Patent Publication Number: US-2022227495-A1

Title: Parachute device, flight device, and flying body ejection mechanism

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a national stage of PCT/JP2020/017975, which claims the benefit of Japanese Application No. 2019-091904 filed on May 15, 2019, the entire disclosures of which are hereby incorporated herein by reference. 
    
    
     TECHNICAL FIELD 
     The present invention relates to a parachute device, a flight device, and a flying body ejection mechanism, and relates to, for example, a parachute device attached to a flight device being of the multi-rotor rotary wing aircraft type capable of remote control and autonomous flight. 
     BACKGROUND ART 
     In recent years, practical use of flight devices being of the multi-rotor rotary wing aircraft type capable of remote control and autonomous flight (hereinafter, also simply referred to as “rotary wing aircraft”) in industrial fields has been considered. For example, in the transportation industry, transport of loads, transport of passengers, and the like by using a rotary wing aircraft (so-called drone) have been considered. 
     A rotary wing aircraft for transport has an autonomous flight function of flying while identifying an own position by global positioning system (GPS) signals or the like. However, when an abnormality occurs in the rotary wing aircraft due to some cause, there is a risk that autonomous flight may not be possible and an accident such as falling of the rotary wing aircraft may occur. Thus, improvement in safety of the rotary wing aircraft is desired. 
     In particular, it is expected that the body size of rotary wing aircraft for transport will increase so as to be able to transport larger loads and passengers. When such a large rotary wing aircraft is in an uncontrollable state and falls due to some cause, there is a risk of severe damage to people or structures compared to known rotary wing aircraft. Due to this, when the size of the rotary wing aircraft is increased, safety needs to be emphasized more than ever. 
     Thus, the inventors of the present application have investigated attaching a parachute device to a rotary wing aircraft in order to improve the safety of the rotary wing aircraft. 
     For example, Patent Document 1 discloses a parachute deployment device for a rotary wing aircraft having a structure where a plurality of projectiles are inserted and disposed through a hollow tube communicating with a container incorporating a gas generator, and each projectile and the parachute are connected by using cords. This parachute deployment device causes the parachute to be forcibly opened by generating gas from the gas generator and ejecting the projectiles from ejection stands when the rotary wing aircraft falls. 
     CITATION LIST 
     Patent Literature 
     Patent Document 1: US 2016/251,083 A 
     SUMMARY OF INVENTION 
     Technical Problem 
     However, in the parachute deployment device disclosed in Patent Document 1, the projectile (flying body) is only inserted through the hollow tube serving as the ejection stand, and a holding mechanism for fixing the projectile to the ejection stand is not specifically provided. Because of this, the projectile may move from an appropriate position, or the projectile may fall out of the hollow tube, for example, when the rotary wing aircraft equipped with the parachute deployment device is largely inclined, when the rotary wing aircraft is turned upside down, or the like, and thus, the projectile may not be properly ejected when necessary. 
     As a method for solving this problem, a method of fixing a projectile to a hollow tube by, for example, a shear pin being breakable at the time of ejection of the projectile is conceivable. However, this method requires processing for forming holes at the projectile and the ejection stand, and increases the number of components, so is not preferable. 
     The present invention has been made in view of the problem described above, and an object of the present invention is to prevent a flying body from falling out of a parachute device in a parachute device capable of ejecting a flying body and forcibly opening a parachute. 
     Solution to Problem 
     A parachute device according to a typical embodiment of the present invention includes a parachute, a parachute accommodation section configured to accommodate the parachute, at least one flying body including a flying body main body section connected to the parachute and a gas generating device configured to generate gas, an ejection section configured to hold the flying body and to eject the flying body held, and a lead wire configured to ignite the gas generating device, the flying body main body section is engaged with the ejection section, the gas generating device is disposed in an internal space defined by the ejection section and the flying body main body section, and the lead wire is led out from the internal space in a different direction from an ejection direction of the flying body in a state with one end connected to the gas generating device. 
     Advantageous Effects of Invention 
     According to one aspect of the present invention, in a parachute device capable of ejecting a flying body and forcibly opening a parachute, it is possible to prevent the flying body from falling out of the parachute device. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a diagram schematically illustrating an appearance of a flight device equipped with a parachute device according to Embodiment 1. 
         FIG. 2  is a functional block diagram of the flight device equipped with the parachute device according to Embodiment 1. 
         FIG. 3  is a diagram schematically illustrating a configuration of the parachute device according to Embodiment 1. 
         FIG. 4  is a diagram schematically illustrating a state with a parachute being open. 
         FIG. 5  is a diagram illustrating a configuration of a flying body ejection mechanism according to Embodiment 1. 
         FIG. 6  is a diagram schematically illustrating a state with the parachute of the flight device equipped with the parachute device according to Embodiment 1 being open. 
         FIG. 7  is a diagram schematically illustrating a configuration of a parachute device according to Embodiment 2. 
         FIG. 8  is a diagram illustrating a configuration of a flying body ejection mechanism according to Embodiment 2. 
         FIG. 9  is a diagram schematically illustrating a configuration of a parachute device according to Embodiment 3. 
         FIG. 10  is a diagram illustrating a configuration of a flying body ejection mechanism according to Embodiment 3. 
         FIG. 11  is a diagram schematically illustrating a configuration of a parachute device according to Embodiment 4. 
         FIG. 12  is a diagram illustrating a configuration of a flying body ejection mechanism according to Embodiment 4. 
         FIG. 13  is a functional block diagram of a parachute device including an abnormal state detection mechanism. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     1. Overview of Embodiment 
     First, an overview of a typical embodiment of the invention disclosed in the present application will be described. Note that, in the following description, reference signs in the drawings corresponding to the constituent elements of the invention are mentioned in parentheses as an example. 
     [1] A parachute device ( 4 ,  4 A to  4 D) according to a typical embodiment of the present invention includes a parachute ( 400 ), a parachute accommodation section ( 40 ) configured to accommodate the parachute, at least one flying body ( 43 ) including a flying body main body section ( 44 ) connected to the parachute and a gas generating device ( 45 ) configured to generate gas, an ejection section ( 41 ) configured to hold the flying body and to eject the flying body held, and a lead wire ( 47 ) configured to ignite the gas generating device, the flying body main body section is engaged with the ejection section, the gas generating device is disposed in an internal space ( 440 ) defined by the ejection section and the flying body main body section, and the lead wire is led out from the internal space in a different direction from an ejection direction of the flying body in a state with one end connected to the gas generating device. 
     [2] In the parachute device ( 4 ,  4 B) described above, the lead wire may be led out in a direction (S) opposite to the ejection direction. 
     [3] In the parachute device ( 4 A,  4 C) described above, the lead wire may be led out in a direction (R) intersecting with the ejection direction. 
     [4] In the parachute device ( 4 ) described above, the ejection section ( 41 ) may include a side wall portion ( 411 ) having a tube shape and a bottom portion ( 412 ) covering one opening of the side wall portion, the flying body main body section ( 44 ) may be formed in a bar shape, the gas generating device may be disposed at one end side of the flying body main body section, the flying body may be disposed at the ejection section such that the flying body main body section is inserted in an interior of the ejection section at the one end side and the gas generating device faces the bottom portion of the ejection section in the interior of the ejection section, the bottom portion may be formed with a through-hole ( 4120 ), and the lead wire may be led out through the through-hole to an exterior of the ejection section. 
     [5] In the parachute device ( 4 A) described above, the ejection section ( 41 A) may include a side wall portion ( 411 A) having a tube shape and a bottom portion ( 412 ) covering one opening of the side wall portion, the flying body main body section ( 44 A) may be formed in a bar shape, the gas generating device may be disposed at one end side of the flying body main body section, the flying body ( 43 A) may be disposed at the ejection section such that the flying body main body section is inserted in an interior of the ejection section at the one end side and the gas generating device faces the bottom portion of the ejection section in the interior of the ejection section, the side wall portion may be formed with a through-hole ( 4110 ), and the lead wire may be led out through the through-hole to an exterior of the ejection section. 
     [6] In the parachute device ( 4 B) described above, the ejection section ( 41 B) may be formed in a bar shape, the flying body main body section may include a supporting section ( 443 B) formed in a tube shape, and inserted with at least a part of the ejection section from one end side, a holding section ( 441 B) configured to hold the gas generating device at an other end side of the supporting section such that the gas generating device faces a tip end portion ( 414 B) of the ejection section into the supporting section, and a connection section ( 442 B) formed so as to protrude from the holding section to a side opposite to the supporting section, and connected to a connection line ( 46 ) connecting the parachute and the flying body, and the lead wire may extend in a direction (S) opposite to the tip end portion in an interior of the ejection section. 
     [7] In the parachute device ( 4 C) described above, the ejection section ( 41 C) may be formed in a bar shape, the flying body main body section ( 44 C) may include a supporting section ( 443 C) formed in a tube shape, and inserted with at least a part of the ejection section from one end side, a holding section ( 441 C) configured to hold the gas generating device at an other end side of the supporting section such that the gas generating device faces a tip end portion ( 414 C) of the ejection section inserted into the supporting section, and a connection section ( 442 C) formed so as to protrude from the holding section to a side opposite to the supporting section, and connected to a connection line ( 46 ) connecting the parachute and the flying body, the holding section may be formed with a through-hole ( 4412 ), and the lead wire may be led out through the through-hole to an exterior of the flying body main body section. 
     [8] In the parachute device ( 4 ,  4 A to  4 C) described above, the gas generating device ( 45 ) may include a housing ( 451 ), a gas generating agent ( 454 ) housed in the housing, and an ignition agent ( 453 ) formed at the one end of the lead wire and fixed in a state with at least a part covered by the gas generating agent. 
     [9] A flight device ( 1 ) according to a typical embodiment of the present invention includes an aircraft body unit ( 2 ), a thrust force generation section ( 3 _ 1  to  3 _n) connected to the aircraft body unit and configured to generate a thrust force, a flight control section ( 14 ) configured to control the thrust force generation section, an abnormality detection section ( 15 ) configured to detect an abnormality during flying, the parachute device ( 4 ) according to any one of [1] to [8] described above, and a fall control section ( 16 ) configured to cause the flying body to be ejected from the ejection section in response to detection of the abnormality by the abnormality detection section. 
     [10] A flying body ejection mechanism ( 50 ,  50 A,  50 B,  50 C) according to a typical embodiment of the present invention includes at least one flying body ( 43 ) including a flying body main body section ( 44 ) capable of being connected to a parachute ( 400 ), and a gas generating device ( 45 ) configured to generate gas, an ejection section ( 41 ) configured to hold the flying body and to eject the flying body held, and a lead wire ( 47 ) configured to ignite the gas generating device, the flying body main body section is engaged with the ejection section, the gas generating device is disposed in an internal space defined by the ejection section and the flying body main body section, and the lead wire is led out from the internal space in a different direction from an ejection direction of the flying body in a state with one end connected to the gas generating device. 
     [11] In the flying body ejection mechanism ( 50 ,  50 B) described above, the lead wire may be led out in a direction (S) opposite to the ejection direction. 
     [12] In the flying body ejection mechanism ( 50 A,  50 C), the lead wire may be led out in a direction intersecting with the ejection direction. 
     [13] In the flying body ejection mechanism ( 50 ) described above, the ejection section ( 41 ) may include a side wall portion ( 411 ) having a tube shape and a bottom portion ( 412 ) covering one opening of the side wall portion, the flying body main body section ( 44 ) may be formed in a bar shape, the gas generating device may be disposed at one end side of the flying body main body section, the flying body may be disposed at the ejection section such that the flying body main body section is inserted in an interior of the ejection section at the one end side and the gas generating device faces the bottom portion of the ejection section in the interior of the ejection section, the bottom portion may be formed with a through-hole ( 4120 ), and the lead wire may be led out through the through-hole to an exterior of the ejection section. 
     [14] In the flying body ejection mechanism ( 50 A) described above, the ejection section ( 41 A) may include a side wall portion ( 411 A) having a tube shape and a bottom portion ( 412 ) covering one opening of the side wall portion, the flying body main body section ( 44 A) may be formed in a bar shape, the gas generating device may be disposed at one end side of the flying body main body section, the flying body ( 43 A) may be disposed at the ejection section such that the flying body main body section is inserted in an interior of the ejection section at the one end side and the gas generating device faces the bottom portion of the ejection section in the interior of the ejection section, the side wall portion may be formed with a through-hole ( 4110 ), and the lead wire may be led out through the through-hole to an exterior of the ejection section. 
     [15] In the flying body ejection mechanism ( 50 B) described above, the ejection section ( 41 B) may be formed in a bar shape, the flying body main body section may include a supporting section ( 443 B) formed in a tube shape, and inserted with at least a part of the ejection section from one end side, a holding section ( 441 B) configured to hold the gas generating device at an other end side of the supporting section such that the gas generating device faces a tip end portion ( 414 B) of the ejection section into the supporting section, and a connection section ( 442 B) formed so as to protrude from the holding section to a side opposite to the supporting section, and connected to a connection line ( 46 ) connecting the parachute and the flying body, and the lead wire may extend in a direction (S) opposite to the tip end portion in an interior of the ejection section. 
     [16] In the flying body ejection mechanism ( 50 C) described above, the ejection section ( 41 C) may be formed in a bar shape, the flying body main body section ( 44 C) may include a supporting section ( 443 C) formed in a tube shape, and inserted with at least a part of the ejection section from one end side, a holding section ( 441 C) configured to hold the gas generating device at an other end side of the supporting section such that the gas generating device faces a tip end portion ( 414 C) of the ejection section inserted into the supporting section, and a connection section ( 442 C) formed so as to protrude from the holding section to a side opposite to the supporting section, and connected to a connection line ( 46 ) connecting the parachute and the flying body, the holding section may be formed with a through-hole ( 4412 ), and the lead wire may be led out through the through-hole to an exterior of the flying body main body section. 
     2. Specific Examples of Embodiment 
     Hereinafter, specific examples of the embodiments of the present invention will be described with reference to the accompanying drawings. Note that, in the following description, constituent elements common to each of the embodiments are denoted with the same reference signs and will not be described repeatedly. Furthermore, it should be noted that the drawings are schematic drawings and the dimensional relationships, proportions, and the like between elements in the drawings may differ from reality. Among the drawings, portions having mutually different dimensional relationships and proportions may be included. 
     Embodiment 1 
       FIG. 1  is a diagram schematically illustrating an appearance of a flight device equipped with a parachute device according to Embodiment 1. A flight device  1  illustrated in  FIG. 1  is, for example, a flight device being of the multi-rotor rotary wing aircraft type equipped with three or more rotors, and is a so-called drone. 
     As illustrated in  FIG. 1 , the flight device  1  includes an aircraft body unit  2 , thrust force generation sections  3 _ 1  to  3 _n (n being an integer equal to or greater than 3), a parachute device  4 , a notification device  5 , and arm sections  6 . 
     The aircraft body unit  2  is a main body portion of the flight device  1 . As will be described below, the aircraft body unit  2  accommodates various functional sections for controlling flying of the flight device  1 . Note that in  FIG. 1 , the aircraft body unit  2  having a cylindrical shape is illustrated as an example, but a shape of the aircraft body unit  2  is not particularly limited. 
     The thrust force generation sections  3 _ 1  to  3 _n are rotors configured to generate a thrust force. Note that, in the following description, when each of the thrust force generation sections  3 _ 1  to  3 _n is not specifically distinguished, each of the thrust force generation sections is simply referred to as a “thrust force generation section  3 ”. The number n of the thrust force generation sections  3  provided in the flight device  1  is not particularly limited, but is preferably three or more. For example, the flight device  1  may be any of a tricopter provided with three thrust force generation sections  3 , a quadcopter provided with four thrust force generation sections  3 , a hexacopter provided with six thrust force generation sections, and an octocopter provided with eight thrust force generation sections  3 . 
     Note that in  FIG. 1 , a case of the flight device  1  being equipped with four (n=4) thrust force generation sections  3 _ 1  to  3 _ 4  and serving as a quadcopter is illustrated as an example. 
     The thrust force generation section  3  has, for example, a structure where a propeller  30 , and a motor  31  configured to rotate the propeller  30 , are accommodated in a case  32  having a tube shape. A net (for example, a resin material, a metal material (stainless steel, or the like), or the like) for preventing contact with the propeller  30  may be provided in an opening portion of the case  32  having the tube shape. 
     An arm section  6  has a structure for connecting the aircraft body unit  2  and each of the thrust force generation sections  3 . The arm section  6  is formed so as to radially protrude from the aircraft body unit  2  with, for example, a central axis O of the aircraft body unit  2  as a center. Each of the thrust force generation sections  3  is attached respectively to a tip end of each of the arm sections  6 . 
     The notification device  5  is a device for notifying the outside of the flight device  1  of danger. The notification device  5  is configured by including a light source formed of, for example, a light emitting diode (LED) or the like, or a sound generation device (an amplifier, a speaker, and the like). In response to detection of abnormalities by the abnormality detection section  15  to be described below, the notification device  5  notifies, by using light or sound, the outside of a dangerous state of the flight device  1 . 
     Note that the notification device  5  may be exposed to the outside of the aircraft body unit  2 , or may be accommodated in the interior of the aircraft body unit  2  in a form capable of outputting light generated from a light source, sound generated from a speaker, or the like to the outside. 
     The parachute device  4  is a device for slowing the falling speed of the flight device  1  and causing the flight device  1  to fall in a safe manner when an abnormality occurs in the flight device  1  and there is a risk of falling. As illustrated in  FIG. 1 , for example, the parachute device  4  is installed on the aircraft body unit  2 . Note that the specific configuration of the parachute device  4  will be described later. 
       FIG. 2  is a functional block diagram of the flight device  1  equipped with the parachute device  4  according to Embodiment 1. 
     As illustrated in  FIG. 2 , the aircraft body unit  2  includes a power supply section  11 , a sensor section  12 , motor drive sections  13 _ 1  to  13 _n (n being an integer equal to or greater than 3), a flight control section  14 , an abnormality detection section  15 , a fall control section  16 , a communication section  17 , and a storage section  18 . 
     Among these functional sections, the flight control section  14 , the abnormality detection section  15 , and the fall control section  16  are achieved by, for example, program processing by a program processing device (for example, a microcontroller) including a processor such as a central processing unit (CPU), and a memory. 
     The power supply section  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 configured to generate a power supply voltage based on an output voltage of the battery  22  to supply the power supply voltage to each hardware implementing the above-described functional sections. The power supply circuit  23  includes, for example, a plurality of regulator circuits, and supplies a power supply voltage having an appropriate magnitude for each hardware described above. 
     The sensor section  12  is a functional section for detecting a state of the flight device  1 . The sensor section  12  detects an inclination of the aircraft body of the flight device  1 . The sensor section  12  includes an angular velocity sensor  24 , an acceleration sensor  25 , a magnetic sensor  26 , and an angle calculation section  27 . 
     The angular velocity sensor  24  is a sensor for detecting an angular velocity (rotational velocity). For example, the angular velocity sensor  24  is a triaxial gyro sensor configured to detect an angular velocity based on three reference axes of an x-axis, a y-axis, and a z-axis. 
     The acceleration sensor  25  is a sensor for detecting an acceleration. For example, the acceleration sensor  25  is a triaxial acceleration sensor for detecting an acceleration based on three reference axes of the x-axis, the y-axis, and the z-axis. 
     The magnetic sensor  26  is a sensor for detecting terrestrial magnetism. For example, the magnetic sensor  26  is a triaxial geomagnetic sensor (electronic compass) for detecting an azimuth (absolute direction) based on three reference axes of the x-axis, the y-axis, and the z-axis. 
     The angle calculation section  27  calculates an inclination of the aircraft body of the flight device  1  based on a detection result of at least one of the angular velocity sensor  24  and the acceleration sensor  25 . Here, the inclination of the aircraft body of the flight device  1  is an angle of the aircraft body (the aircraft body unit  2 ) with respect to the ground (horizontal direction). 
     For example, the angle calculation section  27  may calculate an angle of the aircraft body with respect to the ground based on a detection result of the angular velocity sensor  24 , or may calculate an angle of the aircraft body with respect to the ground based on detection results of the angular velocity sensor  24  and the acceleration sensor  25 . Note that, as a method of calculating an angle by using detection results of the angular velocity sensor  24  and the acceleration sensor  25 , a known calculation equation may be used. 
     Additionally, the angle calculation section  27  may correct, based on a detection result of the magnetic sensor  26 , the angle calculated based on the detection result of at least one of the angular velocity sensor  24  and the acceleration sensor  25 . Similarly to the flight control section  14  or the like, for example, the angle calculation section  27  is achieved by program processing by a microcontroller. 
     Note that, in addition to the angular velocity sensor  24 , the acceleration sensor  25 , and the magnetic sensor  26  described above, the sensor section  12  may include, for example, an air pressure sensor, an air volume (wind direction) sensor, an ultrasonic sensor, a GPS receiver, a camera, and the like. 
     The communication section  17  is a functional section for communicating with an external device  9 . Here, the external device  9  is a transmitter, a server, or the like configured to control an operation of the flight device  1  and to monitor a status of the flight device  1 . The communication section  17  is configured by, for example, a radio frequency (RF) circuit and the like. Communication between the communication section  17  and the external device  9  is achieved, for example, by wireless communication in an ISM band (2.4 GHz band). 
     The communication section  17  receives operation information of the flight device  1  transmitted from the external device  9  to output the operation information to the flight control section  14 , and transmits various measurement data and the like measured by the sensor section  12  to the external device  9 . In addition, when an abnormality of the flight device  1  is detected by the abnormality detection section  15 , the communication section  17  transmits, to the external device  9 , information indicating that an abnormality has occurred in the flight device  1 . Furthermore, the communication section  17  transmits, to the external device  9 , information indicating that the flight device  1  has fallen when the flight device  1  falls to the ground. 
     The motor drive sections  13 _ 1  to  13 _n are provided for the respective thrust force generation sections  3 _n, and are functional sections for driving the motors  31  to be driven in accordance with an instruction from the flight control section  14 . 
     Note that, in the following description, when each of the motor drive sections  13 _ 1  to  13 _n is not specifically distinguished, each of the motor drive sections  13 _ 1  to  13 _n is simply referred to as a “motor drive section  13 ”. 
     The motor drive section  13  drives the motor  31  such that the motor  31  rotates at the number of rotations instructed from the flight control section  14 . For example, the motor drive section  13  is an electronic speed controller (ESC). 
     The flight control section  14  is a functional section for comprehensively controlling the respective functional sections of the flight device  1 . 
     The flight control section  14  controls the thrust force generation sections  3  so that the flight device  1  stably flies. Specifically, the flight control section  14  calculates the appropriate number of rotations of the motor  31  of each thrust force generation section  3  so that the aircraft body stably flies in a desired direction, based on operation information received by the communication section  17  from the external device  9  (instructions for ascending, descending, advancing, retreating, and the like), and detection results of the sensor section  12 , and instructs the calculated number of rotations to each motor drive section  13 . 
     The flight control section  14  calculates the appropriate number of rotations of the motor  31  of each thrust force generation section  3  such that the aircraft body becomes horizontal, based on a detection result of the angular velocity sensor  24  when a posture of the aircraft body is disturbed, for example, due to an external influence such as wind, and instructs the calculated number of rotations to each motor drive section  13 . 
     In addition, for example, the flight control section  14  calculates the appropriate number of rotations of the motor  31  of each thrust force generation section  3  based on a detection result of the acceleration sensor  25  in order to prevent drift of the flight device  1  during hovering of the flight device  1 , and instructs the calculated number of rotations to each motor drive section  13 . 
     Additionally, the flight control section  14  controls the communication section  17  to achieve transmission and reception of the various data described above to and from the external device  9 . 
     The storage section  18  is a functional section for storing various programs, parameters, and the like for controlling operations of the flight device  1 . For example, the storage section  18  is configured of a non-volatile memory such as a flash memory and a ROM, a RAM, and the like. 
     The above-described parameters stored in the storage section  18  are, for example, a remaining capacity threshold value  28 , an inclination threshold value  29 , and the like to be described below. 
     The abnormality detection section  15  is a functional section for detecting an abnormality during flying. Specifically, the abnormality detection section  15  monitors detection results of the sensor section  12 , a state of the battery  22 , and operation states of the thrust force generation sections  3 , and determines whether the flight device  1  is in an abnormal state. 
     Here, the abnormal state refers to a state where autonomous flight of the flight device  1  may become impossible. For example, a state where at least one of a case where the thrust force generation section  3  has broken down, a case where a remaining capacity of the battery  22  has dropped below a predetermined threshold value, and a case where the aircraft body (the aircraft body unit  2 ) is abnormally inclined occurs is referred to as the abnormal state. 
     When the abnormality detection section  15  detects a failure of the thrust force generation section  3 , the abnormality detection section  15  determines that the flight device  1  is in the abnormal state. Here, the “failure of the thrust force generation section  3 ” refers to, for example, a case where the motor  31  does not rotate at the number of rotations specified by the flight control section  14 , a case where the propeller  30  does not rotate, a case where the propeller  30  has broken down, and the like. 
     In addition, when the abnormality detection section  15  detects that the remaining capacity of the battery  22  has dropped below a predetermined threshold value (hereinafter, also referred to as the “remaining capacity threshold value”)  28 , the abnormality detection section  15  determines that the flight device  1  is in the abnormal state. 
     Here, the remaining capacity threshold value  28  may be such a capacity value that the motor cannot rotate at the number of rotations instructed by the flight control section  14 , for example. The remaining capacity threshold value  28  is stored in advance in the storage section  18 , for example. 
     In addition, when the abnormality detection section  15  detects an abnormal inclination of the flight device  1  (aircraft body), the abnormality detection section  15  determines that the flight device  1  is abnormal. For example, the abnormality detection section  15  determines that the flight device  1  is in the abnormal state when a state where an angle calculated by the angle calculation section  27  exceeds a predetermined threshold value (hereinafter, also referred to as the “inclination threshold value”)  29  continues for a predetermined period of time. 
     For example, an angle (pitch angle) of movement of the flight device  1  in a front and rear direction and an angle (roll angle) of movement of the flight device  1  in a left and right direction are obtained in advance by an experiment. The inclination threshold value  29  may be set to a value larger than the angle obtained by the experiment. The inclination threshold value  29  is stored in advance in the storage section  18 , for example. 
     A fall control section  16  is a functional section for controlling falling of the flight device  1 . Specifically, when the abnormality detection section  15  detects that the flight device  1  is in the abnormal state, the fall control section  16  performs fall preparation processing for causing the flight device  1  to fall in a safe manner. 
     Specifically, the fall control section  16  performs the following processing as the fall preparation processing. In other words, the fall control section  16  controls the notification device  5  in response to the detection of the abnormality by the abnormality detection section  15 , and notifies the outside of a dangerous state. In addition, the fall control section  16  controls the respective motor drive sections  13  in response to the detection of the abnormality by the abnormality detection section  15  to stop the rotation of each motor  31 . Furthermore, in response to the detection of the abnormality by the abnormality detection section  15 , the fall control section  16  outputs a control signal indicating opening of a parachute to the parachute device  4  to open a parachute  400 . 
     Next, the parachute device  4  according to Embodiment 1 will be described in detail. 
       FIG. 3  is a diagram schematically illustrating a configuration of the parachute device  4  according to Embodiment 1. A side cross section of the parachute device  4  is illustrated in the same figure. 
     The parachute device  4  includes a parachute  400 , a parachute accommodation section  40 , ejection sections  41 , an ejection control section  42 , flying bodies  43 , and lead wires  47 . 
       FIG. 4  is a diagram schematically illustrating a state with the parachute  400  being open. 
     As illustrated in the figure, the parachute  400  includes a parachute body (canopy)  406 , and a hanging line  407 . 
     The hanging line  407  connects the parachute body  406  and the parachute accommodation section  40  (a parachute attachment section  404 ). 
     The parachute body  406  is connected to the flying bodies  43  by the connection lines  46 . For example, as illustrated in  FIG. 4 , the connection line  46  is connected to the parachute body  406  at an edge (peripheral edge) side from an apex of the parachute body  406 . More specifically, the respective connection lines  46  are separated from one another, and are connected to a peripheral edge portion of the parachute  400 . For example, as illustrated in  FIG. 4 , when the shape of the parachute  400  in a view from the apex side when the parachute  400  opens is circular, each connection line  46  is connected to the parachute  400  along the circumferential direction of the peripheral edge portion of the parachute  400  at equal intervals. 
     Note that when only one flying body  43  is provided, the connection line  46  may be connected at any one position of the peripheral edge portion of the parachute  400 . In this case, positions at the peripheral edge portion of the parachute  400  connected with the connection lines  46  are not particularly limited. 
     The connection line  46  is formed of, for example, a metal material (for example, stainless steel) or a fiber material (for example, a nylon string). 
     For example, a diameter D of the parachute body  406  required to cause the flight device  1  to fall at a low speed can be calculated based on the following Equation (1). In Equation (1), m is a total weight of the flight device  1 , v is a falling speed of the flight device  1 , p is an air density, and Cd is a resistance coefficient. 
     
       
         
           
             
               
                 
                   
                     [ 
                     
                       Equation 
                       ⁢ 
                       
                           
                       
                       ⁢ 
                       1 
                     
                     ] 
                   
                   ⁢ 
                   
                       
                   
                 
               
               
                 
                     
                 
               
             
             
               
                 
                   D 
                   = 
                   
                     
                       2 
                       v 
                     
                     ⁢ 
                     
                       
                         
                           2 
                           ⁢ 
                           
                               
                           
                           ⁢ 
                           m 
                           ⁢ 
                           
                               
                           
                           ⁢ 
                           g 
                         
                         
                           ρπ 
                           · 
                           Cd 
                         
                       
                     
                   
                 
               
               
                 
                   ( 
                   1 
                   ) 
                 
               
             
           
         
       
     
     For example, when the total weight of the flight device  1  is m=250 (kg), the resistance coefficient is Cd=0.9, and the air density p=1.3 kg/m, a diameter D of the parachute body  406  required to make the falling speed v of the flight device  1  be 5 (m/s) is calculated to be 14.6 (m) from Equation (1). 
     For example, as illustrated in  FIG. 3 , the parachute  400  is accommodated in the parachute accommodation section  40  with the parachute body  406  folded before its use. 
     The parachute accommodation section  40  is a container configured to accommodate the parachute  400 . The parachute accommodation section  40  is configured of, for example, resin. As illustrated in  FIG. 1 , the parachute accommodation section  40  is set on an upper surface of the aircraft body unit  2 , that is, on a surface facing an opposite side to the ground during flying of the flight device  1 . For example, the parachute accommodation section  40  is preferably installed such that the central axis O of the aircraft body unit  2  and a central axis P of the parachute accommodation section  40  overlap with each other on the upper surface of the aircraft body unit. 
     As illustrated in  FIG. 3 , the parachute accommodation section  40  has, for example, a cylindrical shape having an opening at one end and having a bottom at the other end. 
     Specifically, the parachute accommodation section  40  includes a side wall portion  401  having a tube shape (for example, a cylindrical shape) and a bottom portion  402  formed so as to close an opening at one end side of the side wall portion  401 . 
     In the parachute accommodation section  40 , the side wall portion  401  and the bottom portion  402  define an accommodation space  403  for accommodating the parachute  400 . Note that the side wall portion  401  and the bottom portion  402  may be individually formed and then joined, or may be integrally formed. 
     As illustrated in  FIG. 4 , the bottom portion  402  is provided with the parachute attachment section  404  for connecting the parachute accommodation section  40  and the parachute  400 . For example, by connecting one end of the hanging line  407  of the parachute  400  to the parachute attachment section  404 , the parachute  400  and the parachute accommodation section  40  are connected. 
     Note that the parachute accommodation section  40  may be provided with a lid covering the opened one end side of the side wall portion  401  in a state with the parachute  400  accommodated in the accommodation space  403 . 
     The flying body  43  is a device configured to discharge the parachute  400  to the outside of the parachute accommodation section  40  to assist the opening (deployment) of the parachute  400 . The flying body  43  has the gas generating device  45  configured to generate gas. 
     The lead wire  47  is an electrical wire for igniting the gas generating device  45 . The lead wire  47  is configured of, for example, a vinyl wire, a tin-plated wire, an enamel wire, or the like. One end of the lead wire  47  is connected to the gas generating device  45 , and the other end of the lead wire  47  is connected to the ejection control section  42 . 
     The ejection control section  42  ignites the gas generating device  45  via the lead wire  47  to generate gas from the gas generating device  45 . The flying body  43  obtains a thrust force by jetting the gas generated from the gas generating device  45  and is ejected from the ejection section  41 . 
     The parachute device  4  includes at least one flying body  43 . For example, the parachute device  4  preferably includes three or more flying bodies  43 . In the present embodiment, as an example, a case of the parachute device  4  including three flying bodies will be exemplified and described. Note that a specific configuration of the flying body  43  will be described below. 
     The ejection section  41  is a device configured to hold the flying body  43  to eject the held flying body  43 . The ejection section  41  is provided for each flying body  43 . As illustrated in  FIG. 1 , the parachute device  4  according to Embodiment 1 includes three ejection sections  41  for separately accommodating three flying bodies  43 . 
     The ejection control section  42  is a functional section configured to perform control for ejecting the flying body  43  from the ejection section  41 . The ejection control section  42  is an electronic circuit configured to output an ignition signal when a control signal indicating the opening of the parachute  400  is output from the fall control section  16 , for example. The ignition signal is input to the gas generating section  45  provided in each flying body  43  via the lead wire  47 , and then, the ignition agent  453  to be described later is ignited to generate gas from the gas generating device  45 . 
       FIG. 5  is a diagram illustrating a configuration of a flying body ejection mechanism according to Embodiment 1. 
     In the same figure, a cross-sectional shape of the flying body ejection mechanism  50  including the flying body  43 , the ejection section  41 , and the lead wire  47  is illustrated. 
     As illustrated in  FIG. 5 , the ejection section  41  is formed in a tube shape having an opening at one end and having a bottom at the other end. Specifically, the ejection section  41  includes, for example, a side wall portion  411  having a tube shape (for example, a cylindrical shape) and a bottom portion  412  covering one opening of the side wall portion  411 . The side wall portion  411  and the bottom portion  412  define an accommodation space for accommodating the flying body  43 . The side wall portion  411  and the bottom portion  412  are formed of, for example, resin. A through-hole  4120  for leading out the lead wire  47  to an exterior of the ejection section  41  is formed at the bottom portion  412 . 
     The ejection section  41  is provided in the parachute accommodation section  40 . For example, as illustrated in  FIG. 1  and the like, each ejection section  41  is joined to an outer peripheral surface of the parachute accommodation section  40  such that an ejection port  413  being an opening portion at an opposite side to the bottom portion  412  in the side wall portion  411  faces the same direction as that of an opening portion of the parachute accommodation section  40 . 
     Further, a plurality of ejection sections  41  are disposed at equal intervals in a rotational direction with the central axis P of the parachute accommodation section  40  as a center. For example, when the numbers of the flying bodies  43  and the ejection sections  41  are three as in Embodiment 1, the plurality of ejection sections  41  are arranged at  120 ° (=360°/3) intervals in the rotational direction with the central axis P of the parachute accommodation section  40  as a center. 
     Note that when only one ejection section  41  is provided, it is sufficient that the ejection section  41  be joined at any one position of the outer peripheral surface of the parachute accommodation section  40 . In this case, a position on the outer peripheral surface of the parachute accommodation section  40  joined with the ejection section  41  is not particularly limited. 
     The flying body  43  includes the gas generating device  45  and the flying body main body section  44 . As illustrated in  FIG. 5 , the flying body  43  is disposed at the ejection section  41  such that the flying body main body section  44  is inserted in an interior of the ejection section  41  at one end side, and the gas generating device  45  faces the bottom portion  412  (a bottom surface  412   a ) of the ejection section  41  in the interior of the ejection section  41 . 
     The gas generating device  45  is a device configured to generate gas serving as a base of a thrust force for ejecting the flying body  43  from the ejection port  413  of the ejection section  41 . As illustrated in  FIG. 5 , for example, the gas generating device  45  includes a housing  451 , a sealing member  452 , an ignition agent  453 , and a gas generating agent  454 . 
     The housing  451  is a housing including a gas discharge chamber  455  configured to house the gas generating device  45  and to discharge the gas generated from the gas generating device  45 . For example, the housing  451  has a dome shape. The housing  451  is configured of, for example, resin. Preferably, the housing  451  is configured of fiber-reinforced plastics (FRP) or the like. Note that the housing  451  is not limited to being made of resin, and may be configured of metal. 
     As illustrated in  FIG. 5 , the gas discharge chamber  455  is filled with the gas generating agent  454 . 
     The ignition agent  453  is a chemical agent for igniting the gas generating agent. The ignition agent  453  is formed at one end of the lead wire  47 . For example, the ignition agent  453  can be fixed to one end of the lead wire  47  by applying and solidifying a liquid ignition agent mixed with resin or the like to the tip end of the lead wire  47 . 
     Note that in  FIG. 5 , a case of the ignition agent  453  having a spherical shape is exemplified, but the shape of the ignition agent  453  is not particularly limited. 
     The ignition agent  453  is fixed in a state with at least a part covered with the gas generating agent  454 . For example, as illustrated in  FIG. 5 , the ignition agent  453  is fixed, in the housing  451 , in an embedded manner in the gas generating agent  454 . The method of fixing the ignition agent  453  is, for example, as follows. 
     First, the powdery gas generating agent  454  mixed with resin or the like is loaded into the gas discharge chamber  455  of the housing  451 . After that, in a state where the ignition agent  453  formed at the tip end of the lead wire  47  is included in the powdery gas generating agent  454 , the gas generating agent  454  is subjected to pressed loading. As a result, the ignition agent  453  is fixed inside the gas generating agent  454 , and one end of the lead wire  47  is connected to the gas generating device  45 . 
     The ignition agent  453  is electrically connected to the ejection control section  42  via the lead wire (conductive wire)  47 . The ignition agent  453  is ignited in response to an ignition signal output from the ejection control section  42 , and the gas generating agent  454  is caused to chemically react to generate gas. 
     A gas discharge hole  456  for discharging gas generated from the gas generating agent  454  is formed in the gas discharge chamber  455 . In addition, the gas discharge chamber  455  is provided with the sealing member  452  covering the gas discharge hole  456  to seal the gas generating agent  454  in the gas discharge chamber  455 . 
     The sealing member  452  is configured of a material, when gas is generated from the gas generating agent  454 , to be easily destroyed by a pressure of the generated gas. For example, the sealing member  452  is a thin film such as polyester. A through-hole  4520  for leading out the lead wire  47  to an exterior of the ejection section  41  is formed at the sealing member  452 . 
     The gas generating device  45  is disposed in an internal space  440  defined by the ejection section  41  and the flying body main body section  44 . 
     The flying body main body section  44  is a component to be connected to a parachute. The flying body main body section  44  is configured to hold the gas generating device  45  and is connected to the connection line  46 . The flying body main body section  44  is formed, for example, in a bar shape. More specifically, the flying body main body section  44  is formed in a partially hollow cylindrical shape, for example. The flying body main body section  44  is engaged with the ejection section  41 . 
     The flying body main body section  44  has the gas generating device  45  at one end, and is connected to the connection line  46  at the other end. In other words, the flying body main body section  44  is separated into two functional sections of a holding section  441  configured to hold the gas generating device  45  in the axis Q direction of the flying body main body section  44 , and a connection section  442  for connecting with the connection line  46 . For example, each of the holding section  441  and the connection section  442  has a tube shape having a bottom. The holding section  441  and the connection section  442  are joined such that their bottom surfaces face with each other, and the holding section  441  and the connection section  442  are coaxial with each other. 
     The flying body main body section  44  is configured of, for example, resin. The holding section  441  and the connection section  442  may be integrally formed, for example, as a resin molded article, or may be formed as separated components and then joined to each other. In the present embodiment, the flying body main body section  44  will be described as a component integrally molded with the holding section  441  and the connection section  442 . 
     The holding section  441  houses and holds the gas generating device  45  in the interior. Specifically, the holding section  441  holds the gas generating device  45  in the interior of the ejection section  41  such that the gas discharge side of the gas generating device  45 , that is, the gas discharge hole  456  (sealing member  452 ) side of the housing  451 , faces the bottom portion  412  (bottom surface  412   a ) of the ejection section  41 . For example, the holding section  441  includes a hole  441   a  formed so as to correspond to the shape of the gas generating device  45 . For example, by press-fitting or adhering the gas generating device  45  (housing  451 ) to the hole  441   a,  the gas generating device  45  is held by the holding section  441 . 
     The connection section  442  is formed so as to protrude to a side opposite to the holding section  441  in a direction parallel to the axis Q of the flying body main body section  44 . As described above, the connection section  442  is formed in a tube shape having a bottom (for example, a cylindrical shape). The connection section  442  includes a locking section  4420  for locking the connection line  46  at an end portion at an opposite side to the holding section  441 . The locking section  4420  is, for example, a through-hole. For example, the connection line  46  is locked to the locking section  4420  while being inserted through the through-hole as the locking section  4420 . 
     In the flying body ejection mechanism  50  according to Embodiment 1, the lead wire  47  is led out in a different direction from the ejection direction (the axis Q direction) of ejecting the flying body main body section  44  from the internal space  440 , with one end connected to the gas generating device  45 . 
     Specifically, the lead wire  47  is led out in a direction opposite to the ejection direction of the flying body main body section  44 , that is, in the S direction in  FIG. 5 . More specifically, as illustrated in  FIG. 5 , the lead wire  47  is led out to an exterior of the ejection section  41  through the through-hole  4520  formed at the sealing member  452  and the through-hole  4120  formed at the bottom portion  412  of the ejection section  41 . 
     As illustrated in  FIG. 5 , the flying body  43  is disposed at the ejection section  41  such that the gas generating device  45  (sealing member  452 ) is spaced apart from and faces the bottom portion  412  (bottom surface  412   a ) of the ejection section  41  in the interior of the ejection section  41 . This forms a space  418  between the gas generating device  45  of the flying body  43  and the bottom portion  412  of the ejection section  41 . 
     It should be noted that a distance between the gas generating device  45  of the flying body  43  and the bottom portion  412  of the ejection section  41  can be changed as appropriate so that a pressure of gas for ejecting the flying body  43  is appropriate. 
     Next, a procedure of the opening of the parachute  400  in the parachute device  4  according to Embodiment 1 will now be described. 
     For example, during flying of the flight device  1  equipped with the parachute device  4 , when a state with the inclination of the aircraft body (the aircraft body unit  2 ) of the flight device  1  exceeds the inclination threshold value  29  for a predetermined period of time because of strong wind, and the abnormality detection section  15 ,  15 D determines that it is in the abnormal state, the fall control section  16  at the flight device  1  side or the fall control section  16 D at the parachute device  4  side transmits a control signal indicating the opening of the parachute  400  to the ejection control section  42  of the parachute device  4 . 
     The ejection control section  42  of the parachute device  4  outputs an ignition signal to the gas generating device  45  via the lead wire  47  when the control signal indicating the opening of the parachute  400  is received. Specifically, the ejection control section  42  causes a predetermined current to flow through the lead wire  47  to ignite the ignition agent  453  formed at one end of the lead wire  47 . 
     Due to the ignition of the ignition agent  453 , the gas generating agent  454  covering the ignition agent  453  chemically reacts to generate gas. As the pressure of the gas generated in the gas discharge chamber  455  increases, the sealing member  452  covering the gas discharge hole  456  is broken. This causes the gas in the gas discharge chamber  455  to be discharged from the gas discharge hole  456  into the space  418  in the ejection section  41 , and the space  418  is filled with the gas. Then, when the pressure of the gas in the space  418  exceeds a predetermined value, the flying body  43  is moved toward the ejection port  413  side due to the pressure of the gas, and is ejected from the ejection port  413  of the ejection section  41 . 
     At this time, the lead wire  47 , together with the ignition agent  453 , fixed to the gas generating agent  454  can be separated from the flying body  43  because the gas generating agent  454  chemically reacts. Thus, when the flying body  43  is ejected from the ejection section  41 , for example, the lead wire  47  is separated from the flying body  43  and remains at the ejection section  41  side. Alternatively, the lead wire  47  is cut by the edge portion of the through-hole  4120  of the ejection section  41 , a part of the lead wire  47  is ejected together with the flying body  43 , and the remaining part of the lead wire  47  remains at the ejection section  41  side. 
     When the flying body  43  is ejected from each ejection section  41 , each flying body  43  pulls the parachute  400  through the connection line  46 . This causes the parachute  400  to be discharged from the parachute accommodation section  40 . After that, as for the parachute  400  further pulled by the respective flying bodies  43 , the parachute body  406  is opened by the air entering in the interior of the parachute body  406  in the folded state. 
       FIG. 6  is a diagram schematically illustrating a state with the parachute  400  of the flight device  1  according to Embodiment 1 being opened. 
     For example, when each flying body  43  is ejected through the processing procedure described above, each flying body  43  pulls the parachute body  406  of the discharged parachute  400  from its apex portion toward the edge (peripheral edge) side. This allows the parachute body  406  to be expanded and easily filled with the air, and thus, allows the parachute  400  to be immediately opened. 
     As described above, the parachute device  4  according to Embodiment 1 includes at least one flying body  43  connected to the parachute  400 , and the flying body  43  includes the flying body main body section  44  engaged with the ejection section  41 , and the gas generating device  45  disposed in the internal space  440  defined by the ejection section  41  and the flying body main body section  44 . 
     Thus, as described above, since gas is generated from the gas generating device  45  to increase the pressure of the gas in the internal space  440  defined by the ejection section  41  and the flying body main body section  44 , the flying body  43  can be made to fly from the ejection section  41 . The flight of the flying body  43  allows the parachute body  406  of the parachute  400  connected to the flying body  43  to be pulled from its apex portion to the edge (peripheral edge) side, allowing the parachute body  406  to be more easily filled with the air and allowing the parachute  400  to be immediately opened. This makes it possible to increase the reliability of the parachute device  4 . 
     In addition, in the parachute device  4 , the lead wire  47  for igniting the gas generating device  45  is led out in a different direction from the ejection direction of the flying body  43  from the internal space  440 , with one end connected to the gas generating device  45 . 
     This allows the flying body  43  to be pulled and held in a different direction from its ejection direction by the lead wire  47  when the parachute device  4  is not in use. This allows the flying body  43  to be prevented from moving from an appropriate position or allows the flying body  43  to be prevented from falling out of the ejection section  41  even when the rotary wing aircraft equipped with the parachute device  4  is largely inclined or even when the rotary wing aircraft is turned upside down. This makes it possible to further increase the reliability of the parachute device  4 . 
     Preferably, as described above, the lead wire  47  is led out in the direction S opposite to the ejection direction of the flying body  43 . This makes it possible to more effectively prevent the flying body  43  from falling out of the ejection section  41  because the flying body  43  can be pulled from a more appropriate direction when the parachute device  4  is not in use. 
     Additionally, the lead wire  47  is led out to an exterior of the ejection section  41  through the through-hole  4120  formed at the bottom portion  412  of the ejection section  41 . This facilitates assembly of the flying body ejection mechanism  50 . For example, when the flying body ejection mechanism  50  is assembled, the other end of the lead wire  47  fixed at one end to the flying body  43  is first inserted through the through-hole  4120  formed at the bottom portion  412  of the ejection section  41 . The flying body  43  is then inserted into the side wall portion  411  of the ejection section  41 . This makes it possible to easily assemble the flying body ejection mechanism  50  in the state illustrated in  FIG. 5 . 
     Embodiment 2 
       FIG. 7  is a diagram schematically illustrating a configuration of a parachute device  4 A according to Embodiment 2. A side cross section of the parachute device  4 A is illustrated in the same figure. 
     The parachute device  4 A, illustrated in  FIG. 7 , according to Embodiment 2 differs from the parachute device  4  according to Embodiment 1 in that the lead wire  47  is led out from a side wall portion  411 A of an ejection section  41 A, and is similar to the parachute device  4  according to Embodiment 1 in other respects. 
       FIG. 8  is a diagram illustrating a configuration of a flying body ejection mechanism  50 A according to Embodiment 2. 
     The flying body ejection mechanism  50 A includes a flying body  43 A and the ejection section  41 A. 
     In the flying body ejection mechanism  50 A, the flying body main body section  44 A is separated into two functional sections of a holding section  441 A and the connection section  442 , similarly to the flying body main body section  44  according to Embodiment 1. The holding section  441 A corresponds to the holding section  441  according to Embodiment 1 and has similar functions to those of the holding section  441 . A through-hole  4410  for passing the lead wire  47  is formed at the holding section  441 A, as will be described below. 
     The ejection section  41 A includes a side wall portion  411 A and the bottom portion  412 , similarly to the ejection section  41  according to Embodiment 1. The side wall portion  411 A corresponds to the side wall portion  411  according to Embodiment 1 and has similar functions to those of the side wall portion  411 . The through-hole  4110  for passing the lead wire  47  is formed at the side wall portion  411 A, as will be described below. 
     The lead wire  47  is led out in a different direction from the ejection direction (the axis Q direction) of the flying body  43 A from the internal space  440 , with one end connected to the gas generating device  45 . 
     Specifically, the lead wire  47  is led out in a direction intersecting with the ejection direction of the flying body  43 . For example, the lead wire  47  is led out in the R direction orthogonal to the axis Q direction in  FIG. 8 . 
     The lead wire  47  is led out from the internal space  440  through the through-hole  4110  formed at the side wall portion  411 A of the ejection section  41 A to an exterior of the ejection section  41 A. More specifically, as illustrated in  FIG. 8 , the lead wire  47  is led out to the exterior of the ejection section  41 A through a through-hole  4510  formed at the housing  451  of the gas generating device  45 , the through-hole  4410  formed at the holding section  441 A of the flying body main body section  44 A, and the through-hole  4110  formed at the side wall portion  411 A of the ejection section  41 A. 
     The lead wire  47  is configured to be disconnectable when the flying body  43 A is ejected from the ejection port  413  of the ejection section  41 A. For example, when the flying body  43 A is ejected from the ejection port  413 , the lead wire  47  is pulled by the flying body  43 A, and its tensile force presses the lead wire  47  against the edge portion of the through-hole  4110 , and the lead wire  47  is possible to be broken. 
     As described above, by leading out the lead wire  47  in the R direction orthogonal to the axis Q direction, the lead wire  47  is pressed against the edge portion of the through-hole  4110  by a larger force at the time of ejection of the flying body  43 A, and the lead wire  47  is possible to be easily broken. 
     Preferably, the opening portion (edge portion) of the through-hole  4110  is processed in advance so as to have a sharp shape. This further allows the lead wire  47  to be easily broken. 
     As described above, the parachute device  4 A according to Embodiment 2 is led out in a direction where the lead wire  47  for igniting the gas generating device  45  intersects the ejection direction of the flying body  43 A (for example, the direction R in  FIG. 8 ), and thus, the flying body  43 A can be pulled in a different direction from the ejection direction by using the lead wire  47 . Similarly to Embodiment 1, this allows the flying body  43 A to be prevented from moving from an appropriate position or allows the flying body  43 A to be prevented from falling out of the ejection section  41 A when the parachute device  4 A is not in use, and the reliability of the parachute device  4 A to be increased. 
     Also, as described above, by leading out the lead wire  47  in the direction R orthogonal to the ejection direction of the flying body  43 A, the flying body  43 A is prevented from falling out of the ejection section  41 A when the parachute device  4 A is not in use, with the lead wire  47  being easily broken by applying an appropriate force to the lead wire  47  when the flying body  43 A is ejected. 
     Embodiment 3 
       FIG. 9  is a diagram schematically illustrating a configuration of a parachute device  4 B according to Embodiment 3. A side cross section of the parachute device  4 B is illustrated in the same figure. 
     The parachute device  4 B, illustrated in  FIG. 9 , according to Embodiment 3 differs from the parachute device  4  according to Embodiment 1 in the structures of the flying body and the ejection section, and is similar to the parachute device  4  according to Embodiment 1 in other respects. 
       FIG. 10  is a diagram illustrating a configuration of a flying body ejection mechanism  50 B according to Embodiment 3. 
     The flying body ejection mechanism  50 B includes a flying body  43 B and an ejection section  41 B. 
     The ejection section  41 B is formed in a bar shape. Specifically, the ejection section  41 B is formed, for example, in a tube shape having an opening at one end and having a bottom at the other end. More specifically, the ejection section  41 B includes a side wall portion  411 B having a tube shape (for example, a cylindrical shape) and a tip end portion  414 B formed so as to cover one opening portion of the side wall portion  411 B. The ejection section  41 B is configured of resin, for example. The side wall portion  411 B and the tip end portion  414 B may be integrally formed, for example, as a resin molded article. 
     A through-hole  4140  configured to pass the lead wire  47  and communicating with an outer peripheral surface (tip end surface)  414 Ba of the tip end portion  414 B and an interior of the side wall portion  411 B is formed at the tip end portion  414 B. 
     The flying body  43 B includes the gas generating device  45  and a flying body main body section  44 B. The gas generating device  45  is provided in the interior of the flying body main body section  44 B. The gas generating device  45  is disposed in an internal space  440 B defined by the ejection section  41 B and the flying body main body section  44 B. 
     The flying body  43 B is disposed on the ejection section  41 B so as to cover at least a part of an outer peripheral surface of the ejection section  41 B. Specifically, as illustrated in  FIG. 10 , the flying body  43 B is supported on the ejection section  41 B such that at least a part of the ejection section  41 B is inserted in an interior of the flying body main body section  44 B and the gas generating device  45  faces the tip end portion  414 B of the ejection section  41 B. 
     The flying body main body section  44 B is formed in a tube shape (for example, a cylindrical shape) having an opening at one end and having a bottom at the other end. The flying body main body section  44 B is configured of, for example, resin. 
     More specifically, the flying body main body section  44 B is inserted through the ejection section  41 B at the opening portion side, and holds the gas generating device  45  in the interior at the bottom portion side. Also, the flying body main body section  44 B is connected to the connection line  46  at the end portion at the opposite side to the opening portion. 
     In other words, the flying body main body section  44 B is divided into three functional sections of a supporting section  443 B for supporting the flying body  43 B at the ejection section  41 B along the axis Q of the flying body main body section  44 B, a holding section  441 B for holding the gas generating device  45 , and a connection section  442 B for connecting with the connection line  46 . 
     Here, the supporting section  443 B, the holding section  441 B, and the connection section  442 B may be integrally formed, for example, as a resin molded article, or may be formed as separated components and joined to each other. In the present embodiment, the flying body main body section  44 B will be described as a component integrally molded with the supporting section  443 B, the holding section  441 B, and the connection section  442 B. 
     The supporting section  443 B is formed in a tube shape (for example, a cylindrical shape). An inner diameter of the supporting section  443 B has a size corresponding to an outer diameter of the ejection section  41 B. At least a part of the ejection section  41 B is inserted into the supporting section  443 B from its one end side. Specifically, the tip end portion  414 B of the ejection section  41 B is inserted in the interior of the supporting section  443 B from one end side of the supporting section  443 B. 
     The holding section  441 B includes, for example, a hole  4411  formed so as to correspond to the shape of the gas generating device  45 . For example, by press-fitting or adhering the gas generating device  45  to the hole  4411 , the holding section  441 B holds the gas generating device  45 . 
     The holding section  441 B holds the gas generating device  45  at the other end side of the supporting section  443 B with the gas generating section  45  facing the tip end portion  414 B of the ejection section  41 B. That is, the gas generating device  45  is disposed such that the gas discharge side of the gas generating device  45 , that is, the gas discharge hole  456  (sealing member  452 ) side of the housing  451  faces the tip end portion  414 B of the ejection section  41 B. 
     As illustrated in  FIG. 10 , the flying body  43 B is disposed at the ejection section  41 B such that the gas generating device  45  (sealing member  452 ) is spaced apart from and faces the tip end portion  414 B (tip end surface  414 B a ) of the ejection section  41 B. This forms a space  418 B between the gas generating device  45  of the flying body  43 B and the tip end portion  414 B of the ejection section  41 B. 
     Note that a distance between the gas generating device  45  of the flying body  43 B and the tip end portion  414 B of the ejection section  41 B can be changed as appropriate so that the pressure of gas for ejecting the flying body  43 B becomes appropriate. 
     The connection section  442 B is formed so as to protrude from the holding section  441 B toward a side opposite to the supporting section  443 B in a direction parallel to the axis Q of the flying body main body section  44 B. The connection section  442 B is formed, for example, in a tube shape (for example, a cylindrical shape) having an opening at one end and having a bottom at the other end. 
     The connection section  442 B is connected to the connection line  46 . Specifically, the connection section  442 B has the locking section  4420  for locking the connection line  46  at an end portion at an opposite side to the supporting section  443 B. The locking section  4420  is, for example, a through-hole. For example, the connection line  46  is locked to the locking section  4420  while being inserted through the through-hole as the locking section  4420 . 
     In the parachute device  4 B according to Embodiment 3, the lead wire  47  extends in a direction opposite to the tip end portion  414 B in the interior of the ejection section  41 B. 
     More specifically, the lead wire  47  extends through the through-hole  4520  formed at the sealing member  452  and the through-hole  4140  formed at the tip end portion  414 B of the ejection section  41 B into an internal space  4111  of the side wall portion  411 B of the ejection section  41 B, and connects the gas generating device  45  and the ejection control section  42  to each other. 
     According to the parachute device  4 B having the configuration described above, the gas generated from the gas generating device  45  is stored in a space defined by an inner wall surface of the supporting section  443 B and the tip end surface  414 Ba of the ejection section  41 B to increase the gas pressure, and as a result, the flying body  43 B can be vigorously ejected. At this time, a side surface  41 Ba of the ejection section  41 B functions as a guide mechanism configured to guide movement of the flying body  43 B at the time of ejection, allowing the flying body  43 B to more linearly fly. 
     Additionally, according to the parachute device  4 B, the gas generating device  45  is sealed by the ejection section  41 B with the gas generating device  45  accommodated in the interior of the flying body main body section  44 B, and thus, it is possible for the gas generating device  45  to prevent degradation of the gas generating device  45  due to exposure to rainwater or foreign matter. 
     In particular, because the flying body main body section  44 B is disposed so as to cover (so as to put on a lid over) the ejection section  41 B having a bar shape, even when the flying body  43 B is exposed to rain or wind when the parachute device  4 B is disposed at the flight device  1 , it is difficult for rainwater or foreign matter to enter in the interior of the flying body main body section  44 B. 
     Further, in the parachute device  4 B, the lead wire  47  extends in the direction S opposite to the tip end portion  414 B of the ejection section  41 B in the interior of the ejection section  41 B. This allows the flying body  43 B to be pulled in a different direction from its ejection direction by the lead wire  47 . Similarly to Embodiment 1, this allows the flying body  43 B to be prevented from moving from an appropriate position or allows the flying body  43 B to be prevented from falling out of the ejection section  41 B when the parachute device  4 B is not in use, and the reliability of the parachute device  4 B to be increased. 
     Also, in the parachute device  4 B, the lead wire  47  is routed in the internal space  4111  of the ejection section  41 B through the through-hole  4520  formed at the sealing member  452  and the through-hole  4140  formed at the tip end portion  414 B of the ejection section  41 B. 
     This facilitates assembly of the flying body ejection mechanism  50 B. For example, when the flying body ejection mechanism  50 B is assembled, first, the other end side of the lead wire  47  fixed to the flying body  43 B at one end is inserted through the through-hole  4140  of the ejection section  41 B. Then, the ejection section  41 B is inserted in the interior of the supporting section  443 B of the flying body  43 B. Due to this, the flying body ejection mechanism  50 B in the state illustrated in  FIG. 10  can be easily assembled. 
     Embodiment 4 
       FIG. 11  is a diagram schematically illustrating a configuration of a parachute device  4 C according to Embodiment 4. A side cross section of the parachute device  4 C is illustrated in the same figure. 
     The parachute device  4 C according to Embodiment 4, illustrated in  FIG. 11 , differs from the parachute device  4 B according to Embodiment 3 in that the lead wire  47  is led out from a holding section  441 C of a flying body main body section  44 C, and is similar to the parachute device  4 B according to Embodiment 3 in other respects. 
       FIG. 12  is a diagram illustrating a configuration of a flying body ejection mechanism  50 C according to Embodiment 4. 
     The flying body ejection mechanism  50 C includes the flying body  43 C and the ejection section  41 C. 
     The flying body main body section  44 C of the flying body  43 C is separated into three functional sections of a supporting section  443 C, the holding section  441 C, and a connection section  442 C. The supporting section  443 C, the holding section  441 C, and the connection section  442 C respectively correspond to the supporting section  443 B, the holding section  441 B, and the connection section  442 B in the parachute device  4 B according to Embodiment 3, and have similar functions to these sections. 
     In the flying body ejection mechanism  50 C according to Embodiment 4, the lead wire  47  is led out in a different direction from the ejection direction of the flying body  43 C (the axis Q direction) with one end connected to the gas generating device  45 . 
     Specifically, the lead wire  47  is led out in a direction intersecting with the ejection direction of the flying body  43 C. For example, the lead wire  47  is led out in the R direction orthogonal to the axis Q direction in  FIG. 12 . 
     The lead wire  47  is led out from the gas generating device  45  through a through-hole  4412  formed at the holding section  441 C of the flying body main body section  44 C to an exterior of the flying body main body section  44 C. More specifically, as illustrated in  FIG. 12 , the lead wire  47  is led out to the exterior of the flying body main body section  44 C through the through-hole  4510  formed at the housing  451  of the gas generating device  45  and the through-hole  4412  formed at the holding section  441 C of the flying body main body section  44 C. 
     The lead wire  47  is configured to be disconnectable when the flying body  43 C is ejected from the ejection section  41 C. For example, when the flying body  43 C is ejected from the ejection section  41 C, the flying body  43 C is pulled by the lead wire  47 , and its tensile force presses the lead wire  47  against the edge portion of the through-hole  4412  of the flying body main body section  44 C, and the lead wire  47  can be broken. 
     As described above, by leading out the lead wire  47  in the R direction orthogonal to the axis Q direction, it is possible to apply a larger force to the lead wire  47  from the edge portion of the through-hole  4412  at the time of ejection of the flying body  43 C, and the lead wire  47  is possible to be easily broken. 
     Here, it is preferable that the opening portion (edge portion) of the through-hole  4412  be processed in advance so as to have a sharp shape. This further allows the lead wire  47  to be easily broken. 
     As described above, in the parachute device  4 C according to Embodiment 4, similar to the parachute device  4 A according to Embodiment 2, the lead wire  47  for igniting the gas generating device  45  is led out in a direction (for example, the direction R in  FIG. 12 ) intersecting with the ejection direction of the flying body  43 C, and thus, the flying body  43 C can be pulled by the lead wire  47  in a different direction from its ejection direction. Similarly to the parachute device  4 A according to Embodiment 2, this allows the flying body  43 C to be prevented from moving from an appropriate position or allows the flying body  43 C to be prevented from falling out of the ejection section  41 C when the parachute device  4 C is not in use, and the reliability of the parachute device  4 C to be increased. 
     Also, as described above, by leading out the lead wire  47  in the direction R orthogonal to the ejection direction of the flying body  43 C, the flying body  43 C is prevented from falling out of the ejection section  41 C when the parachute device  4 C is not in use, with it being possible to break the lead wire  47  by applying an appropriate force to the lead wire  47  when the flying body  43 C is ejected. 
     Expansion of Embodiment 
     The invention conceived by the present inventors has been described in detail above with reference to the embodiments. However, the present invention is not limited to the embodiments, and of course, various modifications can be made without departing from the gist of the present invention. 
     For example, in the embodiments described above, the examples have been given that the ejection control section  42  is provided in the parachute device  4 ,  4 A,  4 B,  4 C, but the present invention is not limited to this. For example, the ejection control section  42  may be provided in the aircraft body unit  2 . 
     Furthermore, in the embodiments described above, the examples have been given where the parachute device  4 ,  4 A to  4 C ejects the flying body  43 ,  43 A to  43 C in response to a signal from the fall control section  16  provided at the aircraft body unit  2  side, but the present invention is not limited to this. For example, as illustrated in  FIG. 13 , a parachute device  4 D may include a sensor section  12 D including the angular velocity sensor  24 , the acceleration sensor  25 , the magnetic sensor  26 , and the angle calculation section  27 , and an abnormal state detection mechanism including an abnormality detection section  15 D, and a fall control section  16 D. Here, the angle calculation section  27 , the abnormality detection section  15 D, and the fall control section  16 D of the sensor section  12 D are achieved by program processing by, for example, a microcontroller. The sensor section  12 D, the abnormality detection section  15 D, and the fall control section  16 D respectively have similar functions to those of the sensor section  12 , the abnormality detection section  15 , and the fall control section  16  described above. This allows the parachute device  4 D itself to detect an abnormal state to eject the flying body  43 . 
     In this case, the aircraft body unit  2  may or may not have an abnormal state detection mechanism including the sensor section  12 , the abnormality detection section  15 , and the fall control section  16 . For example, both of the aircraft body unit  2  and the parachute device  4 D have an abnormal state detection mechanism, and thus, even when one abnormal state detection mechanism cannot detect an abnormal state due to some causes, it is possible to detect the abnormal state by the other abnormal state detection mechanism to more reliably open the parachute  400 . 
     In the embodiments described above, a case of the parachute accommodation section  40  having a cylindrical shape has been exemplified, but the present invention is not limited to this. That is, the parachute accommodation section  40  may have a space for accommodating the parachute  400  in the interior, and may be formed, for example, in a hollow polygonal column (for example, quadrangular prism) shape. 
     Furthermore, in Embodiment 1, the example has been given where the flying body  43  is disposed such that the space  418  is formed between the gas generating device  45  and the ejection section  41 , but the present invention is not limited to this. That is, as long as sufficient gas pressure can be obtained in order to eject the flying body  43 , the gas generating device  45  may be disposed in contact with the ejection section  41  (the bottom surface  412   a ). The same applies to the other embodiments. 
     In addition, in the embodiments described above, the examples have been given that the outer shape of the ejection section  41 ,  41 A to  41 C is cylindrical, but the present invention is not limited to this. That is, the ejection section  41 ,  41 A may have a structure accommodating the flying body  43 ,  43 A in the interior, and being capable of ejecting the flying body  43 ,  43 A, for example, the outer shape may be a polygonal column (for example, quadrangular prism) shape, and the internal space accommodating the flying body  43 ,  43 A may be cylindrical. Similarly, the ejection section  41 B,  41 C may have a structure where the flying body  43 B,  43 C is disposed outside and the flying body  43 B,  43 C can be ejected, and for example, the outer shape may be a polygonal column (for example, quadrangular prism) shape. However, in that case, the internal shape of the flying body  43 B,  43 C needs to be matched to the ejection section  41 B,  41 C. 
     Reference Signs List 
       1  Flight device 
       2  Aircraft body unit 
       3 ,  3 _ 1  to  3 _n Thrust force generation section 
       4 ,  4 A to  4 D Parachute device 
       5  Notification device 
       6  Arm section 
       9  External device 
       11  Power supply section 
       12 ,  12 D Sensor section 
       13 ,  13 _ 1  to  13 _n Motor drive section 
       14  Flight control section 
       15 ,  15 D Abnormality detection section 
       16 ,  16 D Fall control section 
       17  Communication section 
       18  Storage section 
       22  Battery 
       23  Power supply circuit 
       24  Angular velocity sensor 
       25  Acceleration sensor 
       26  Magnetic sensor 
       27  Angle calculation section 
       28  Remaining capacity threshold value 
       29  Inclination threshold value 
       30  Propeller 
       31  Motor 
       32  Case 
       40  Parachute accommodation section 
       41 ,  41 A,  41 B,  41 C Ejection section 
       41 Ba,  41 Ca Side surface 
       42  Ejection control section 
       43 ,  43 A,  43 B,  43 C Flying body 
       44 ,  44 A,  44 B,  44 C Flying body main body section 
       45  Gas generating device 
       46  Connection line 
       47  Lead wire (conductive wire) 
       50 ,  50 A,  50 B,  50 C Flying body ejection mechanism 
       400  Parachute 
       401  Side wall portion 
       402  Bottom portion 
       403  Accommodation space 
       404  Parachute attachment section 
       406  Parachute body (canopy) 
       407  Hanging line 
       411 ,  411 A,  411 B Side wall portion 
       412  Bottom portion 
       412   a  Bottom surface 
       413  Ejection port 
       414 B,  414 C Tip end portion 
       414 Ba Outer peripheral surface (tip end surface) 
       418 ,  418 B Space 
       440 ,  440 B Internal space 
       441 ,  441 A,  441 B,  441 C Holding section 
       441   a  Hole 
       442 ,  442 B,  442 C Connection section 
       443 B,  443 C Supporting section 
       451  Housing 
       452  Sealing member 
       453  Ignition agent 
       454  Gas generating agent 
       455  Gas discharge chamber 
       456  Gas discharge hole 
       4110 ,  4120 ,  4140 ,  4410 ,  4412 ,  4510 ,  4520  Through-hole 
       4111  Internal space 
       4411  Hole 
       4420  Locking section (through-hole)