a flight system used in an unmanned floating aircraft such as a multicopter.

2. Description of the Related Art Unmanned floating aircraft and unmanned airplanes, such as multicopters, which fly by remote control or automatic control using wireless communication without a person on board, are generally provided. For example, unmanned aerial vehicles are used for aerial photography with on-board digital cameras (including digital video cameras) and for recreational purposes. In addition, unmanned floating aircraft are used, for example, for the purpose of inspecting places where it is difficult for humans to enter, and for the purpose of grasping the situation.

Such unmanned floating aircraft and unmanned airplanes have been proposed to be provided with a preventive device for preventing crash accidents caused by damage or abnormalities during flight (see Patent Document 1). In the multicopter disclosed in Patent Document 1, a parachute is arranged on the upper part of the multicopter and an airbag is arranged on the lower part thereof. It discloses that only the airbag is activated, and when the altitude setting value is exceeded, not only the airbag but also the parachute are activated to make an emergency landing.

In addition to this, it has a storage container for storing a parachute or a paraglider, three pipes connected to the inner pillar of the storage container so that they face in different directions, and an actuator provided in the pipe, For example, there has been proposed a deployment device that deploys a parachute or a paraglider stored in a storage container by driving an actuator when the flying object falls (see Patent Document 2). The deployment device disclosed in Patent Document 2 includes, as an actuator for deploying a parachute or a paraglider, an igniter having an ignition charge and a case containing the ignition charge, a piston extending in a uniaxial direction, and restricting the propulsion direction of the piston. It has a cylindrical housing, and generates a working gas by burning an ignition charge to propel a piston, thereby releasing and deploying a parachute or a paraglider to the outside of the case.

JP 2016-088111 A JP 2018-193055 A

For example, in the case of Patent Document 1, there is a drawback that it takes time to deploy the parachute because it is deployed by receiving wind pressure when falling. Therefore, the larger the deployment area of the parachute, the longer it takes to deploy the parachute, and the higher the altitude required to deploy the parachute. In other words, when flying at a low altitude, the parachute cannot fully deploy and reaches the ground surface, so the effect of the parachute cannot be obtained. As a result, not only damage to the multicopter, but also accidents such as crashing into people and ground structures can occur.

Further, in the case of Patent Document 2, explosives such as ZWPP (zirconium/tungsten/potassium perchlorate), ZPP (zirconium/potassium perchlorate), and lead tricinate are used as ignition charges in order to instantly deploy the parachute. ing. However, it is prohibited by the Civil Aeronautics Law (Article 132-2, Item 5 of the Civil Aeronautics Law) to load explosives on an unmanned floating aircraft or an unmanned airplane. Therefore, there is a demand for a technology that can instantly deploy a parachute or the like without loading explosives.

SUMMARY OF THE INVENTION The present invention has been made in order to solve such problems, and provides a technology that enables a soft landing of an unmanned floating aircraft regardless of the flight altitude of the unmanned floating aircraft when the flying unmanned floating aircraft crashes. That's what it is.

The parachute device of the present invention includes a canopy having a plurality of weights attached to its outer peripheral edge, a main body having an opening in which the canopy connected via a sling, and a chemical reaction caused by ignition to generate high-pressure gas. a gas generator enclosing a non-explosive chemical agent that allows the gas to be released, a plurality of weight storage units in which the weights are individually stored, and after changing the ejection direction of the high-pressure gas ejected from the gas generator a plurality of times a passage for sending the high-pressure gas to each of the plurality of weight housings; a spark suppressor provided in a partial region of the passage for extinguishing sparks generated together with the high-pressure gas when the gas generator is ignited; characterized by having

Further, a container containing the gas generator and having an ejection port for ejecting the high-pressure gas, a tubular member having the weight accommodating portion at one end in the extending direction, and a part of the container are inserted into the container. a holding member having a first space communicating with the internal spaces of the plurality of cylindrical members fixed to the outer peripheral surface; A second space for receiving and a third space for sending the high-pressure gas received in the second space to the first space are formed between the container and facing the ejection port. and a lid member having a bottom surface, wherein the passage includes the first space, the second space and the third space.

Further, it is preferable that the spark suppressant is applied to at least the bottom surface of the lid member facing the spout.

Further, it is characterized by having a cover that covers the opening of the main body in a state in which the plurality of constituent members are combined, and that each of the plurality of constituent members is fixed to each of the plurality of weights.

Further, the gas generator is characterized by being connected to a control device that ignites the gas generator.

In this case, the control device includes ignition means for igniting the gas generator, angular velocity detection means for detecting the angular velocity acting on the main body, and determination of the state of the main body from the angular velocity detected by the angular velocity detection means. and control means for outputting an ignition command to the ignition means based on the determination result of the determination means.

The control device is preferably provided inside an unmanned floating aircraft that flies by remote control or automatic control.

Further, an unmanned floating aircraft according to the present invention includes the parachute device described above.

In addition, the flight system of the present invention includes an unmanned floating aircraft to which the parachute device is fixed and which flies by remote control or automatic control, and a control device for igniting the gas generator provided in the parachute device. characterized by

igniting means for igniting the gas generator; angular velocity detecting means for detecting an angular velocity acting on the main body; determining means for judging the state of the main body from the angular velocity detected by the angular velocity detecting means; and control means for outputting an ignition command to the ignition means based on the determination result of the determination means.

Further, the control device is provided inside the unmanned floating aircraft.

According to the present invention, when a flying unmanned floating aircraft crashes, the unmanned floating aircraft can be soft-landed regardless of the flight altitude of the unmanned floating aircraft.

1 is a perspective view showing an embodiment of an unmanned floating aircraft equipped with a parachute device of the present invention; FIG. 1 is a perspective view showing an exploded configuration of a parachute device; FIG. It is a partial cross-sectional view which decomposes|disassembles and shows the structure of the pipe holder vicinity. It is a sectional view of a parachute device. (a) A top view of the parachute device, (b) a perspective view when combining the separated cover constituent members. It is a sectional view showing composition near a pipe holder of a parachute device. FIG. 4 is a perspective view showing a state in which the cover constituent member is ejected by ignition of the gas generator; 2 is a functional block diagram showing the electrical configuration of the flight system of this embodiment; FIG. FIG. 9 is a functional block diagram showing a modification of the electrical configuration of the flight system shown in FIG. 8; FIG. 4 is a cross-sectional view showing the configuration near the pipe holder of the parachute device that does not have a delivery passage; FIG. 4 is a diagram showing a state of verifying the effect of a spark suppressor;

FIG. 1 shows an embodiment of an unmanned floating vehicle to which the parachute device of the invention is attached. The unmanned floating aircraft 10 is a flying object such as a multicopter that flies by wireless communication based on the operation of a controller (not shown) by an operator. An unmanned floating aircraft that flies by wireless communication based on the operation of a controller by an operator is taken as an example, but an unmanned floating aircraft that automatically flies by a built-in automatic flight program may also be used.

The unmanned floating aircraft 10 includes a body 11, a plurality of arms 12 radially extending from the body 11, a plurality of rotor units 13 provided at the tips of the plurality of arms 12, and a rotor unit 13 provided at the bottom of the body 11. and skids (fixed landing gear) 14, 14'.

Although details will be described later, the fuselage 11 includes a wireless module 87 that performs wireless communication with the controller, a control circuit 89 that receives operation signals received by the wireless module 87 and controls the rotor unit 13, and an unmanned floating unit. A battery 88, which is the main power source of the machine 10, etc. are accommodated (see FIG. 8). Note that when the unmanned floating aircraft 10 is equipped with a camera, the body 11 further includes an imaging control device that controls imaging by the camera.

The arm 12 is a tubular member made of, for example, synthetic resin or metal material. As described above, the arms 12 extend radially from the fuselage 11 . In FIG. 1, the arms 12 are arranged at intervals of, for example, 60° between adjacent arms 12 . Although FIG. 1 discloses an unmanned floating aircraft having six arms, the number of arms need not be limited to six. Depending on the maximum area of the machine, for example, any one of 2 to 5, or 6 or more may be used.

The rotor unit 13 is composed of a rotor 15 , a drive motor 16 and a bracket 17 . The rotor unit 13 is fixed to the tip of the arm 12 via a bracket 17 so that the rotor 15 fixed to the drive shaft of the drive motor 16 is positioned above. A cable (not shown) connected to the drive motor 16 is inserted through the arm 12 , for example, and then connected to the control circuit 89 housed in the body 11 .

Although not shown in detail, the rotor 15 has a rotating shaft fixed to the drive shaft of the drive motor 16 and two rotor blades arranged at an interval of 180° around the rotating shaft. Note that the number of rotor blades provided in the rotor 15 is not necessarily limited to two, and may have three or more rotor blades. The length of the rotor blade is set, for example, to a length such that the rotational trajectories of the rotor blades of adjacent rotor units do not overlap each other.

A parachute device 20 is fixed to the upper surface of the airframe 11 of the unmanned floating aircraft 10 described above. As shown in FIGS. 2 to 4, when the unmanned floating aircraft 10 becomes difficult to fly, the parachute device 20 ejects a plurality of weights 34 using high-pressure gas generated by ignition of a gas generator 32, which will be described later. This device unfolds the stored parachute cloth 33 and makes an emergency landing without damaging the unmanned floating aircraft 10.例文帳に追加

The parachute device 20 includes a case (corresponding to the main body recited in the claims) 25, a base plate 26, a pipe holder (corresponding to the holding member recited in the claims) 27, a pipe (corresponding to the cylindrical member recited in the claims) 28, Holder cap (corresponding to the lid member described in the claims) 29, generator holder 30, holder cap 31, gas generator 32, parachute cloth (umbrella body) 33, weight 34, fixing strings 35, 36, cover constituent members 37a, 37b , 37c, 37d. The cover constituent members 37a, 37b, 37c, and 37d are assembled to form the cover 37 (see FIG. 5).

The case 25 is a box-shaped member with an open top. The shape of the case 25 is substantially square when viewed from above. The shape of the case 25 when viewed from above is not limited to a square, and may be a circle, or a regular polygon such as a regular pentagon or a regular hexagon.

The material of the case 25 is, for example, CFRP (Carbon Fiber Reinforced Plastics: carbon fiber reinforced plastics), fiber reinforced plastics such as GFRP (Glass Fiber Reinforced Plastics: glass fiber reinforced plastics), or metal such as aluminum alloy.

The case 25 has an insertion hole 25a on its bottom surface. A cable 32a extending from the gas generator 32 is inserted through the insertion hole 25a. Further, the case 25 has four insertion holes 25b outside the insertion hole 25a and at 90° intervals around the insertion hole 25a. The bolts 56 are inserted through the through holes 25 b when the base plate 26 and the pipe holder 27 are fixed to the case 25 .

Further, the case 25 has four insertion holes 25f, 25g, 25h, and 25i outside the insertion hole 25b and at 90° intervals around the insertion hole 25a. The fixing string 35 is inserted through the insertion holes 25f and 25i, and the fixing string 36 is inserted through the insertion holes 25g and 25h. Although not shown, a cushioning material such as urethane is attached to the upper end of the case 25 and pressed against a cover 37 attached to the case 25 .

The base plate 26 is a member used when fixing the case 25 to the upper surface of the body 11 of the unmanned floating aircraft 10 . The base plate 26 is, for example, a so-called cross-shaped plate member in which fixed legs 26a, 26b, 26c, and 26d extending radially from the center are provided at intervals of 90°. Although the fixed legs are provided at intervals of 90°, they may be provided at regular angular intervals such as intervals of 60°, intervals of 72°, and intervals of 120°. Moreover, the shape of the base plate 26 is not limited to a cross shape, and may be an appropriate shape that matches the shape of the upper surface of the case 25 .

Here, the material of the base plate 26 is CFRP (Carbon Fiber Reinforced Plastics), fiber reinforced plastics such as GFRP (Glass Fiber Reinforced Plastics), or metal such as aluminum alloy.

Also, the base plate 26 has an insertion hole 40 . A cable 32 a extending from the gas generator 32 is inserted through the insertion hole 40 . Also, the base plate 26 has an insertion hole 41 . The through hole 41 allows the bolt 56 to pass therethrough when fixing the base plate 26 and the pipe holder 27 to the case 25 . The base plate 26 has insertion holes 45a and 45d through which the fixing string 35 is inserted, and insertion holes 45b and 45c through which the fixing string 36 is inserted.

Fixed legs 26 a , 26 b , 26 c , 26 d of base plate 26 are provided on the tip (free end) side for inserting bolts (not shown) when attaching parachute device 20 to fuselage 11 of unmanned floating aircraft 10 . Each has a hole 49 .

The pipe holder 27 is a member fixed to the bottom surface of the case 25 . The material of the pipe holder 27 is, for example, metal such as aluminum alloy. The pipe holder 27 has four fixed pieces 51 at 90° intervals on the lower end side in the vertical direction. The fixed piece 51 has an insertion hole 51a. The insertion hole 51 a is arranged coaxially with the insertion hole 25 b of the case 25 and the insertion hole 41 of the base plate 26 when the base plate 26 and the pipe holder 27 are fixed to the case 25 .

The pipe holder 27 has a space 27a with its upper surface hollowed out so that the cross section orthogonal to the vertical direction is circular. The cross-sectional shape of the space 27a perpendicular to the vertical direction is, for example, circular.

The pipe holder 27 has a threaded hole 52 that communicates with the space 27a from the bottom surface. A male threaded portion 30a of a generator holder 30 inserted into the space 27a from the upper surface of the pipe holder 27 is screwed into the screw hole 52 . The pipe holder 27 also has a threaded hole 53 that communicates with the space 27a from the outer peripheral surface. The screw holes 53 are provided at four locations at intervals of 90° around the axial direction of the pipe holder 27 . The threaded hole 53 is screwed into a male threaded portion 28 a provided at one end of the pipe 28 . The number of screw holes 53 communicating with the space 27a is not necessarily limited to four, and is provided according to the number of pipes fixed to the pipe holder 27. FIG. The pipe holder 27 described above has a male threaded portion 54 on the outer peripheral surface on the upper end side. The male threaded portion 54 is screwed into the female threaded portion 29 a of the holder cap 29 .

In the pipe holder 27 described above, the inner diameter φ1 of the space 27a is larger than the maximum outer diameter of the generator holder 30 (diameter of the male screw portion 30a) φ2. Therefore, when the generator holder 30 is screwed to the pipe holder 27, a space A1 (see FIG. 6) is formed between the inner peripheral surface of the pipe holder 27 facing the space 27a and the outer peripheral surface of the generator holder 30. It is formed. Note that the outer diameter φ3 of the portion of the generator holder 30 other than the male threaded portion 30a is, for example, φ3=10 mm.

2, reference numeral 56 denotes a bolt used when fixing the base plate 26 and the pipe holder 27 to the case 25, and reference numeral 57 denotes a nut screwed onto the bolt 56. As shown in FIG.

The pipe 28 is a tubular member that is bent at one end side in the axial direction with respect to the center in the axial direction. The material of the pipe 28 is metal such as aluminum alloy, or synthetic resin such as inner dull. The pipe 28 has a male threaded portion 28a on the outer peripheral surface of one end. The male threaded portion 28 a is screwed into the threaded hole 53 of the pipe holder 27 . Although not shown, when the pipe 28 is screwed to the pipe holder 27, the pipe 28 is held so that the axial direction of one end of the pipe 28 and the axial direction of the other curved end of the pipe 28 match. In this state, the other free end of the pipe 28 is slanted upward. Here, the inner diameter φ4 of the pipe 28 is, for example, φ4=7 mm, and the distance L1 from one end screwed to the pipe holder 27 to the curved position is, for example, L1=16.3 mm. .

The holder cap 29 is a cylindrical member with one end closed. The material of the holder cap 29 is, for example, metal such as aluminum alloy. The holder cap 29 has a female threaded portion 29a on the inner peripheral surface of one open end. The holder cap 29 is fixed to the pipe holder 27 by screwing the female threaded portion 29 a onto the male threaded portion 54 of the pipe holder 27 .

Here, the inner diameter φ5 of the holder cap 29 is larger than the outer diameter φ6 of the holder cap 31 . Moreover, the inner diameter φ5 of the holder cap 29 is larger than the maximum diameter φ2 of the generator holder 30 . Therefore, when the gas generator 32 is housed between the generator holder 30 and the holder cap 31 and the holder cap 29 is screwed to the pipe holder 27, the gap between the holder cap 29 and the holder cap 31 and the holder cap 29 are and the generator holder 30, a space A2 (see FIG. 6) is formed. Here, the inner diameter φ5 of the holder cap 29 is φ5=14.8 mm as an example. When the holder cap 29 is screwed onto the pipe holder 27, a space A3 (see FIG. 6) is formed between the bottom surface 29b of the holder cap 29 and the top surface 31b of the holder cap 31. As shown in FIG. The distance L2 between the bottom surface 29b of the holder cap 29 and the top surface 31b of the holder cap 31 is, for example, L2=12 mm (see FIG. 6). Further, the distance L3 from the bottom surface 29b of the holder cap 29 to the lowest point of the inner diameter of the pipe 28 is, for example, L3=56.5 mm.

A spark suppressant 60 is applied to the bottom surface 29 b of the holder cap 29 . The spark suppressor 60 catches sparks emitted together with the high-pressure gas generated when the gas generator 32 is ignited, and prevents the sparks from being emitted from the pipe 28 to the outside. Examples of spark suppressants include solid oils and fats such as paraffin, fluid oils and fats, flame-retardant fibers, and metal meshes.

Here, the case where the spark suppressant 60 is applied to the bottom surface 29b of the holder cap 29 is described, but the spark suppressant 60 is applied not to the bottom surface 29b of the holder cap 29 but to the inner peripheral surface 29c of the holder cap 29. You may Moreover, both the bottom surface 29 b of the holder cap 29 and the inner peripheral surface 29 c of the holder cap 29 may be the spark suppressant 60 . Furthermore, the spark suppressor 60 is applied not to the bottom surface 29b of the holder cap 29, but to the inner peripheral surface of the pipe holder 27 facing the space 27a, or the inner peripheral surface of the pipe 28. can be on the side.

The generator holder 30 is a cylindrical member with one end closed. The generator holder 30 is fixed to the pipe holder 27 with the gas generator 32 housed therein. Both ends of the generator holder 30 in the axial direction are provided with male threaded portions 30a and 30b. The male threaded portion 30 a is screwed into the threaded hole 52 of the pipe holder 27 . The female threaded portion 31a of the holder cap 31 is screwed into the male threaded portion 30b. An insertion hole 30c through which the cable 32a of the gas generator 32 is inserted is provided in the bottom surface of the generator holder 30 on one end side. The material of the generator holder 30 is a metal such as an aluminum alloy.

The holder cap 31 is screwed onto the open end of the generator holder 30 . The holder cap 31 has a female screw portion 31a on its inner peripheral surface. The female threaded portion 31 a is screwed into the male threaded portion 30 b of the generator holder 30 . The upper surface 31 b of the holder cap 31 has an ejection port 31 c for ejecting high-pressure gas and sparks generated when the gas generator 32 is ignited toward the bottom surface 29 b of the holder cap 29 . The material of the holder cap 31 is metal such as an aluminum alloy. Note that the outer diameter φ6 of the holder cap 31 is φ6=12.5 mm. The generator holder 30 and holder cap 31 described above correspond to the container described in the claims.

The gas generator 32 generates high-pressure gas by combusting the loaded gas generating agent. As a gas generating agent loaded in the gas generator 32, for example, a low-vibration/low-noise crushing agent Gunsizer (registered trademark: product name manufactured by Nippon Koki Co., Ltd.) is used. The gas generating agent is a non-explosive crushing composition that crushes bedrock and the like in the same procedure as the crushing method using explosives without requiring a consumption permit. As an example, the gas generator 32 is filled with 0.8 g of a gas generating agent having the following composition. The composition and blending ratio of the gas generating agent are, for example, potassium alum or ammonium alum 44-55%, cupric oxide 33-44%, aluminum 9-17%, calcium stearate 2.4-2.6%, vinyl chloride 1 0.2 to 1.8%. The particle size of the gas generating agent is a sieved product that passes through 24 Tyler meshes and stops at 42 Tyler meshes, that is, the particle size is in the range of 0.35 mm to 0.71 mm. As the gas generating agent described above, an agent having a maximum pressure of about 25 MPa when burned in a 10 cc pressure tank is used. A cable 32a of the gas generator 32 is connected to a control device 80, which will be described later.

The parachute cloth (canopy body) 33 is made of, for example, nylon and is a cross-shaped or hemispherical member. As the material of the parachute cloth (canopy body) 33, for example, chemical fibers other than nylon, vegetable fibers and animal fibers can be used. Moreover, the shape of the canopy may be a square shape, a cross shape, an octagonal shape, a donut shape, or the like, in addition to a cross shape and a hemispherical shape.

Four weights 34 are attached to the periphery of the parachute cloth (umbrella body) 33 via string members 65 . The material of the weight 34 is, for example, aluminum alloy metal or synthetic resin such as nylon. The weight 34 is formed such that the outer diameter of one end to which the string member 65 is attached is larger than the inner diameter of the pipe, and the outer diameter of the other end is smaller than the inner diameter of the pipe. In other words, the weight 34 can be held in a state where the other end opposite to the one end where the string member 65 is formed is accommodated inside the tip end of the pipe 28 . Here, reference numeral 75 denotes a sealing material such as an O-ring. is prevented from leaking from the gap formed between the pipe 28 and the weight 34 (see FIG. 4).

The fixing strings 35 and 36 are members connected to a suspension line (suspension line) 67 provided on the parachute cloth (canopy) 33 . The fixing string 35 is inserted through the insertion hole 25f of the case 25, the insertion hole 45a of the base plate 26, the insertion hole 45d of the base plate 26, and the insertion hole 25i of the case 25 in this order (or vice versa). Both ends are tied to form a ring. Similarly, the fixing string 36 is inserted through the insertion hole 25g of the case 25, the insertion hole 45b of the base plate 26, the insertion hole 45c of the base plate 26, and the insertion hole 25h of the case 25 in this order (or vice versa). Both ends are tied so that the fixing string 36 is looped.

The cover 37 is locked and held on the upper portion of the case 25 . The cover 37 is composed of four cover constituent members 37a, 37b, 37c and 37d. Each of the four cover constituent members 37a, 37b, 37c, 37d is fixed to one end of the weight 34 by an internal hexagon screw 70 or the like. As shown in FIGS. 5(a) and 5(b), the four cover constituent members 37a, 37b, 37c, and 37d are substantially rectangular members, and when combined with adjacent cover constituent members, they are adjacent to each other. It has a locking piece 71 and a locking piece 72 that enter below the cover component.

For example, the locking piece 71 of the cover component 37a enters below the cover component 37b, and the locking piece 72 of the cover component 37a enters below the cover component 37d. In addition, the locking piece 71 of the cover component 37b enters below the cover component 37c, and the locking piece 72 of the cover component 37b enters below the cover component 37a. Further, the locking piece 71 of the cover component 37c enters below the cover component 37d, and the locking piece 72 of the cover component 37c enters below the cover component 37b. Further, the locking piece 71 of the cover component 37d enters below the cover component 37a, and the locking piece 72 of the cover component 37d enters below the cover component 37c. That is, the locking pieces 71 and 72 of the adjacent cover constituent members are inserted below the adjacent cover constituent members, so that the cover constituent members deviate from the case 25 when the cover 37 is attached to the upper portion of the case 25. to prevent

In addition, locking pieces 71 and 72 are provided on each of the four cover constituent members 37a, 37b, 37c and 37d so that when the cover constituent members 37a, 37b, 37c and 37d are combined, two adjacent cover constituent members Of these, the locking pieces of the cover constituent members are mutually inserted under the adjacent cover constituent members to lock the adjacent cover constituent members and prevent the cover constituent members from coming off. The structure for preventing the cover component from coming off need not be limited to the above, and any suitable structure can be used.

The parachute device 20 of this embodiment is manufactured by the following procedure. First, four pipes 28 are screwed into the pipe holder 27 . When the pipe 28 is screwed into the pipe holder 27, the pipe 28 is held in a state in which the axial direction of one end side and the axial direction of the curved other end side are aligned in a top view of the pipe holder 27. .

The pipe holder 27 is placed inside the case 25 , and the bolts 56 are inserted through the insertion holes 51 a of the fixed pieces 51 of the pipe holder 27 . In the process of inserting the bolts 56 through the insertion holes 51a of the fixing piece 51 of the pipe holder 27, the bolts 56 are inserted through the insertion holes 25b of the case 25 and the insertion holes 41 of the base plate 26 in this order. After that, a nut 57 is screwed onto the tip of the bolt 56 . The base plate 26 and the pipe holder 27 are fixed to the case 25 by tightening the nuts 57 .

In this state, the fixing string 35 is inserted through the insertion hole 25f of the case 25, the insertion hole 45a of the base plate 26, the insertion hole 45d of the base plate 26, and the insertion hole 25i of the case 25 in this order (or vice versa). Both ends are tied so that the string 35 is looped. Similarly, the fixing string 36 is inserted through the insertion hole 25g of the case 25, the insertion hole 45b of the base plate 26, the insertion hole 45c of the base plate 26, and the insertion hole 25h of the case 25 in this order (or vice versa). Both ends are tied so that the string 36 is looped.

Next, after the generator holder 30 is inserted into the space 27 a of the pipe holder 27 , the male threaded portion 30 a of the generator holder 30 is screwed into the threaded hole 52 of the pipe holder 27 . The generator holder 30 is fixed to the pipe holder 27 by tightening the male threaded portion 30 a of the generator holder 30 into the screw hole 52 of the pipe holder 27 . After that, the cable 32a of the gas generator 32 is inserted inside the generator holder 30 and pulled out through the insertion hole 30c of the generator holder 30 to the outside. In this state, the female threaded portion 31 a of the holder cap 31 is screwed into the male threaded portion 30 b of the generator holder 30 . When holder cap 31 is tightened onto generator holder 30 , holder cap 31 is secured to generator holder 30 .

After fixing the generator holder 30 to the pipe holder 27, the gas generator 32 is housed in the generator holder 30, and the holder cap 31 is fixed to the generator holder 30. However, the gas generator 32 is housed in the generator holder 30. It is also possible to attach the generator holder 30 to the pipe holder 27 later.

A string member 65 bound to the vertex of the outer peripheral edge of the parachute cloth 33 is attached to the weight 34 . A rope 67, which is fastened to the other end side of the rope 66 fastened to the vertex of the outer peripheral edge of the parachute cloth 33 and the midpoint, is passed through the annular fixing straps 35, 36 and tied.

In this state, the weights 34 are put together to suspend the parachute cloth 33, and the suspended parachute cloth 33 is stored in the case 25 while being wound in a figure of eight. Then, the weight 34 is inserted into the tip of the pipe 28 . At this time, the seal member 75 provided on the weight 34 is pressed against the inner wall surface of the pipe 28 .

The cover constituent members 37a, 37b, 37c, and 37d are combined so that the locking pieces 71 and 72 are positioned below the adjacent cover constituent members, and the upper surface of the case 25 is covered as the cover 37. As shown in FIG. Finally, the respective cover constituent members 37a, 37b, 37c, 37d and the weight 34 inserted into the pipe 28 are screwed together using internal hexagon screws 70. As shown in FIG.

As shown in FIG. 6 , in parachute device 20 , space A<b>1 is formed between the inner peripheral surface of pipe holder 27 facing space 27 a and the outer peripheral surface of generator holder 30 . A space A2 is also formed between the holder cap 29 and the holder cap 31 and between the holder cap 29 and the generator holder 30 . Further, a space A3 is formed between the bottom surface 29b of the holder cap 29 and the top surface 31b of the holder cap 31. As shown in FIG. Therefore, the high-pressure gas generated by the ignition of the gas generator 32 is jetted toward the bottom surface 29b of the holder cap 29 (in the direction of D1 in FIG. 6) through the jet port 31c of the holder cap 31. FIG. The high-pressure gas ejected toward the bottom surface 29b of the holder cap 29 is stored in the space A3. A part of the high-pressure gas stored in the space A3 flows in the direction D2 in FIG. 6 and flows into the space A2.

In addition, the ejection direction of the high-pressure gas ejected from the ejection port 31c of the holder cap 31 is opposite to the flow direction of the high-pressure gas into the space A2. That is, the flow direction of the high-pressure gas jetted toward the bottom surface 29b of the holder cap 29 is changed in the space A3.

The high-pressure gas that has flowed into the space A2 flows from the space A2 into the space A1. Here, in the pipe holder 27, the space 27a and the screw hole 53 are in communication. Therefore, the high-pressure gas that has flowed into the space A1 changes its flow direction in the space 27a and flows into each of the four pipes 28. As shown in FIG. That is, the space A1, the space A2, and the space A3 form a delivery passage 76 for the high-pressure gas sent into the pipe 28. As shown in FIG.

The shape of the delivery passage 76 is not necessarily limited to the shape of this embodiment, and any suitable shape may be used as long as the energy of the spark can be dissipated when the spark generated when the gas generator 32 is ignited reaches the tip of the pipe. It is good also as a passage of a shape.

As described above, the weight 34 inserted into the tip of the pipe 28 is kept airtight from the outside by pressing the sealing material 75 provided on the weight 34 against the inner peripheral surface of the pipe 28 . Therefore, when the high-pressure gas begins to flow inside the pipe 28, the pressure inside the pipe 28 rises. As the pressure inside the pipe 28 rises, the weight 34 inserted at the tip of the pipe 28 is ejected. Each of the four pipes 28 is inclined upward at the other end into which the weight 34 is inserted. Therefore, as shown in FIG. 7, the weight 34 inserted into each of the four pipes 28 is ejected obliquely upward and away from the center of the parachute device 20 . The cover constituent members 37a, 37b, 37c, and 37d are individually fixed to the weight 34. As shown in FIG. Therefore, when the weight 34 is ejected, the cover constituent members 37a, 37b, 37c, and 37d are released from the case 25 and move together with the ejected weight 34, and the parachute cloth 33 stored inside the case 25 is displaced. It is ejected upward and deployed.

Next, an electrical configuration required for a system (hereinafter referred to as a flight system) required for driving the unmanned floating aircraft 10 and the parachute device 20 in this embodiment will be described.

As shown in FIG. 8, the flight system 120 has a controller 80 in addition to the unmanned floating aircraft 10 and the parachute device 20 described above.

The unmanned floating aircraft 10 has a gyro sensor 85, an acceleration sensor 86, a wireless module 87, a battery 88, a control circuit (IC) 89, a communication circuit 90, etc., in addition to the rotor unit 13 described above.

The gyro sensor 85 is a sensor that detects angular velocity acting on the unmanned floating aircraft 10 . The acceleration sensor 86 is a sensor that detects acceleration acting on the unmanned floating aircraft 10 . Output signals from the gyro sensor 85 and the acceleration sensor 86 are input to the control circuit 89 . In this embodiment, the case where two sensors, the gyro sensor 85 and the acceleration sensor 86, are provided, is described, but it is also possible to use a sensor that detects both angular velocity and acceleration.

A wireless module 87 receives wireless signals from a controller operated by an operator. The battery 88 is a device that supplies power to the control circuit 89 . The power supplied from the battery 88 to the control circuit 89 is supplied to the gyro sensor 85 , the acceleration sensor 86 , the radio module 87 , the rotor unit 13 and also to the control device 80 .

The control circuit 89 receives the radio signal received by the radio module 87 and drives and controls each of the rotor units 13 . The control circuit 89 has a CPU 92 and a storage medium 93 . The CPU 92 executes control programs 94 stored in the storage medium 93 to control each part of the unmanned floating aircraft 10 . The CPU 92 functions as a posture detection section 95 , an acceleration calculation section 96 , a power state detection section 97 and a state determination section 98 by executing a control program 94 stored in the storage medium 93 .

The attitude detection unit 95 receives the output from the gyro sensor 85 and calculates the attitude (inclination angle) of the unmanned floating aircraft 10 with respect to the horizontal plane.

The acceleration calculator 96 receives the output from the acceleration sensor 86 and calculates the downward acceleration among the accelerations acting on the unmanned floating aircraft 10 .

The power state detector 97 communicates with the battery 88 and detects whether the battery 88 is abnormal. The presence or absence of an abnormality in the battery 88 is detected by detecting the current value or the like output from the battery 88, thereby determining whether or not the remaining amount of the battery 88 is low, and determining whether the current supplied from the battery 88 is excessive. It is implemented by determining whether it is current or not.

The state determination unit 98 determines the state of the unmanned floating aircraft 10 during flight. Specifically, the state determination unit 98 determines whether or not the inclination angle θ of the unmanned floating aircraft 10 calculated by the posture detection unit 95 exceeds the reference angle α. When the inclination angle θ of the unmanned floating aircraft 10 exceeds the reference angle α, the state determination unit 98 further determines that the downward acceleration β calculated by the acceleration calculation unit 96 exceeds the reference acceleration _β0 . determine whether or not there is When the downward acceleration β exceeds the reference acceleration _β0 , the state determination unit 98 determines that the unmanned aerial vehicle 10 has an abnormality. Note that the reference angle α and the reference acceleration _β0 are values when the unmanned floating aircraft 10 actually crashes, and these values can be obtained through experiments, simulations, and the like. In addition, the state determination unit 98 determines whether the battery 88 is normal and whether the rotor unit 13 is normally driven.

In the state determination unit 98, the presence or absence of an abnormality in the unmanned floating aircraft 10 is determined using the inclination angle θ of the unmanned floating aircraft 10 and the downward acceleration β acting on the unmanned floating aircraft 10. Considering that downward acceleration also acts when the unmanned floating machine 10 is raised and lowered, it is possible to determine whether or not an abnormality has occurred in the unmanned floating machine 10 by considering only the inclination angle θ of the unmanned floating machine 10. good.

The communication circuit 90 transmits and receives signals to and from the control device 89 .

The control device 80 has a gyro sensor 101 , an atmospheric pressure sensor 102 , a geomagnetic sensor 103 , an ignition circuit 104 , a power supply circuit 105 , a communication circuit 106 and a control circuit 107 .

The gyro sensor 101 is a sensor that detects angular velocity acting on the parachute device 20 . The atmospheric pressure sensor 102 is a sensor that detects the atmospheric pressure altitude at the point where the parachute device 20 exists. The geomagnetic sensor 103 functions as a direction sensor. As the geomagnetic sensor 103, for example, a two-axis or three-axis sensor is used.

The ignition circuit 104 has a capacitor that stores the supplied electric power, and is a circuit that ignites the gas generator 32 by discharging from the capacitor. The power supply circuit 105 steps down the power supply voltage supplied from the battery 88 of the unmanned floating aircraft 10, and in addition to the control circuit 107, the gyro sensor 101, the atmospheric pressure sensor 102, the geomagnetic sensor 103, the ignition circuit 104, and the communication circuit 106. to power the The power supply circuit 105 also monitors the power supply voltage supplied from the battery 88 to detect whether there is an abnormality in the power supply from the battery 88 . Note that the detection result is output to the control circuit 107 .

The communication circuit 106 transmits and receives signals to and from the unmanned floating aircraft 10 .

The control circuit 107 has a CPU 110 and a storage medium 111 . By executing the control program 112 stored in the storage medium 111 , the CPU 110 functions as an attitude detection section 113 , an altitude calculation section 114 , an orientation calculation section 115 and a state determination section 116 .

Posture detection unit 113 receives the output from gyro sensor 101 and calculates an inclination angle θ1 indicating the posture of parachute device 20 with respect to the horizontal plane from the angular velocity acting on parachute device 20 . Altitude calculator 114 receives the output from atmospheric pressure sensor 102 and calculates the altitude of parachute device 20 above sea level. The azimuth calculation unit 115 receives the output from the geomagnetic sensor 103 and calculates the azimuth.

The state determination unit 116 determines whether or not to operate the parachute device 20 based on the detection result from the attitude detection unit 113 and the calculation results from the altitude calculation unit 114 and the azimuth calculation unit 115 . For example, the attitude detection unit 113 determines that the state of the parachute device 20 is good if each inclination θ1 indicating the attitude of the parachute device 20 is equal to or less than the reference angle α. On the other hand, when the inclination angle θ1 indicating the attitude of the parachute device 20 exceeds the reference angle α, the state of the parachute device 20 is determined to be abnormal.

Also, the state determination unit 116 determines whether or not the altitude of the parachute device 20 is a predetermined altitude based on the calculation result of the altitude calculation unit 114 . For example, if the altitude of the parachute device is within the reference range, it is determined that the parachute device 20 is in good condition. Also, if the altitude of the parachute device 20 is out of the reference range, it is determined that the state of the parachute device 20 is abnormal.

Similarly, the state determination unit 116 determines whether or not the direction in which the parachute device 20 moves is the correct direction from the calculation result of the direction calculation unit 115 . For example, if the direction in which the parachute device 20 moves is within a predetermined range with respect to the direction of the target point, the state determination unit 116 determines that the state of the parachute device 20 is good. Further, when the direction in which the parachute device 20 moves is out of the predetermined range with respect to the direction of the target point, the state determination unit 116 determines that the state of the parachute device 20 is abnormal.

Furthermore, the state determination unit 116 determines whether or not an abnormality has occurred in the parachute device 20 based on the monitor signal from the power supply circuit 105 .

The state determination unit 116 causes the ignition circuit 104 to start ignition when it determines that an abnormality has occurred as a result of the determination described above, or when an error signal is output from the unmanned floating aircraft 10 . Outputs a signal indicating

In such a flight system 120, if either the parachute device 20 or the control device 80 fails, only the failed device needs to be replaced, which is convenient because it is not necessary to replace the entire system. .

Note that FIG. 8 shows a flight system 120 in which a control device 80 that controls ignition of the gas generator 32 is provided between the unmanned floating aircraft 10 and the parachute device 20 . Here, the control device 80 may be provided inside the parachute device 20 or may be provided separately from the parachute device 20 . Furthermore, the control device 80 can also be incorporated inside the unmanned aerial vehicle 10 . In this case, as shown in FIG. 9, a flight system in which the control circuit of the unmanned floating aircraft also functions as the control device 80 may be used. For example, in the flight system 120', the unmanned floating vehicle 10' includes, in addition to the rotor unit 13, a gyro sensor 85, an acceleration sensor 86, a wireless module 87, a battery 88, a control circuit (IC) 89, etc., as well as an ignition circuit. 104'. In addition, in FIG. 9, the same reference numerals are assigned to the same functions as those in the configuration shown in FIG. When the control circuit 89 of the unmanned floating aircraft 10' also functions as the control device 80, the ignition circuit 104' of the unmanned floating aircraft 10' is activated by the parachute device 20 based on an abnormality during flight of the unmanned floating aircraft 10'. of the gas generator 32 is ignited. Also in this case, it is possible to obtain the same effect as the parachute device of the present embodiment.

Next, verification of deployment of the parachute cloth 33 and verification of spark suppression effect were performed.

<Verification related to deployment of parachute cloth>
First, verification relating to deployment of the parachute cloth 33 was performed. The deployment of the parachute cloth 33 is verified by the time from the ignition of the gas generator 32 until the parachute cloth 33 is released from the case 25 (hereinafter referred to as the release time), and the time from the ignition of the gas generator 32 until the parachute cloth 33 is completely deployed. The time until deployment (hereinafter referred to as deployment time) was measured.

As the parachute cloth 33, a 2.1 m-sized cross umbrella using thick cloth, a 2.1 m-sized cross umbrella using thin cloth, a 1.5 m hemispherical umbrella, and 2.0 m hemispherical umbrellas. Also, the weight of the gas generating agent contained in the gas generator 32 was 0.8 g in any case. Table 1 below shows the results of verification relating to deployment of the parachute cloth 33 .

As shown in Table 1, the release time was 0.17 seconds and the deployment time was 0.90 seconds for a 2.1 m cruciform umbrella made of thick fabric. In the case of a 2.1 m cruciform umbrella made of thin fabric, the release time was 0.13 seconds and the deployment time was 0.74 seconds. In the case of a hemispherical umbrella with a size of 1.5 m, the release time was 0.16 seconds and the deployment time was 0.60 seconds. Furthermore, for a hemispherical umbrella with a size of 2.0 m, the release time was 0.23 seconds and the deployment time was 0.83 seconds.

As a result of these verifications, the parachute device 20 of the present invention was able to obtain a remarkable result that the time until the parachute cloth 33 was completely unfolded was within 1 second regardless of the shape of the parachute cloth 33 .

<Verification of spark suppression effect>
Next, the presence or absence of spark suppression was verified. The verification of the spark suppression effect includes verification of the effect of the delivery passage 76 according to the present invention and verification of the effect of the spark suppressant.
In order to verify the effect of the delivery passage 76 according to the present invention, a parachute device without the delivery passage 76 was used in addition to the parachute device of the present embodiment.

FIG. 10 is a cross section near the pipe holder of the parachute device in which the delivery passage 76 is not provided. Below, the same code|symbol as this embodiment is attached|subjected about the structure same as this embodiment. In this case, the pipe holder 151 of the parachute device 150 has a structure in which four pipes 28 are radially screwed, and a generator holder 152 housing the gas generator 32 is screwed from the bottom surface. In this structure, pipe holder 151 is screwed to the bottom surface of case 153 . In the parachute device 150 , there is no delivery passage 76 shown in this embodiment, and a space 151 a in which the high pressure gas generated by the gas generator 32 stays is provided inside the pipe holder 151 .

Table 2 below shows the results of verification of the effects of the delivery passage 76 and the spark suppressant according to the present invention.

In Table 2, Example 1 illustrates the use of the parachute device 150 described above, ie without the delivery passage 76 . In Example 1, the spark suppressant 60 is not applied to the surface of the pipe holder 151 facing the space 151a. Example 2 shows the case where the parachute device 20 of this embodiment is used, that is, the case where there is a delivery passage. In Example 2, the spark suppressor 60 is not applied to the bottom surface 29b of the holder cap 29. FIG. Examples 3 to 6 show cases where the parachute device 20 of this embodiment is used, that is, cases where the delivery passage 76 is present. In Examples 3 to 6, different spark suppressants are used as the spark suppressant 60 applied to the bottom surface 29b of the holder cap 29. FIG. Example 3 shows the case of using silicone grease as the spark suppressant 60, and Example 4 shows the case of using lithium grease as the spark suppressing agent 60. FIG. Further, Example 5 shows the case where paraffin is used as the spark suppressant 60, and Example 6 shows the case where liquid paraffin (petrolatum jelly) is used as the spark suppressant 60. FIG.

As shown in FIG. 11A, in the case of Example 1, sparks are emitted from the pipe 28 as the gas generator 32 is ignited. As shown in FIG. 10, in the case of the parachute device 150, the high-pressure gas ejected by the gas generator 32 is ejected into the space 151a of the pipe holder 151 and then flows into the four pipes 28 from the space 151a. As described above, sparks are generated in addition to the high pressure gas when the gas generator 32 is ignited. The generated sparks are ejected from the space 151a into the four pipes 28 together with the high-pressure gas, and are released from the ends of the pipes 28 to the outside. In this case, the pipe holder 151 and the pipe 28 may be scraped off due to erosion (mechanical abrasion) caused by the generated high-pressure gas, and the scraped residue may become sparks and be discharged from the pipe 28 . When sparks are emitted from the pipe 28 , the sparks may burn the parachute cloth housed inside the case 153 . In such a case, the parachute cloth may become perforated due to burning of the parachute cloth. A hole in the parachute cloth caused by burning of the parachute cloth breaks when a load is applied to the unfolded parachute cloth, and the parachute device becomes non-functional. In addition, there is a danger of fire and explosion when the unmanned floating aircraft falls into a forest or into a place filled with combustible vapors such as an oil plant. Therefore, the parachute device of Example 1 cannot be adopted.

In the case of Example 2, as shown in FIG. By providing the delivery passage 76, the distance from the gas generator 32 to the tip of the pipe 28 can be increased. By increasing the distance from the gas generator 32 to the tip of the pipe 28, the energy of the spark can be attenuated. However, Example 2 also results in sparks being emitted from the tip of the pipe 28, although the amount of sparks is less than in a parachute device without the delivery passage 76. Therefore, Example 2 cannot be adopted for the same reason as Example 1.

Example 3 has a delivery passage 76 and the bottom surface 29b of the holder cap 29 is coated with silicone grease. As shown in FIG. 11(c), no spark is emitted from the tip of the pipe 28, and a large amount of smoke is emitted together with the high pressure gas. In other words, in the case of Example 3, the silicone grease, which is the spark suppressant 60, extinguished the sparks, resulting in a large amount of smoke accompanying the extinguishing of the flames.

Example 4 has a delivery passage 76 and the bottom surface 29b of the holder cap 29 is coated with lithium grease. As shown in FIG. 11(d), similarly to Example 3, no spark is emitted from the tip of the pipe 28, and a large amount of smoke is emitted together with the high pressure gas. That is, in the case of Example 4, as in Example 3, the lithium grease, which is the spark suppressor 60, extinguished the sparks, resulting in a large amount of smoke accompanying the extinguishing of flames.

Example 5 has a delivery passage 76 and the bottom surface 29b of the holder cap 29 is coated with paraffin. As shown in FIG. 11(e), no spark is emitted from the tip of the pipe 28, and a small amount of smoke is emitted together with the high pressure gas. In other words, in the case of Example 5, the paraffin, which is the spark suppressant 60, extinguished the sparks, and the result was that the amount of smoke associated with extinguishing the flames was small.

Example 6 has a delivery passage 76, and the bottom surface 29b of the holder cap 29 is coated with liquid paraffin (Vaseline). As shown in FIG. 11(f), a small amount of spark is emitted from the tip of the pipe 28, and a large amount of smoke is emitted together with the high pressure gas. In other words, in the case of Example 6, although the spark suppressing agent 60, liquid paraffin (Vaseline), extinguished the sparks, the sparks could not be completely extinguished, and a large amount of smoke was produced as the flames were extinguished. was taken.

That is, when the delivery passage 76 is provided, the spark can be attenuated by increasing the distance, but the discharge of the spark cannot be suppressed only by providing the delivery passage 76 . Further, by providing the delivery passage 76 and applying the spark suppression agent 60 to the bottom surface 29b of the holder cap 29, it was possible to extinguish or suppress the generated sparks. Among others, paraffin as the spark suppressant 60 was found to be the most suitable as the spark suppressant 60 because it extinguished sparks and emitted high-pressure gas and a small amount of smoke from the pipe. .

Next, the distance L2 between the upper surface 31b of the holder cap 31 and the bottom surface 29b of the holder cap 29 and the distance L4 between the outer peripheral surface of the holder cap 31 and the inner peripheral surface of the holder cap 29 (see FIG. 6) were verified. . Table 3 shows the verification results of the distance L2 between the upper surface 31b of the holder cap 31 and the bottom surface 29b of the holder cap 29.

As shown in Table 3, the distance L2 between the upper surface 31b of the holder cap 31 and the bottom surface 29b of the holder cap 29 was verified by setting the distance L2 to 5 mm, 10 mm, 15 mm, and 20 mm. The distance L2 between the upper surface 31b of the holder cap 31 and the bottom surface 29b of the holder cap 29 was verified without applying the spark suppressant to the bottom surface 29b of the holder cap 29. FIG.

As shown in Table 3, when the distance L2 between the upper surface 31b of the holder cap 31 and the bottom surface 29b of the holder cap 29 is L2=5 mm, when the gas generator 32 is ignited, the generated high-pressure gas causes the upper surface of the holder cap 31 to It was found that the pressure in the space A3 from 31b to the bottom surface 29b of the holder cap 29 increased excessively, and the generator holder 30 and the holder caps 29 and 31 were destroyed. On the other hand, when the distance L2 between the upper surface 31b of the holder cap 31 and the bottom surface 29b of the holder cap 29 is L2=10 mm, 15 mm, and 20 mm, the above-mentioned parts are not destroyed and operate normally. rice field.

Next, Table 4 shows the verification results of the distance L4 (see FIG. 6) between the outer peripheral surface of the holder cap 31 and the inner peripheral surface of the holder cap 29.

As shown in Table 4, the distance L4 between the outer peripheral surface of the holder cap 31 and the inner peripheral surface of the holder cap 29 was verified by setting the distance L4 to 0 mm, 0.5 mm, 1.0 mm, and 2.0 mm. gone. The distance L4 between the outer peripheral surface of the holder cap 31 and the inner peripheral surface of the holder cap 29 was verified without coating the bottom surface 29b of the holder cap 29 with the spark suppressant.

As shown in Table 4, when the distance L4 between the outer peripheral surface of the holder cap 31 and the inner peripheral surface of the holder cap 29 is set to L4=0 mm, when the gas generator 32 is ignited, the generated high-pressure gas causes the holder cap 31 to The pressure in the space between the top surface 31b of the holder cap 29 and the bottom surface 29b of the holder cap 29 increases. At this time, the distance L4 between the outer peripheral surface of the holder cap 31 and the inner peripheral surface of the holder cap 29 is L4=0. Therefore, it was found that the internal pressure of the space A3 between the upper surface 31b of the holder cap 31 and the bottom surface 29b of the holder cap 29 was excessively increased, and the generator holder 30 and the holder caps 29 and 31 were destroyed.

On the other hand, when the distance L4 between the outer peripheral surface of the holder cap 31 and the inner peripheral surface of the holder cap 29 is set to L4=0.5 mm, 1.0 mm, and 2.0 mm, the above parts are not destroyed. It was found to work normally.

That is, the distance L2 between the upper surface 31b of the holder cap 31 and the bottom surface 29b of the holder cap 29 is 10 mm or more, and the distance L4 between the outer peripheral surface of the holder cap 31 and the inner peripheral surface of the holder cap 29 is 0.5 mm or more. found to be favorable.

Finally, the amount of the spark suppressant applied to the bottom surface 29b of the holder cap 29 was verified. At this time, the distance L2 from the upper surface 31b of the holder cap 31 to the bottom surface 29b of the holder cap 29 is L2=12 mm, and the distance L4 between the outer peripheral surface of the holder cap 31 and the inner peripheral surface of the holder cap 29 is L4=1.2 mm. bottom. Also, the amount of the gas generating agent used in the gas generator 32 was set to 0.8 g. Also, paraffin was used as the spark suppressant 60 . In this verification, the amounts of paraffin applied were 0.1 g, 0.2 g, 0.3 g, 0.5 g, and 1.0 g. Table 5 shows the verification results of the amount of the spark suppressant applied.

As shown in Table 5, it was found that sparks were emitted from the pipe when the gas generator 32 was ignited, for example, when the applied amount of paraffin was 0.1 g. On the other hand, it was found that when the amount of paraffin applied was 0.2 g, 0.3 g, 0.5 g, and 1.0 g, sparks were not emitted from the pipe 28 when the gas generator 32 was ignited. In other words, it was found that the coating amount of paraffin is preferably 0.2 g or more. When the amount of the spark suppressant 60 applied to the bottom surface 29b of the holder cap 29 is large, the distance from the upper surface 31b of the holder cap 31 to the surface of the applied spark suppressant 60 is shortened. As a result, there is concern that the pressure in space A3 will rise excessively and the device will be destroyed. Therefore, it is preferable that the amount of the spark suppressor 60 applied is 0.2 to 1.0 g.

DESCRIPTION OF SYMBOLS 10... Unmanned floating machine, 20... Parachute apparatus, 25... Case, 27... Pipe holder, 28... Pipe, 29... Holder cap, 30... Generator holder, 31... Holder cap, 31c... Jet port, 32... Gas generator, 33 Parachute cloth 37 Cover 37a, 37b, 37c, 37d Cover constituent member 60 Spark suppression agent 76 Delivery passage 80 Control device 85 Gyroscope 104 Ignition circuit

Claims (11)

a canopy having a plurality of weights attached to the outer peripheral edge;
a main body having an opening in which the canopy connected via a sling is accommodated;
a gas generator enclosing a non-explosive agent that generates high-pressure gas by a chemical reaction caused by ignition;
a plurality of weight storage units in which the weights are individually stored;
a passage for sending the high-pressure gas to each of the plurality of weight storage units after changing the ejection direction of the high-pressure gas ejected from the gas generator a plurality of times;
a spark suppressor provided in a partial region of the passage for extinguishing sparks generated together with the high-pressure gas when the gas generator is ignited;
A parachute device comprising: A parachute device according to claim 1,
a container containing the gas generator and having an ejection port for ejecting the high-pressure gas;
a cylindrical member having the weight housing portion at one end in the extending direction;
a holding member having a first space into which a part of the container is inserted and which communicates with the internal spaces of the plurality of cylindrical members fixed to the outer peripheral surface;
A second space located outside the container for receiving the high-pressure gas ejected from the ejection port, and a third space for sending the high-pressure gas received in the second space to the first space. a space between the container and the lid member having a bottom surface facing the spout,
A parachute device, wherein the passage includes the first space, the second space and the third space. In the parachute device according to claim 2,
A parachute device according to claim 1, wherein the spark suppressant is applied to at least the bottom surface of the lid member facing the spout. In the parachute device according to any one of claims 1 to 3,
A parachute device, comprising: a cover that covers the opening of the main body in a state in which the plurality of constituent members are combined, and that each of the plurality of constituent members is fixed to each of the plurality of weights. In the parachute device according to any one of claims 1 to 4,
A parachute device, wherein the gas generator is connected to a control device that ignites the gas generator. In the parachute device according to claim 5,
The control device is
ignition means for igniting the gas generator;
angular velocity detection means for detecting an angular velocity acting on the main body;
determination means for determining the state of the main body from the angular velocity detected by the angular velocity detection means;
Control means for outputting an ignition command to the ignition means based on the result of determination by the determination means;
A parachute device comprising: In the parachute device according to claim 5 or claim 6,
A parachute device, wherein the control device is provided inside an unmanned floating aircraft that flies by remote control or automatic control. An unmanned floating aircraft comprising the parachute device according to any one of claims 1 to 7. A parachute device according to any one of claims 1 to 4;
An unmanned floating aircraft in which the parachute device is fixed and which flies by remote control or automatic control;
a control device for igniting the gas generator provided in the parachute device;
A flight system comprising: A flight system according to claim 9, wherein
The control device is
ignition means for igniting the gas generator;
angular velocity detection means for detecting an angular velocity acting on the main body;
determination means for determining the state of the main body from the angular velocity detected by the angular velocity detection means;
Control means for outputting an ignition command to the ignition means based on the result of determination by the determination means;
A flight system comprising: In the flight system according to claim 9 or claim 10,
The flight system, wherein the control device is provided inside the unmanned floating aircraft.

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