Patent Description:
Various aerial vehicles have conventionally been known. The aerial vehicle includes not only a manned aircraft such as a passenger aircraft or a helicopter but also an unmanned aircraft. In particular, with recent development of an autonomous control technology and a flight control technology, industrial applications of an unmanned aircraft such as a drone have increasingly been expanded.

A drone includes, for example, a plurality of rotors, and flies by rotating the plurality of rotors simultaneously in a balanced manner. At that time, ascent and descent are done by uniformly increasing or decreasing the number of rotations of the plurality of rotors, and movement forward and rearward is done by inclining an airframe by individually increasing or decreasing the number of rotations of each of the plurality of rotors. It is expected that such an unmanned aircraft will more increasingly be used worldwide in the future.

A falling accident of an unmanned aircraft, however, has been feared, which has interfered widespread use of the unmanned aircraft. In order to lower the possibility of such a falling accident, a parachute apparatus for an unmanned aircraft that serves as a safety apparatus has been put into practical use. Such a parachute apparatus for an unmanned aircraft lessens impact at the time of landing by lowering a speed of the unmanned aircraft by using an expanded parachute in the event of falling of the unmanned aircraft.

<CIT> discloses an emergency parachute apparatus in which a parachute thereof is higher in speed of expansion than a normal parachute apparatus such that the parachute apparatus can be used for escape of people from higher floors of a building in such disasters as earthquake or fire. The emergency parachute apparatus includes a parachute provided with a gas generator and the speed of expansion of the parachute is significantly increased by allowing gas generated by activation of the gas generator to flow into a space in the parachute. <CIT> discloses an aircraft including an airframe parachute system, wherein the parachute system includes an activation system, an extraction system, a harness system, and a parachute assembly. <CIT>, <CIT>, <CIT> and <CIT> disclose further related prior art.

If a parachute provided with a gas generator as disclosed in <CIT> is applied to an aerial vehicle safety apparatus, the parachute would quickly be expanded. Therefore, such an application may be advantageous in that the parachute can be used also when an aerial vehicle flies at a relatively low altitude.

The parachute employed in the aerial vehicle safety apparatus, however, should reliably be expanded without being interfered by such a component as a propulsive mechanism or a leg of the aerial vehicle at the time of expansion, and the parachute disclosed in <CIT> paying no attention to this aspect cannot be applied as it is to the aerial vehicle safety apparatus.

Such a problem similarly arises also in providing a paraglider instead of a parachute in an aerial vehicle safety apparatus or providing an air bag in an aerial vehicle. Furthermore, such a problem similarly arises in reliably effecting operations of a safety mechanism other than the parachute, the paraglider, or the air bag described above when such a safety mechanism is provided as being ejected from an aerial vehicle.

The present invention was made to solve the problems described above, and an object thereof is to provide an aerial vehicle safety apparatus capable of reliably effecting operations of a safety mechanism provided as being ejected from an aerial vehicle and an aerial vehicle including the same.

An aerial vehicle safety apparatus based on the present invention is attachable to an aerial vehicle including a propulsive mechanism, and the aerial vehicle safety apparatus includes a safety mechanism, a drive mechanism, an ejection mechanism, and a control mechanism. The safety mechanism is used for securing safety of at least one of the aerial vehicle and an object outside the aerial vehicle. The drive mechanism includes at least one drive unit serving as a drive source of the safety mechanism. The ejection mechanism is capable of ejecting the drive mechanism together with the safety mechanism. The control mechanism controls operations of the drive mechanism for the drive mechanism to drive the safety mechanism after the ejection mechanism starts ejection of the safety mechanism.

In the aerial vehicle safety apparatus based on the present invention, the ejection mechanism and the control mechanism may simultaneously receive an activation signal. In that case, preferably, the drive unit includes an explosive type gas generator containing an igniter, and the igniter includes a combustion agent that burns by being ignited, an ignited portion that generates thermal energy that ignites the combustion agent, and a delay charge interposed between the combustion agent and the ignited portion, the delay charge conducting with a time lag, thermal energy generated by the ignited portion to the combustion agent. In this case, the control mechanism includes the delay charge.

In the aerial vehicle safety apparatus based on the present invention, the ejection mechanism and the control mechanism may simultaneously receive an activation signal. In that case, the control mechanism may include an activation delay mechanism that activates the drive mechanism after lapse of a prescribed time period since activation of the ejection mechanism.

In the aerial vehicle safety apparatus based on the present invention, the activation delay mechanism may include a mechanical timer apparatus that delays timing of activation of the drive unit by using a motor and a plurality of gears or an electric timer apparatus that delays timing of activation of the drive unit by using an IC timer.

In the aerial vehicle safety apparatus based on the present invention, the safety mechanism includes an expandable object that is wound or folded in a non-expanded state, the safety mechanism being capable of generating at least one of lift and buoyancy in an expanded state. The ejection mechanism includes an ejection apparatus coupled to the expandable object with a coupling member being interposed, the ejection apparatus being configured to eject the non-expanded expandable object into air. The drive mechanism includes an expansion mechanism provided in the expandable object, the expansion mechanism being configured to expand the expandable object.

The expandable object herein is capable of generating at least one of lift and buoyancy in an expanded state as described above and it suitably may include a parachute or a paraglider.

Many parachutes have a fabric in a shape of an umbrella, and the parachute is connected to an aerial vehicle to be protected through a coupling member (which is generally referred to as a cord or a line) and lowers a speed of the aerial vehicle by using air resistance. Examples of the parachute include a parachute including a single chute, a parachute including a string of chutes identical in shape, and a parachute including a string of chutes different in shape. Examples of the parachute further include a parachute including a chute having a closed center (that is, without a hole) and a parachute including a chute provided with a hole called a spill hole in the center. A specific form of the parachute can be selected as appropriate in consideration of various purposes such as mitigation of impact at the time of expansion of the parachute, adjustment of a rate of descent, or resistance against influence by disturbance such as wind.

A paraglider is in a shape like a wing having an aspect ratio approximately not lower than one, and it is connected to an aerial vehicle to be protected through a coupling member (which is generally referred to as a cord or a line). The paraglider has a steering cord called a brake cord connected to left and right ends of the wing. By pulling the brake cord, various stresses applied to a cross-section of the wing can be varied and consequently, gliding, turning, and rapid deceleration can be done. Therefore, the paraglider can do gliding, turning, and rapid deceleration which cannot be done by a parachute. A Rogallo paraglider and a triangular paraglider are also available as similarly constructed paragliders. In order to maintain the shape of the wing by using ram air, a paraglider with an air intake (an air inlet which will be described later) is in the mainstream, however, there is a paraglider without an air intake. In order to fly in a stable manner, a paraglider with an air intake is more preferably used. From a point of view of reduction in weight, a single surface paraglider (that is, a paraglider without an air intake) is preferably used. Furthermore, a paraglider of a type capable of flying by forcibly obtaining propelling force by separately providing a propulsive apparatus such as a propeller may be used.

In the aerial vehicle safety apparatus based on the present invention, the ejection apparatus may include a first ejector and a second ejector. In that case, the first ejector may eject the expandable object and the second ejector into air, and the second ejector may eject the expandable object into air after the second ejector is ejected by the first ejector.

In the aerial vehicle safety apparatus based on the present invention, the ejection apparatus may include a first ejector and a second ejector. In that case, the first ejector may eject into air, a drogue chute for drawing out the expandable object and the second ejector may eject the expandable object into air after the first ejector ejects the drogue chute.

In the aerial vehicle safety apparatus based on the present invention, the expansion mechanism may include a bag-shaped member provided in the expandable object and a gas generator as the drive unit provided in the expandable object. In that case, preferably, the bag-shaped member includes a member that is wound or folded together with or separately from the non-expanded expandable object and expands the non-expanded expandable object by at least partially being inflated like a tube, and preferably, the gas generator inflates the bag-shaped member by causing gas generated at the time of activation to flow into the bag-shaped member.

In the aerial vehicle safety apparatus based on the present invention, the bag-shaped member may include a plurality of tubular portions formed radially or in grids.

In the aerial vehicle safety apparatus based on the present invention, the expandable object may have a two-dimensionally elongated shape in an expanded state. In that case, preferably, the bag-shaped member is disposed to extend along a longitudinal direction of the expanded expandable object. The expandable object having the two-dimensionally elongated shape in the expanded state normally includes a paraglider.

In the aerial vehicle safety apparatus based on the present invention, the expandable object may include a wing-shaped member containing a plurality of air chambers and a plurality of air inlets provided in a front portion so as to correspond to respective ones of the plurality of air chambers. In that case, preferably, the bag-shaped member is disposed inside or outside the expandable object to extend along the vicinity of a portion of the expandable object where the plurality of air inlets are provided. The expandable object containing a plurality of air chambers normally includes a paraglider with an air intake.

In the aerial vehicle safety apparatus based on the present invention, the gas generator may be of an explosive type containing an igniter. In that case, preferably, the igniter includes a combustion agent that burns by being ignited, an ignited portion that generates thermal energy that ignites the combustion agent, and a delay charge interposed between the combustion agent and the ignited portion, the delay charge conducting, with a time lag, thermal energy generated by the ignited portion to the combustion agent. In this case, the control mechanism includes the delay charge.

In the aerial vehicle safety apparatus based on the present invention, the gas generator may be of an explosive type containing an igniter. In that case, the control mechanism may include an activation delay mechanism that activates the gas generator after lapse of a prescribed time period since activation of the ejection apparatus.

The aerial vehicle safety apparatus based on the present invention may further include an electric circuit that supplies electric power for activating the gas generator. In that case, the electric circuit preferably includes a power supply and a switch that switches on and off the power supply. In this case, the activation delay mechanism includes the electric circuit and a switch controller that switches operations of the switch.

In the aerial vehicle safety apparatus based on the present invention, preferably, the switch includes a positive electrode plate, a negative electrode plate opposed to the positive electrode plate, and an insulator removably interposed between the positive electrode plate and the negative electrode plate, and the switch controller includes a string member having one end coupled to the insulator and the other end coupled to the ejection apparatus or the aerial vehicle. In this case, the power supply is switched from off to on as the ejection apparatus ejects the expandable object, the string member pulls the insulator to pull out the insulator from between the positive electrode plate and the negative electrode plate, and the positive electrode plate and the negative electrode plate come in contact with each other.

In the aerial vehicle safety apparatus based on the present invention, a length between the one end of the string member coupled to the insulator and the other end of the string member coupled to the ejection apparatus or the aerial vehicle is preferably variably adjustable.

In the aerial vehicle safety apparatus based on the present invention, the safety mechanism may include an air bag as an expandable object that is wound or folded in a non-expanded state and serves as a cushion in an expanded state and the ejection mechanism may include an ejection apparatus that is coupled to the air bag with a coupling member being interposed and ejects the non-expanded air bag into air. In that case, preferably, the drive mechanism includes an expansion mechanism that is provided in the air bag and expands the air bag.

In the aerial vehicle safety apparatus based on the present invention, the expansion mechanism may include a bag-shaped member provided in the air bag and a gas generator as the drive unit provided in the air bag. In that case, the bag-shaped member may include a member that is wound or folded together with or separately from the non-expanded air bag and expands the non-expanded air bag by at least partially being inflated like a tube. In this case, preferably, the gas generator may inflate the bag-shaped member by causing gas generated at the time of activation to flow into the bag-shaped member.

An aerial vehicle based on the present invention includes an airframe, a propulsive mechanism that is provided in the airframe and propels the airframe, and the aerial vehicle safety apparatus based on the present invention described above, and the aerial vehicle safety apparatus is attached to the airframe.

In the aerial vehicle based on the present invention, the ejection apparatus may include a container that includes an opening on a side of one end and accommodates the expandable object, a moving member movably provided along an inner wall surface of the container, and an ejection drive unit that moves the moving member toward the opening. In that case, preferably, the moving member includes on a side of the opening, a carrier that carries the expandable object. In this case, the opening is preferably disposed at a position higher than the propulsive mechanism in a direction of height in which the moving member moves.

In the aerial vehicle based on the present invention, the airframe may be provided with a leg. In that case, the aerial vehicle safety apparatus may be located adjacently to the leg.

According to the present invention, an aerial vehicle safety apparatus capable of reliably effecting operations of a safety mechanism provided as being ejected from an aerial vehicle and an aerial vehicle including the same can be provided.

Embodiments of the present invention will be described in detail below with reference to the drawings. The embodiments and modifications thereof shown below illustrate application of the present invention to a drone representing an unmanned aircraft as an aerial vehicle.

An aerial vehicle safety apparatus provided with a paraglider as an expandable object and an aerial vehicle including the same will initially be described as a first embodiment.

<FIG> is a schematic cross-sectional view of an aerial vehicle safety apparatus <NUM> according to the first embodiment. As shown in <FIG>, aerial vehicle safety apparatus <NUM> according to the present embodiment includes an actuator <NUM> as an ejection apparatus (ejection mechanism) and a paraglider <NUM> as an expandable object (safety mechanism). Actuator <NUM> includes an igniter <NUM> as an ejection drive unit including a cup-shaped case <NUM> that accommodates an ignition agent (not shown), a piston <NUM> as a moving member including a recess <NUM> and a piston head <NUM> as a carrier formed integrally with recess <NUM>, and a housing <NUM> as a cylindrical container with bottom that accommodates piston <NUM> and restricts a direction of propulsion of piston <NUM>.

Paraglider <NUM> is stored in housing <NUM> in a non-expanded state as being arranged on piston head <NUM>. By propelling piston <NUM> in such a construction, paraglider <NUM> can directly be driven out and expanded. An opening end where an opening of housing <NUM> is provided is closed by a lid <NUM> in an initial state, and lid <NUM> is removed from the opening end as paraglider <NUM> is driven out.

When an abnormal condition is detected by an abnormality detector (not shown) such as an acceleration sensor, piston <NUM> is propelled by a gas pressure generated based on an ignition operation by an igniter <NUM>. Paraglider <NUM> is thus directly driven out by propelling power of piston <NUM>. Though not shown, paraglider <NUM> is connected to housing <NUM> by a coupling member (line), and the paraglider is constructed so as to suspend an aerial vehicle <NUM> which will be described later through the coupling member (line) after the paraglider is expanded.

<FIG> illustrates aerial vehicle <NUM> including aerial vehicle safety apparatus <NUM>. Aerial vehicle <NUM> includes an airframe <NUM>, aerial vehicle safety apparatus <NUM> attached to airframe <NUM>, at least one propulsive mechanism (for example, a propeller) <NUM> provided in airframe <NUM> and propelling airframe <NUM>, and a plurality of legs <NUM> provided under airframe <NUM>.

<FIG> illustrates expanded paraglider <NUM>. Paraglider <NUM> includes a canopy (a wing-shaped member) <NUM> and canopy <NUM> includes an upper cloth <NUM>, a lower cloth <NUM>, a rib <NUM>, and a side cloth <NUM>. A reinforced cloth made of chemical fibers such as nylon or polyester is used for upper cloth <NUM>, lower cloth <NUM>, rib <NUM>, and side cloth <NUM>.

<FIG> illustrates aerial vehicle <NUM> after paraglider <NUM> is expanded. Upper cloth <NUM> and lower cloth <NUM> have outer edges joined by sewing such that a prescribed space is provided among the upper cloth, the lower cloth, and side cloth <NUM> on opposing sides thereof. As shown in <FIG> and <FIG>, a plurality of ribs <NUM> are provided at prescribed intervals between upper cloth <NUM> and lower cloth <NUM> so as to define a plurality of cells (air chambers) <NUM> by vertically partitioning the prescribed space between upper cloth <NUM> and lower cloth <NUM>. Each of cells <NUM> is filled with air when canopy <NUM> is expanded to hold a wing shape thereof.

Ribs <NUM> are provided with inner air flow holes <NUM>, <NUM>, <NUM>, and <NUM>, and air in cell <NUM> can laterally move in canopy <NUM> through inner air flow holes <NUM>, <NUM>, <NUM>, and <NUM>. An air intake (air inlet) <NUM> is provided in a front portion (front edge) of each cell <NUM> so that air can be taken into each cell <NUM>. <FIG> illustrates only the inside of cell <NUM> on a front side on the sheet plane as being seen through.

An elongated bag-shaped member <NUM> which is foldable or can be wound is inserted in inner air flow hole <NUM>. Being foldable here encompasses, for example, being foldable like bellows and being foldable as being layered by being folded back a plurality of times. Bag-shaped member <NUM> has one end <NUM> (the front side on the sheet plane in <FIG>) joined by sewing to side cloth <NUM> on the front side on the sheet plane in <FIG>, so that air is less likely to escape. Bag-shaped member <NUM> is provided as extending along an inner side of upper cloth <NUM> from a portion of insertion into inner air flow hole <NUM> toward the other end of canopy <NUM> (on a rear side on the sheet plane in <FIG>) (further preferably, joined by sewing to upper cloth <NUM> or lower cloth <NUM>).

A reinforced cloth similar to that for upper cloth <NUM> can be employed for bag-shaped member <NUM>, and in particular, a cloth made of a material resistant to heat or a cloth having an inner surface coated with a heat resistant coating is preferably employed in order to protect the cloth against heat of gas generated by a gas generator <NUM>. Since bag-shaped member <NUM> should withstand sudden inflation resulting from flow-in of gas, it preferably has strength sufficient to withstand a generated gas pressure.

Specifically, for example, nylon <NUM>, nylon <NUM>, nylon <NUM>, nylon <NUM>, nylon <NUM>, nylon <NUM>, copolymerized polyamide of nylon <NUM> and nylon <NUM>, copolymerized polyamide resulting from copolymerization of polyalkylene glycol, dicarboxylic acid, and amine with nylon <NUM>, a polyester-based resin such as polyethylene terephthalate, polybutylene terephthalate, or polytrimethylene terephthalate, a polyacrylic resin, or a polyolefin-based resin such as polypropylene can be used for a fabric of bag-shaped member <NUM>. Among these, polyamide <NUM> excellent in resistance against impact and heat can particularly suitably be used for a fabric of bag-shaped member <NUM>.

For example, various resins such as a silicone-based resin, a polyurethane-based resin, a polyacrylic resin, a polyamide-based resin, a polyester-based resin, a polyolefin-based resin, or a fluoric resin and various types of rubber such as silicone-based rubber, chloroprene-based rubber, or chlorosulfonated polyethylene-based rubber can be used for a coating layer provided to the fabric of bag-shaped member <NUM> for providing heat resistance, and the silicone-based resin is particularly preferably used. By using the silicone-based resin, not only heat resistance but also cold resistance, flame retardancy, and an air cut-off property can be enhanced. A dimethyl silicone resin, a methyl vinyl silicone resin, a methyl phenyl silicone resin, or a fluorosilicone resin is available as such a silicone-based resin. The coating layer preferably further contains a flame-retardant compound. Examples of such a flame retardant compound include a halogen compound containing bromine or chlorine (in particular, halogenated cycloalkane), a platinum compound, antimony oxide, copper oxide, titanium oxide, a phosphorus compound, a thiourea-based compound, carbon, cerium, and silicon oxide, and in particular, a halogen compound, a platinum compound, copper oxide, titanium oxide, or carbon is more preferably used. An appropriate coating layer is preferably selected in accordance with a material for a yarn for making a fabric, and a material securely in intimate contact with warps and wefts is preferred. For example, when yarns are polyamide yarns or polyester yarns, the coating layer is preferably composed of a polyurethane-based resin or a polyacrylic resin.

The other end of bag-shaped member <NUM> may be provided with a hole (not shown) through which excessive air can be discharged to the outside of canopy <NUM> for regulating an internal pressure in bag-shaped member <NUM>. A bag-shaped member in a tubular shape (a shape like a pipe or a cylinder) containing an internal space when it is inflated by gas which flows thereinto is preferably used as bag-shaped member <NUM>.

In cell <NUM> on the front side on the sheet plane in <FIG>, gas generator <NUM> capable of emitting gas into bag-shaped member <NUM> and increasing a pressure in bag-shaped member <NUM> is provided between one end of bag-shaped member <NUM> and the portion of insertion of bag-shaped member <NUM> into inner air flow hole <NUM>.

Gas generator <NUM> contains an igniter and it is of an explosive type further including an enhancer agent, a gas generating agent, and a filter as necessary. An electric circuit in which a power supply <NUM> and a switch <NUM> are connected in series is connected to gas generator <NUM>. This electric circuit is provided inside cell <NUM> on the front side on the sheet plane in <FIG>.

Switch <NUM> includes a positive electrode plate and a negative electrode plate, with an insulator 62a lying between the positive electrode plate and the negative electrode plate. Insulator 62a is coupled to airframe <NUM>, leg <NUM>, aerial vehicle safety apparatus <NUM>, or an injector by a string member (not shown) as a switch controller. Insulator 62a is thus constructed to be pulled out from between the positive electrode plate and the negative electrode plate of switch <NUM> when paraglider <NUM> is ejected and tension is produced in the string member.

Therefore, as insulator 62a is pulled out, the positive electrode plate and the negative electrode plate described above are in contact with each other, switch <NUM> is turned on, and a current flows from the power supply to the electric circuit, so that the igniter is ignited and gas generator <NUM> is activated. The string member described above is variable in length, so that timing of conduction of a current to the igniter can be adjusted as appropriate.

In one modification, gas generator <NUM> may communicatively be connected to an external controller. In that case, instead of the string member, an on and off switch for the power supply is controlled by an electrical signal transmitted from the controller. Alternatively, the power supply may be turned on after lapse of an arbitrary time period by using an integrated circuit (IC) timer representing an electric timer apparatus or a motor and a plurality of gears representing a mechanical timer apparatus.

Timing of activation of gas generator <NUM> may be adjusted by providing a delay charge (an agent that delays ignition of an ignited agent for a prescribed time period) between an ignited agent (combustion agent) in the igniter in gas generator <NUM> and an ignited portion or by electrically causing delayed ignition (intended delayed ignition). Specific examples of the ignited portion include a component including a resistor that converts transmitted electric energy into thermal energy (for example, a bridge wire made of a Nichrome wire) and a current conduction terminal for conducing electricity to the resistor, although it is not shown.

In another modification of gas generator <NUM>, a hybrid type or stored type gas generator in which a sealing plate in a small gas canister is cleaved by an explosive igniter to emit gas in the inside to the outside may be employed. In this case, incombustible gas such as argon, helium, nitrogen, or carbon dioxide or a mixture thereof can be employed as compressed gas in the gas canister. In order to reliably inflate the bag-shaped member at the time of emission of compressed gas, a heat generator composed of a gas generating composition or a thermite composition may be provided in the gas generator.

<FIG> is a diagram showing an exemplary specific construction of the igniter when the igniter in gas generator <NUM> contains a delay charge.

An igniter <NUM> shown in <FIG> mainly includes a plug <NUM>, a pair of terminal pins <NUM>, a holder <NUM>, a cup-shaped member <NUM>, a delay charge <NUM>, and an ignited agent <NUM>. Plug <NUM> and cup-shaped member <NUM> are held by holder <NUM> and a space surrounded by plug <NUM> and cup-shaped member <NUM> is filled with delay charge <NUM> and ignited agent <NUM>.

The pair of terminal pins <NUM> is arranged to pass through holder <NUM> and held by holder <NUM>. One tip ends of the pair of terminal pins <NUM> are connected to plug <NUM>, and the other tip ends of the pair of terminal pins <NUM> are arranged to face a space in cup-shaped member <NUM> without being connected to plug <NUM>. The other tip ends of the pair of terminal pins <NUM> arranged to face the space in cup-shaped member <NUM> are connected to plug <NUM> through a not-shown bridge wire (resistor).

A space on a side of plug <NUM> in the space surrounded by plug <NUM> and cup-shaped member <NUM> is filled with delay charge <NUM> as being layered so as to be in contact with the bridge wire described above. A space on a side of the bottom of cup-shaped member <NUM> in the space surrounded by plug <NUM> and cup-shaped member <NUM> is filled with ignited agent <NUM> as being layered. Delay charge <NUM> and ignited agent <NUM> provided as being layered are in contact with each other in the space in cup-shaped member <NUM>.

By using igniter <NUM> thus constructed, a current conducts to the bridge wire through the pair of terminal pins <NUM>, heat is generated in the bridge wire, delay charge <NUM> is ignited by heat, and thereafter ignited agent <NUM> is ignited by delay charge <NUM> after lapse of a prescribed time period. Thereafter, cup-shaped member <NUM> is broken by a gas pressure generated by burning of ignited agent <NUM>.

Therefore, ignition of ignited agent <NUM> can be delayed by using gas generator <NUM> provided with igniter <NUM> constructed as above.

An igniter <NUM> shown in <FIG> mainly includes a plug <NUM>, a pair of terminal pins <NUM>, a holder <NUM>, a cup-shaped member <NUM>, a first ignited agent <NUM>, a delay charge <NUM>, and a second ignited agent <NUM>. Plug <NUM> and cup-shaped member <NUM> are held by holder <NUM> and a space surrounded by plug <NUM> and cup-shaped member <NUM> is filled with first ignited agent <NUM>, delay charge <NUM>, and second ignited agent <NUM>.

The pair of terminal pins <NUM> is arranged to pass through holder <NUM> and held by holder <NUM>. One tip ends of the pair of terminal pins <NUM> are connected to plug <NUM> and the other tip ends of the pair of terminal pins <NUM> are arranged to face a space in cup-shaped member <NUM> without being connected to plug <NUM>. The other tip ends of the pair of terminal pins <NUM> arranged to face the space in cup-shaped member <NUM> are connected to plug <NUM> through a not-shown bridge wire (resistor).

A space on a side of plug <NUM> in the space surrounded by plug <NUM> and cup-shaped member <NUM> is filled with first ignited agent <NUM> as being layered so as to be in contact with the bridge wire described above. A space on a side of the bottom of cup-shaped member <NUM> in the space surrounded by plug <NUM> and cup-shaped member <NUM> is filled with second ignited agent <NUM> as being layered. A remaining space in the space surrounded by plug <NUM> and cup-shaped member <NUM> (that is, a space between the space filled with first ignited agent <NUM> and the space filled with second ignited agent <NUM>) is filled with delay charge <NUM> as being layered. Delay charge <NUM> provided as being layered is thus in contact with both of first ignited agent <NUM> and second ignited agent <NUM> each provided as being layered in the space in cup-shaped member <NUM>.

By using igniter <NUM> thus constructed, a current conducts to the bridge wire through the pair of terminal pins <NUM>, heat is generated in the bridge wire, first ignited agent <NUM> is ignited by heat, delay charge <NUM> is ignited by first ignited agent <NUM>, and thereafter second ignited agent <NUM> is ignited by delay charge <NUM> after lapse of a prescribed time period. Thereafter, cup-shaped member <NUM> is broken by a gas pressure generated by burning of second ignited agent <NUM>.

Therefore, by using gas generator <NUM> provided with igniter <NUM> constructed as above, ignition of second ignited agent <NUM> can be delayed. Since igniter <NUM> constructed as above includes first ignited agent <NUM> between the bridge wire and delay charge <NUM>, it is different from igniter <NUM> described above in that the igniter can reliably be activated even when delay charge <NUM> low in ignitability is employed.

The delay charge is composed of a composition serving to transmit thermal energy converted in the igniter from electric energy input to the igniter to the combustion agent with a time lag while maintaining the thermal energy. Normally, though the delay charge is often composed of an oxidizer composed of at least one composition selected from the group consisting of various oxides and various peroxides and a reducing agent composed of at least one composition selected from the group consisting of various simple substances of metal, various metal nitrides, various metal silicon compounds, various metal fluorine compounds, various metal sulfides, and various metal phosphorus compounds, an agent composed similarly to a general gas generating agent can also be employed as the delay charge.

The gas generating agent which can be employed as the delay charge contains a reducing agent composed of organic salt, an oxidizer composed of various oxides or peroxides, and various additives. For the reducing agent, for example, a triazole derivative, a tetrazole derivative, a guanidine derivative, an azodicarbonamide derivative, a hydrazine derivative, or the like, or combination thereof is made use of. Specifically, for example, nitroguanidine, guanidine nitrate, cyanoguanidine, <NUM>-aminotetrazole, and the like are suitably made use of. As the oxidizing agent, for example, basic nitrate such as basic copper nitrate, perchlorate such as ammonium perchlorate or potassium perchlorate, nitrate containing cations selected from an alkali metal, an alkali earth metal, a transition metal, and ammonia, or the like is made use of. As the nitrate, for example, sodium nitrate, potassium nitrate, or the like is suitably made use of. As the additive, a binder, a slag formation agent, a combustion modifier, or the like is exemplified. As the binder, for example, metal salt of carboxymethyl cellulose and an organic binder such as stearate, or an inorganic binder such as synthetic hydrotalcite and Japanese acid clay can suitably be made use of. As the slag formation agent, silicon nitride, silica, Japanese acid clay, or the like can suitably be made use of. As the combustion modifier, a metal oxide, ferrosilicon, activated carbon, graphite, or the like can suitably be made use of. Single-base powder, double-base powder, or triple-base powder mainly composed of nitrocellulose may be employed.

By using an ignition delay mechanism (control mechanism) according to each construction described above, timing of expansion of paraglider <NUM> can appropriately and accurately be controlled by delaying ignition of the igniter for a prescribed time period.

Actuator <NUM> as the ejection mechanism and the control mechanism described above simultaneously receive an activation signal. Actuator <NUM> is activated immediately whereas the control mechanism controls operations of gas generator <NUM> such that paraglider <NUM> is driven by gas generator <NUM> and bag-shaped member <NUM> after actuator <NUM> starts ejection of paraglider <NUM>. Bag-shaped member <NUM> and gas generator <NUM> described above correspond to the drive mechanism that drives paraglider <NUM> as an expandable object (safety mechanism) (more specifically, the expansion mechanism that expands paraglider <NUM>), and of these, gas generator <NUM> functions as the drive unit serving as a drive source of paraglider <NUM>.

A mechanism that delays timing of conduction of a current to gas generator <NUM> from a time point of start of ejection of paraglider <NUM> by actuator <NUM> among the ignition delay mechanisms according to the constructions described above falls under an activation delay mechanism. In a mechanism that delays timing of start of burning of the ignited agent by using the delay charge, on the other hand, timing of conduction of a current to gas generator <NUM> is simultaneous with the time point of start of ejection of paraglider <NUM> by actuator <NUM>. In any case, however, gas is emitted from gas generator <NUM> at timing delayed as compared with the time point of start of ejection of paraglider <NUM> by actuator <NUM>.

Since expansion of paraglider <NUM> is thus basically started after ejection of paraglider <NUM> is completed and paraglider <NUM> is distant to such an extent as not interfering with propulsive mechanism <NUM> provided in aerial vehicle <NUM> or other portions, ejection of paraglider <NUM> is not interfered and paraglider <NUM> can reliably be expanded.

Canopy <NUM> of expanded paraglider <NUM> shown in <FIG> and <FIG> is foldable by any of three methods below.

The first method is a method of winding up canopy <NUM> such that a portion of canopy <NUM> in the rear on the sheet plane in <FIG> faces inward while each cell <NUM> is evacuated. The second method is a method of folding canopy <NUM> as being collapsed in a longitudinal direction by evacuating each cell <NUM> such that each cell <NUM> is collapsed sequentially from the rear side of canopy <NUM> on the sheet plane in <FIG>. The third method is a method of folding canopy <NUM> sequentially by bending canopy <NUM> as being layered while each cell <NUM> is evacuated such that each cell <NUM> is collapsed sequentially from the rear side of canopy <NUM> on the sheet plane in <FIG>.

Canopy <NUM> wound up or folded by any method described above is expanded by activation of gas generator <NUM> after ejection of paraglider <NUM> into air (more strictly, emission of gas from gas generator <NUM> after ejection of paraglider <NUM> into air).

More specifically, as gas is emitted from gas generator <NUM> after lapse of a prescribed time period since the time point of start of ejection of paraglider <NUM> by actuator <NUM>, gas flows into bag-shaped member <NUM> so that bag-shaped member <NUM> is inflated and inflation of folded bag-shaped member <NUM> is started. Inflation of cell <NUM> in canopy <NUM> in a portion where gas generator <NUM> is contained is thus started. Since a negative pressure is developed in the inside of cell <NUM>, outside air is taken through air intake <NUM> into the cell, and cell <NUM> on the front side on the sheet plane in <FIG> is continuously inflated to a prescribed shape.

In succession, gas generated in gas generator <NUM> further flows into bag-shaped member <NUM> and bag-shaped member <NUM> is further inflated and stretched. Then, adjacent cell <NUM> is successively inflated by taking in outside air through each air intake <NUM> sequentially from cell <NUM> provided with gas generator <NUM> therein, and cell <NUM> in the rear on the sheet plane in <FIG> is finally expanded.

A shape like canopy <NUM> shown in <FIG> is thus formed in an early stage from the time point of activation of gas generator <NUM>. In consideration of efficiency in expansion, gas generator <NUM> is disposed more preferably at a position around the center of bag-shaped member <NUM> arranged along the longitudinal direction of paraglider <NUM>.

When canopy <NUM> is wound up by the first method described above, bag-shaped member <NUM> is expanded in accordance with the principles similar to those in blowing of a blowout as a toy by a person, and canopy <NUM> is accordingly also expanded in a similar manner.

Paraglider <NUM> expanded as described above is coupled to a main body of aerial vehicle safety apparatus <NUM> by a plurality of lines <NUM> coupled to opposing sides of canopy <NUM> and a lower portion of canopy <NUM> as shown in <FIG>. By winding up or unwinding each line <NUM> by using a motor (not shown) provided separately in aerial vehicle safety apparatus <NUM>, tension to each line <NUM> can be applied or relaxed, so that a direction of travel of paraglider <NUM> can also be manipulated by giving an instruction to control the motor (not shown) as appropriate by remote control.

As set forth above, according to the present embodiment, an aerial vehicle safety apparatus simplified in structure and being capable of achieving a shorter time period for expansion of paraglider <NUM> and expanding paraglider <NUM> with an extremely smaller amount of gas than in a conventional example and an aerial vehicle including the same can be provided.

Since gas generator <NUM> is of the explosive type containing the igniter in the present embodiment, gas can instantaneously be generated and a speed of expansion of paraglider <NUM> can be increased.

Though an example in which bag-shaped member <NUM> is in a shape of a single elongated tube is illustrated in the present embodiment, limitation thereto is not intended. For example, the bag-shaped member may include a plurality of tubular portions formed radially or in grids such that communication through the inside is established. By running the plurality of tubular portions throughout the inside of the canopy, the plurality of tubular portions can be inflated by gas generated in the gas generator so that the paraglider in a wound or folded state can more readily be expanded.

Though an example in which bag-shaped member <NUM> is inflated by a single gas generator is illustrated in the present embodiment, bag-shaped member <NUM> may be inflated by a plurality of gas generators. In particular, when the plurality of tubular portions are provided in the bag-shaped member as described above, a volume of the bag-shaped member is accordingly also increased. Therefore, by inflating the bag-shaped member by using a plurality of gas generators, a speed of expansion of the paraglider can be increased.

An aerial vehicle safety apparatus including a parachute as an expandable object and an aerial vehicle including the same will now be described as a first modification.

<FIG> is a schematic front view of a state of an aerial vehicle <NUM> including an aerial vehicle safety apparatus <NUM> according to the first modification after a parachute <NUM> is expanded and <FIG> is a schematic diagram showing an inner construction after parachute <NUM> shown in <FIG> is expanded. Since features in <FIG> and <FIG> identical in reference numerals in last two digits to the features shown in <FIG> are basically the same as those described with reference to <FIG>, description thereof may not be provided.

As shown in <FIG>, though aerial vehicle safety apparatus <NUM> according to the present modification is substantially similar in construction to aerial vehicle safety apparatus <NUM> according to the first embodiment, it includes parachute <NUM> instead of paraglider <NUM>.

As shown in <FIG> and <FIG>, parachute <NUM> includes a chute <NUM> foldable to be stored in a housing <NUM>, a bag-shaped member <NUM> provided on an inner surface 140a of chute <NUM>, and a gas generator <NUM> capable of supplying gas into bag-shaped member <NUM>. Bag-shaped member <NUM> and gas generator <NUM> may be provided on an outer surface of chute <NUM>.

Chute <NUM> can be made of a material the same as that for the canopy in the first embodiment, and it is one of components that constitute a parachute that can suppress a speed of falling of an object (aerial vehicle <NUM> here) to which the chute is attached. Chute <NUM> is connected to housing <NUM> by a line <NUM>.

Bag-shaped member <NUM> is inflatably bonded or sewn to inner surface 140a of chute <NUM> as being foldable before being expanded, similarly to chute <NUM>. Bag-shaped member <NUM> is constructed to be tubular (like a pipe or a cylinder) in a cross shape as shown in <FIG> when it is inflated by flow-in of gas from gas generator <NUM>. Parachute <NUM> is constructed to be expanded with inflation of folded bag-shaped member <NUM>.

Though an example in which inflated bag-shaped member <NUM> is in a cross shape is illustrated in the present modification, limitation thereto is not intended. The shape of the inflated bag-shaped member may be, for example, such that a plurality of tubular portions further extend from the center radially or in grids.

Gas generator <NUM> is similar to gas generator <NUM> in the first embodiment described above and provided around the center of bag-shaped member <NUM>. Though not shown, also in the present modification, gas generator <NUM> is connected to an electric circuit similar to that in the first embodiment described above.

According to the present modification constructed as such, a function and effect the same as in the first embodiment can be obtained.

An aerial vehicle safety apparatus including an air bag as an expandable object and an aerial vehicle including the same will now be described as a second modification.

<FIG> is a schematic front view showing a state of an aerial vehicle <NUM> including an aerial vehicle safety apparatus <NUM> according to the second modification after an air bag <NUM> is expanded. Since features in <FIG> identical in reference numerals in last two digits to the features shown in <FIG> are basically the same as those described with reference to <FIG>, description thereof may not be provided.

As shown in <FIG>, aerial vehicle <NUM> includes an air bag apparatus <NUM> that inflates air bag <NUM> by a gas pressure generated based on an operation of a gas generator (not shown). Air bag apparatus <NUM> is provided under an airframe <NUM> in a normal position as being opposed to a main body of aerial vehicle safety apparatus <NUM> provided on airframe <NUM> in the normal position, with airframe <NUM> being interposed.

On an inner side in a lower portion of air bag <NUM>, a bag-shaped member <NUM> similar to bag-shaped member <NUM> in the first modification and a gas generator <NUM> capable of supplying gas into bag-shaped member <NUM> are provided. In the present modification, bag-shaped member <NUM> is similar in its expanded shape to bag-shaped member <NUM> in the first modification, and the shape can also be varied as appropriate to a radial fashion or grids. Bag-shaped member <NUM> and gas generator <NUM> may be provided on the outer side of air bag <NUM>. Air bag <NUM> and bag-shaped member <NUM> are similar in material to paraglider <NUM> and bag-shaped member <NUM> in the first embodiment.

Aerial vehicle safety apparatus <NUM> according to the present modification thus constructed can achieve a function and effect below.

In aerial vehicle safety apparatus <NUM> according to the present modification, bag-shaped member <NUM> can be inflated by operating gas generator <NUM> after an operation of ordinary air bag apparatus <NUM> is initiated. Therefore, a portion in air bag <NUM> where bag-shaped member <NUM> is provided can be expanded more quickly than other portions. Thus, expanding force of air bag <NUM> resulting from inflation of bag-shaped member <NUM> can be added to original expanding force of air bag <NUM> in air bag apparatus <NUM>. Therefore, a structure can be simplified, a time period for expanding air bag <NUM> can be reduced, and air bag <NUM> can be expanded with an extremely smaller amount of gas than in a conventional example.

Since expansion of air bag <NUM> is basically started after ejection of air bag <NUM> is completed and air bag <NUM> is distant to such an extent as not interfering with a leg <NUM> provided in aerial vehicle <NUM> or other portions, ejection of air bag <NUM> is not interfered and air bag <NUM> can reliably be expanded.

Referring now to <FIG>, <FIG>, and <FIG>, in the present embodiment, the above-described opening end where an opening of housing <NUM> of aerial vehicle safety apparatus <NUM> is provided, which is a portion for ejection of paraglider <NUM>, is disposed at a position higher than propulsive mechanism <NUM> of aerial vehicle <NUM> in the direction of height in which piston <NUM> as the moving member moves.

According to such a construction, since the opening of aerial vehicle safety apparatus <NUM> is provided at a position higher than propulsive mechanism <NUM> in the direction of height (the vertical direction on the sheet plane in <FIG> and <FIG>) of aerial vehicle safety apparatus <NUM>, paraglider <NUM> is prevented from being entangled with or caught by a component such as propulsive mechanism <NUM> of aerial vehicle <NUM> and paraglider <NUM> can further reliably be expanded.

According to the present embodiment, a mechanism for ejecting paraglider <NUM> of aerial vehicle safety apparatus <NUM> and a mechanism for expanding paraglider <NUM> of aerial vehicle safety apparatus <NUM> do not have to be controlled through two independent channels but can be controlled through a single channel. Therefore, a configuration of the controller can be simplified. Consequently, an aerial vehicle safety apparatus reduced in weight can be obtained.

An aerial vehicle safety apparatus and an aerial vehicle including the same according to a second embodiment will now be described. The aerial vehicle safety apparatus according to the second embodiment includes a paraglider as an expandable object.

<FIG> is a schematic front view of an aerial vehicle <NUM> including an aerial vehicle safety apparatus <NUM> according to the second embodiment. As shown in <FIG>, aerial vehicle <NUM> includes an airframe <NUM>, at least one propulsive mechanism (for example, a propeller) <NUM> that is provided in airframe <NUM> and propels airframe <NUM>, a plurality of legs <NUM> provided under airframe <NUM>, and aerial vehicle safety apparatus <NUM>. Aerial vehicle safety apparatus <NUM> is provided in airframe <NUM>.

<FIG> is a schematic cross-sectional view of aerial vehicle safety apparatus <NUM> shown in <FIG>. As shown in <FIG>, aerial vehicle safety apparatus <NUM> includes a first ejector <NUM> and a second ejector <NUM>. First ejector <NUM> is capable of ejecting a paraglider <NUM> and second ejector <NUM>, and second ejector <NUM> is capable of ejecting paraglider <NUM>.

First ejector <NUM> is formed in airframe <NUM> (see <FIG>) and includes an actuator <NUM>. Actuator <NUM> includes a gas generator <NUM> including a cup-shaped case <NUM> that accommodates an ignition agent (not shown), a piston <NUM> including a recess <NUM> and a piston head <NUM> formed integrally with recess <NUM>, and a cylindrical housing <NUM> with bottom that accommodates piston <NUM> and restricts a direction of propulsion of piston <NUM>. Second ejector <NUM> is arranged on piston head <NUM> as being ejectable.

Gas generator <NUM> is provided in recess <NUM>. A gas discharge opening is provided at a tip end of gas generator <NUM> and the gas generator can generate in recess <NUM>, gas serving as propelling power for ejecting piston <NUM> in a direction shown with an arrow in <FIG> by ignition by an electrical signal. Though not shown, a sealing member such as an O ring may be provided between recess <NUM> and an outer wall of gas generator <NUM> for preventing gas leakage at the time of activation.

Second ejector <NUM> includes an actuator <NUM> and is coupled to first ejector <NUM> or airframe <NUM> of aerial vehicle <NUM> by a lead wire <NUM> (see <FIG>) through which a current can conduct. Lead wire <NUM> is used for transmission of an activation signal from a controller <NUM> (see <FIG>) which will be described later to second ejector <NUM> and/or suspension of aerial vehicle <NUM> after ejection of second ejector <NUM>. Lead wire <NUM> is preferably a wire made of a conductive material high in strength such as a steel wire or a wire having a wire rope structure and having a core portion made of a conductive material.

Actuator <NUM> includes a gas generator <NUM> including a cup-shaped case <NUM> that accommodates an ignition agent (not shown), a piston <NUM> including a recess <NUM> and a piston head <NUM> formed integrally with recess <NUM>, and a cylindrical housing <NUM> with bottom that accommodates piston <NUM> and restricts a direction of propulsion of piston <NUM>.

Paraglider <NUM> is arranged on piston head <NUM> and accommodated in housing <NUM> as being coupled to housing <NUM> of second ejector <NUM> by a coupling member <NUM> (see <FIG>). At least one of coupling members <NUM> preferably includes a steel wire in consideration of strength and its role as a current conduction line to a gas generator 386b (see <FIG>) which will be described later.

Paraglider <NUM> includes a bag-shaped member 386a (see <FIG> and <FIG>) provided inside or outside a main body (that is, a canvas member or the like) of paraglider <NUM> along a surface of the main body of paraglider <NUM> and gas generator 386b (see <FIG>) capable of allowing gas to flow into bag-shaped member 386a. Bag-shaped member 386a and gas generator 386b are main components of a mechanism for expanding paraglider <NUM>.

Bag-shaped member 386a is similar to bag-shaped member <NUM> in the first embodiment, and constructed to be foldable or wound together with or separately from the main body of paraglider <NUM>. Bag-shaped member 386a is constructed to be inflated when gas generated by gas generator 386b flows thereinto and thus to quickly expand the main body of paraglider <NUM>. Though examples of bag-shaped member 386a include a bag-shaped member which becomes tubular when it is inflated, any bag-shaped member is applicable so long as the bag-shaped member can quickly expand the main body of paraglider <NUM>.

Gas generator 386b includes a delay apparatus 386c (see <FIG>) capable of delaying time of activation of gas generator 386b to prescribed time after reception of an activation signal. Examples of delay apparatus 386c include an explosive type timer apparatus that incorporates a delay charge in an igniter to adjust timing of ignition similarly to what is called a delay electric detonator, a mechanical timer apparatus that uses a motor and a plurality of gears to adjust timing, and an electric timer apparatus that incorporates an electric IC timer together with a secondary battery.

Aerial vehicle safety apparatus <NUM> includes an abnormality detection apparatus <NUM> (see <FIG>) including an acceleration sensor that detects an abnormal condition of aerial vehicle <NUM>.

<FIG> is a functional block diagram of aerial vehicle safety apparatus <NUM> in aerial vehicle <NUM> shown in <FIG>. A functional configuration of abnormality detection apparatus <NUM> will now be described. As shown in <FIG>, abnormality detection apparatus <NUM> includes a sensor (sensing unit) <NUM> and a controller (a computer including a central processing unit (CPU), a read only memory (ROM), and a random access memory (RAM)) <NUM>, and it is electrically connected to an igniter (not shown in <FIG>) in gas generator <NUM> of first ejector <NUM> and an igniter (not shown in <FIG>) in gas generator <NUM> of second ejector <NUM> and electrically connected to an igniter (not shown in <FIG>) in gas generator 386b of paraglider <NUM> with delay apparatus 386c being interposed.

Sensor <NUM> senses a state of flight (including collision and crash) of aerial vehicle <NUM>. Specifically, sensor <NUM> is implemented by at least one selected, for example, from among an acceleration sensor, a gyro sensor, a barometric pressure sensor, a laser sensor, and an ultrasonic sensor, and can obtain data on a state of flight of aerial vehicle <NUM> such as a speed, an acceleration, an inclination, an altitude, and a position of aerial vehicle <NUM>.

Controller <NUM> includes a sensor abnormality sensing unit <NUM>, a calculator <NUM>, and a notification unit <NUM> as a functional configuration. Sensor abnormality sensing unit <NUM>, calculator <NUM>, and notification unit <NUM> are functionally implemented by execution of a prescribed program by controller <NUM>.

Sensor abnormality sensing unit <NUM> senses an abnormal state of sensor <NUM>. Sensor abnormality sensing unit <NUM> senses whether or not sensor <NUM> can normally operate.

Calculator <NUM> determines whether or not a state of flight of aerial vehicle <NUM> is abnormal based on data obtained by actual measurement by sensor <NUM>. Specifically, calculator <NUM> determines whether or not aerial vehicle <NUM> has received impact (or makes determination as to collision) or predicts crash of aerial vehicle <NUM>. When calculator <NUM> determines that the state of flight of aerial vehicle <NUM> is abnormal, it outputs an abnormality signal (which may also include an instruction signal for starting up or activating other equipment) to the outside. An abnormality signal output unit may be provided separately from calculator <NUM>, and the abnormality signal output unit may output an abnormality signal in response to an instruction from calculator <NUM>.

When sensor abnormality sensing unit <NUM> senses an abnormal condition of sensor <NUM>, notification unit <NUM> gives a manager a notification to the effect that the abnormal condition of sensor <NUM> has been sensed.

Operations by abnormality detection apparatus <NUM> in the present embodiment configured as described above will now be described and a state of activation of the aerial vehicle safety apparatus in the aerial vehicle shown in <FIG> will also be described together. <FIG> is a diagram for illustrating a state of activation of aerial vehicle safety apparatus <NUM> in aerial vehicle <NUM> shown in <FIG>.

Initially, sensor abnormality sensing unit <NUM> conducts an abnormality test of sensor <NUM>. Specifically, sensor abnormality sensing unit <NUM> conducts a test as to whether or not an acceleration sensor that measures an acceleration of aerial vehicle <NUM> normally operates.

When it is determined that the sensor is abnormal as a result of the test, sensor abnormality sensing unit <NUM> gives an error notification to a manager and quits its operation. When it is determined that there is no abnormality as a result of the test, calculator <NUM> reads data actually obtained by sensor <NUM>.

When calculator <NUM> determines that the state of flight of aerial vehicle <NUM> is not abnormal based on the data obtained by actual measurement by sensor <NUM>, in succession, it reads data actually obtained by sensor <NUM>.

When calculator <NUM> determines that the state of flight of aerial vehicle <NUM> is abnormal based on the obtained data, it outputs a safety apparatus start-up signal (an abnormality signal) to gas generator <NUM> in first ejector <NUM> of aerial vehicle safety apparatus <NUM>.

First ejector <NUM> is started up by receiving the safety apparatus start-up signal. Thus, as shown in <FIG>, piston <NUM> is propelled by gas generated by gas generator <NUM>, and thus second ejector <NUM> is directly driven out and instantaneously ejected to a position distant from propulsive mechanism <NUM> outside airframe <NUM>. The opening end where the opening of housing <NUM> is provided is closed by a lid <NUM> (see <FIG>) in the initial state, and lid <NUM> is removed from the opening end as second ejector <NUM> is driven out.

In succession, after lapse of a prescribed time period or at the time point when second ejector <NUM> reaches the position shown in <FIG>, calculator <NUM> simultaneously outputs the safety apparatus start-up signal (abnormality signal) to gas generator <NUM> in second ejector <NUM> of aerial vehicle safety apparatus <NUM> and gas generator 386b of paraglider <NUM>.

Second ejector <NUM> is started up by receiving the safety apparatus start-up signal. Thus, as piston <NUM> is propelled by gas generated by gas generator <NUM>, paraglider <NUM> is directly driven out and ejected. The opening end where the opening of housing <NUM> is provided is closed by a lid <NUM> (see <FIG>) in the initial state, and lid <NUM> is removed from the opening end as paraglider <NUM> is driven out.

Gas generator 386b of paraglider <NUM> which has received the safety apparatus start-up signal simultaneously with second ejector <NUM> is started up after lapse of a prescribed time period owing to the function of delay apparatus 386c, and allows gas to flow into bag-shaped member 386a by generating gas. Bag-shaped member 386a is thus inflated to a tubular shape and accordingly paraglider <NUM> is quickly expanded.

Thus, according to the present embodiment, first ejector <NUM>, second ejector <NUM>, and the mechanism for expanding paraglider <NUM> do not have to be controlled through three independent channels but can be controlled through two channels. Therefore, the configuration of controller <NUM> can be simplified. Consequently, an aerial vehicle safety apparatus reduced in weight can be obtained. By incorporating the delay apparatus not only in gas generator 386b of paraglider <NUM> but also in gas generator <NUM> of second ejector <NUM>, first ejector <NUM>, second ejector <NUM>, and the mechanism for expanding paraglider <NUM> can also be controlled through a single channel and further reduction in weight can be achieved.

According to the present embodiment, first ejector <NUM> can eject second ejector <NUM> to a prescribed position and thereafter second ejector <NUM> can eject paraglider <NUM> into air at that position and expand the paraglider. Therefore, paraglider <NUM> is prevented from being entangled with or caught by each component such as propulsive mechanism <NUM> of aerial vehicle <NUM> and paraglider <NUM> can reliably be expanded.

An aerial vehicle safety apparatus and an aerial vehicle including the same according to a third embodiment will now be described. The aerial vehicle safety apparatus according to the third embodiment includes a paraglider as an expandable object. Since features in the present embodiment identical in reference numerals in last two digits to the features shown in <FIG> described previously are basically the same as those described with reference to <FIG>, description thereof may not be provided. Other features in the present embodiment are the same as in the second embodiment described above, unless otherwise specified.

<FIG> is a schematic front view of an aerial vehicle <NUM> including an aerial vehicle safety apparatus <NUM> according to the third embodiment, and <FIG> is a schematic cross-sectional view of aerial vehicle safety apparatus <NUM> shown in <FIG>. As shown in <FIG> and <FIG>, aerial vehicle <NUM> includes aerial vehicle safety apparatus <NUM> different in construction from aerial vehicle safety apparatus <NUM> according to the second embodiment.

Though aerial vehicle safety apparatus <NUM> includes the second ejector substantially the same in construction as second ejector <NUM> in aerial vehicle safety apparatus <NUM>, it is different in that a drogue chute (draw-out parachute) ejector <NUM> (corresponding to the first ejector) is provided on a paraglider <NUM>.

Drogue chute ejector <NUM> can eject a drogue chute <NUM> (see <FIG>). An ejection mechanism similar to second ejector <NUM> in aerial vehicle safety apparatus <NUM> can be employed as a mechanism for ejecting drogue chute <NUM> in drogue chute ejector <NUM>. Drogue chute <NUM> is coupled to paraglider <NUM> by a string member <NUM> (see <FIG>). From a point of view of strength, string member <NUM> is preferably made of reinforced fibers such as polyamide fibers or polyester fibers or metal fibers such as a steel wire.

Operations of aerial vehicle <NUM> including aerial vehicle safety apparatus <NUM> constructed as described above will now be described. <FIG> is a diagram for illustrating a state of activation of aerial vehicle safety apparatus <NUM> in aerial vehicle <NUM> shown in <FIG>.

When an abnormality detection apparatus configured similarly to abnormality detection apparatus <NUM> in the embodiment described above detects occurrence of an abnormal condition in aerial vehicle <NUM>, the abnormality detection apparatus outputs a start-up signal for drogue chute ejector <NUM>.

Drogue chute ejector <NUM> is started up by receiving the start-up signal. Drogue chute <NUM> is thus ejected to the outside as shown in <FIG>. A lid <NUM> (see <FIG>) is removed from a container <NUM> by propelling power of drogue chute <NUM>.

After lapse of a prescribed time period since start-up of drogue chute ejector <NUM>, the abnormality detection apparatus outputs a safety apparatus start-up signal simultaneously to a gas generator <NUM> (see <FIG>) of the second ejector of aerial vehicle safety apparatus <NUM> and a gas generator of paraglider <NUM> (similar to gas generator 386b in the second embodiment described above).

The second ejector of aerial vehicle safety apparatus <NUM> is started up by receiving the safety apparatus start-up signal and ejects paraglider <NUM>. Since drogue chute <NUM> has previously been ejected, paraglider <NUM> is quickly drawn out by drogue chute <NUM> with string member <NUM> being interposed.

The gas generator of paraglider <NUM> which has received the safety apparatus start-up signal simultaneously with the second ejector of aerial vehicle safety apparatus <NUM> is started up, for example, in a state shown in <FIG> after lapse of a prescribed time period owing to a function of a delay apparatus (similar to delay apparatus 386c in the second embodiment described above), and allows gas to flow into a bag-shaped member 486a. Bag-shaped member 486a is thus inflated and paraglider <NUM> is quickly expanded as shown in <FIG>.

Thus, according to the present embodiment, the mechanism for ejecting paraglider <NUM> of aerial vehicle safety apparatus <NUM> and the mechanism for expanding paraglider <NUM> (mainly including bag-shaped member 486a and the gas generator) do not have to be controlled through two independent channels but can be controlled through a single channel. Therefore, the configuration of the controller can be simplified. Consequently, the aerial vehicle safety apparatus can be reduced in weight.

According to the present embodiment, drogue chute <NUM> is ejected in advance so that paraglider <NUM> can quickly be drawn to a prescribed position while it is ejected and thereafter paraglider <NUM> can be expanded at that position. Therefore, paraglider <NUM> is prevented from being entangled with or caught by each component such as propulsive mechanism <NUM> of aerial vehicle <NUM> and paraglider <NUM> can reliably be expanded.

An aerial vehicle safety apparatus including a paraglider and an air bag as objects to be expanded and an aerial vehicle including the same will now be described as a third modification.

<FIG> is a schematic front view showing a state of an aerial vehicle <NUM> including an aerial vehicle safety apparatus <NUM> according to the third modification after an air bag <NUM> is expanded. Since features in <FIG> identical in reference numerals in last two digits to the features shown in <FIG> are basically the same as those described with reference to <FIG>, description thereof may not be provided.

As shown in <FIG>, unlike aerial vehicle safety apparatus <NUM> according to the first embodiment, aerial vehicle safety apparatus <NUM> according to the present modification has a main body provided under an airframe <NUM> of aerial vehicle <NUM> in a normal position and an air bag apparatus <NUM> which is a part of aerial vehicle safety apparatus <NUM> is further provided above airframe <NUM> in the normal position so as to be opposed to the main body of aerial vehicle safety apparatus <NUM> provided under airframe <NUM> in the normal position with airframe <NUM> being interposed.

Air bag apparatus <NUM> includes air bag <NUM> and a gas generator and inflates air bag <NUM> by a gas pressure generated based on an ignition operation by the gas generator. Any gas generator is applicable so long as it is capable of supplying gas into the air bag and it may be of an explosive type including an igniter or of a canister type instead.

The main body of aerial vehicle safety apparatus <NUM> is similar to that of aerial vehicle safety apparatus <NUM> according to the embodiment and constructed to be able to eject a paraglider.

According to such a construction, when an abnormality detection apparatus mounted on air bag apparatus <NUM> determines a state of flight of aerial vehicle <NUM> as being abnormal based on data obtained by actual measurement by a sensor (not shown), a safety apparatus start-up signal is output from the abnormality detection apparatus configured similarly to abnormality detection apparatus <NUM> described above to the gas generator of air bag apparatus <NUM> to thereby activate the gas generator.

As the gas generator is activated, air bag <NUM> is ejected by the gas pressure generated by the gas generator and inflated. In the event of falling of aerial vehicle <NUM>, an obstacle and a mounted object and in particular a pedestrian can thus be protected.

When the abnormality detection apparatus mounted on air bag apparatus <NUM> determines the state of flight of aerial vehicle <NUM> as not being abnormal based on data obtained by actual measurement by the sensor (not shown), the abnormality detection apparatus does not output the safety apparatus start-up signal to the gas generator.

Thus, when an abnormality detection apparatus is provided in air bag apparatus <NUM>, an erroneous operation of air bag apparatus <NUM> can more reliably be prevented. Therefore, reliability in an aspect of safety of air bag apparatus <NUM> can be improved. Other functions and effects are the same as in aerial vehicle safety apparatus <NUM> described above.

An aerial vehicle safety apparatus including a paraglider and an air bag as objects to be expanded and an aerial vehicle including the same will now be described as a fourth modification.

<FIG> is a schematic front view showing a state of an aerial vehicle <NUM> including an aerial vehicle safety apparatus <NUM> according to the fourth modification after an air bag <NUM> is expanded. Since features in <FIG> identical in reference numerals in last two digits to the features shown in <FIG> are basically the same as those described with reference to <FIG>, description thereof may not be provided.

As shown in <FIG>, unlike aerial vehicle safety apparatus <NUM> according to the first embodiment, aerial vehicle safety apparatus <NUM> according to the present modification has an air bag apparatus <NUM> which is a part of aerial vehicle safety apparatus <NUM> provided under an airframe <NUM> in a normal position as being opposed to a main body of aerial vehicle safety apparatus <NUM> provided on airframe <NUM> of aerial vehicle <NUM> in the normal position, with airframe <NUM> being interposed.

As the gas generator is activated, air bag <NUM> is ejected by the gas pressure generated by the gas generator and inflated. In the event of falling of aerial vehicle <NUM>, an obstacle and a mounted object and in particular a pedestrian can thus be protected. In the present modification, various devices often provided under airframe <NUM> can also be protected by air bag <NUM>.

From a point of view of securing safety in the event of falling of an unmanned aircraft, various laws and regulations have recently been developed in each country. One of such laws and regulations is restriction of an impact value at the time of collision of an unmanned aircraft with some kind of an object in the event of falling to a prescribed value or smaller. The upper limit of the allowable impact value may be restricted, for example, to be smaller than <NUM> [J] although the value is different from country to country.

In order to lower a speed of an aerial vehicle so as to achieve the impact value smaller than <NUM> [J], the aerial vehicle should be decelerated to satisfy relation of <NUM> [J] > (<NUM>/<NUM>)×m×V<NUM> where m [kg] represents a total weight of an aerial vehicle including an aerial vehicle safety apparatus and v [m/s] represents a speed of the aerial vehicle when it falls. Therefore, when a total weight m is not lighter than <NUM> [kg] and not heavier than <NUM> [kg], the aerial vehicle should be decelerated in an early stage such that the speed of the aerial vehicle is from <NUM> [m/s] to at most <NUM> [m/s] in accordance with the total weight.

Therefore, the aerial vehicle safety apparatus and the aerial vehicle including the same according to the first to third embodiments and the first to fourth modifications described above should importantly be designed to achieve lowering in speed by expanding an expandable object such as a parachute or a paraglider in the early stage.

As described above, from a point of view of deceleration of the aerial vehicle without delay, a time period from a time point of ejection by the ejection apparatus until start of expansion of the expandable object is preferably shorter and the time period is preferably within ten seconds, more preferably within eight seconds, further preferably within five seconds, or within three seconds or one second in some cases. Since the time period from start of ejection of the expandable object until completion of expansion is different depending on a length of a coupling member (that is, a line or a cord) connecting the expandable object and the aerial vehicle to each other or a total weight of the aerial vehicle, timing of start of expansion of the expandable object should accordingly be adjusted as appropriate.

An example in which an expandable object such as a parachute or a paraglider is expanded at once from the non-expanded state where the expandable object is wound or folded is illustrated and described in connection with the aerial vehicle safety apparatus and the aerial vehicle including the same according to the first to third embodiments and the first to fourth modifications described above. When the construction is as such, however, excessively large impact applied to the aerial vehicle in expansion of the expandable object is also a concern.

Therefore, impact applied to the aerial vehicle can also be mitigated by constructing the expandable object so as to be expanded in multiple stages by providing a plurality of objects to be expanded and varying timing of expansion thereof or by dividing a single expandable object into areas that can be expanded in one expansion and expanding these areas at different timing. From a point of view of achieving both of mitigation of impact applied to the aerial vehicle and simplification of an apparatus construction, the expandable object is preferably constructed so as to be expanded in two or three stages.

Though an example in which the sensor abnormality sensing unit, the calculator, and the notification unit are functionally implemented by software is illustrated in the embodiments and the modifications thereof described above, limitation thereto is not intended and they may be implemented by hardware.

Though an example in which an explosive type gas generator is mainly employed as the gas generator is illustrated in the embodiments and the modifications thereof described above, a gas generator of another type such as a canister type may be employed. A micro gas generator (MGG) or a squib structured such that a gas discharge opening is provided by increase in internal pressure by gas generated at the time of activation may be employed instead of the gas generator described above as the gas generator of another explosive type different from the explosive type gas generator described above.

Characteristic features shown in the embodiments and the modifications thereof described above can be combined with one another.

Though an aerial vehicle safety apparatus including at least any of a parachute, a paraglider, and an air bag as the safety mechanism is illustrated in the embodiments and the modifications thereof described above, the safety mechanism is not limited thereto and the present invention is applicable to an aerial vehicle safety apparatus including a safety mechanism as below, other than the above, insofar as they fall within the scope of the appended claims.

For example, an aerial vehicle safety apparatus including a safety mechanism capable of emitting a pyrotechnic signal by using a drive mechanism may be applicable. The outside can be notified of an abnormal condition of an aerial vehicle and the pyrotechnic signal can be a mark for a location of retrieval in the event of crash of the aerial vehicle.

Alternatively, an aerial vehicle safety apparatus including a safety mechanism capable of ejecting a net (web) by using a drive mechanism may be applicable. By thus timely ejecting a net toward a hook or a protrusion, an aerial vehicle can be caught by the hook or the protrusion. Consequently, the aerial vehicle can be prevented from falling on and colliding against the ground.

Alternatively, an aerial vehicle safety apparatus including a safety mechanism capable of ejecting a shrunk or folded ring buoy (float) by using an ejection mechanism together with a drive mechanism and inflating and expanding the ring buoy by using the drive mechanism may be applicable. An aerial vehicle can thus be prevented from submerging and the ring buoy can be a mark for a location of retrieval in the event of crash of the aerial vehicle.

Alternatively, an aerial vehicle safety apparatus including a safety mechanism capable of ejecting a shrunk or folded ring buoy (float) and a parachute by using an ejection mechanism together with a drive mechanism and expanding the ring buoy and the parachute by using the drive mechanism may be applicable. Thus, a speed of falling in the event of crash of an aerial vehicle can be lowered, the aerial vehicle can be prevented from submerging, and the ring buoy and the parachute can be a mark for a location of retrieval in the event of crash of the aerial vehicle.

Alternatively, an aerial vehicle safety apparatus including a safety mechanism capable of ejecting a parachute together with a drive mechanism by using an ejection mechanism, cutting at least one of a plurality of coupling members that couple the parachute and an aerial vehicle to each other by using the drive mechanism after expansion of the parachute, causing the aerial vehicle to fall with the center of gravity of an airframe being displaced to turn the airframe sideways, and thereafter mitigating impact of collision against the ground by using an air bag apparatus provided in a side surface of the aerial vehicle on a falling side may be applicable.

Alternatively, an aerial vehicle safety apparatus including a safety mechanism capable of ejecting what is called a paramotor together with a drive mechanism by using an ejection mechanism and driving a motor by using the drive mechanism after full expansion of a parachute or a paraglider to rotate a propeller may be applicable. The parachute or the paraglider is thus prevented from being entangled with the propeller. The paramotor can fly by obtaining thrust by providing motive power (a propeller rotating machine based on a motor) in a harness of the parachute or the paraglider.

Alternatively, an aerial vehicle safety apparatus including a safety mechanism capable of ejecting a sound emission apparatus together with a drive mechanism by using an ejection mechanism, activating the sound emission apparatus in the event of crash of an aerial vehicle by using the drive mechanism, and notifying surroundings of danger may be applicable.

Alternatively, an aerial vehicle safety apparatus including a safety mechanism capable of ejecting an illumination apparatus (for example, a flash light) together with a drive mechanism by using an ejection mechanism, activating the illumination apparatus in the event of crash of an aerial vehicle by using the drive mechanism, and notifying surroundings of danger may be applicable.

Alternatively, an aerial vehicle safety apparatus including a safety mechanism capable of ejecting a fire extinguisher together with a drive mechanism by using an ejection mechanism, activating the fire extinguisher in the event of crash of an aerial vehicle by using the drive mechanism, and spraying an extinguishant to an airframe of the aerial vehicle and the surroundings may be applicable.

Alternatively, an aerial vehicle safety apparatus including a safety mechanism capable of ejecting a mounted object (for example, expensive apparatuses) with parachute mounted in advance to be ejectable by using an ejection mechanism and expanding the parachute for the mounted object with parachute by using a drive mechanism may be applicable. The mounted object with parachute can thus be protected with importance being placed thereon.

Alternatively, an aerial vehicle safety apparatus including a safety mechanism capable of ejecting a mounted object (for example, expensive apparatuses) with air bag apparatus mounted in advance to be ejectable by using an ejection mechanism and expanding by inflating an air bag for the mounted object with air bag apparatus by using a drive mechanism may be applicable. The mounted object with air bag apparatus can thus be protected with importance being placed thereon.

Alternatively, an aerial vehicle safety apparatus including a safety mechanism capable of ejecting a rescue signal transmission apparatus together with a drive mechanism by using an ejection mechanism, activating the rescue signal transmission apparatus in the event of crash of an aerial vehicle by using the drive mechanism, and transmitting a rescue signal to the outside may be applicable. Thus, in the event of crash of the aerial vehicle, a point of crash can be identified.

Alternatively, an aerial vehicle safety apparatus including a safety mechanism that ejects a black box (a flight recorder or the like) with parachute together with a drive mechanism by using an ejection mechanism and expands the parachute of the black box with parachute in the event of crash of an aerial vehicle by using the drive mechanism may be applicable. The black box with parachute can thus be protected with importance being placed thereon. Consequently, flight data can be protected.

Alternatively, an aerial vehicle safety apparatus including a safety mechanism that ejects a black box (a flight recorder or the like) with a ring buoy together with a drive mechanism by using an ejection mechanism and expands the ring buoy of the black box with ring buoy in the event of crash of an aerial vehicle by using the drive mechanism may be applicable. The black box with ring buoy can thus be protected with importance being placed thereon. Consequently, flight data can be protected. The ring buoy here is attached to the outside of the black box as being shrunk or folded before activation of the drive mechanism, and it can be inflated and expanded at the time of activation of the drive mechanism.

When a gas generator is used for ejection of an ejected object (a safety mechanism or the like) by an ejection mechanism, an aerial vehicle safety apparatus including a safety mechanism capable of canceling rotary moment of a falling aerial vehicle based on measurement data from a sensor, calculating timing of stabilization of a position of the aerial vehicle by using a controller, and activating the gas generator at this timing by using a drive mechanism to eject the ejected object may be applicable. By thus canceling rotary moment of the falling aerial vehicle by using reaction of the gas pressure of the gas generator, the position of the aerial vehicle can be stabilized.

Various safety mechanisms described above may be incorporated in an aerial vehicle safety apparatus as being combined as appropriate. Though the drive mechanism described above can inflate or drive each component of the safety mechanism by using the features described above, limitation to the construction described above is not intended and any conventionally known driving technique is applicable to the present invention.

The embodiments and the modifications thereof disclosed herein are illustrative and non-restrictive in every respect. The technical scope of the present invention is delimited by the terms of the claims and includes any modifications within the scope of the claims.

Claim 1:
An aerial vehicle safety apparatus (<NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>) attachable to an aerial vehicle (<NUM>; <NUM>, <NUM>; <NUM>; <NUM>; <NUM>) including a propulsive mechanism (<NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>), the aerial vehicle safety apparatus (<NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>) comprising:
a safety mechanism (<NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>) used for securing safety of at least one of the aerial vehicle (<NUM>; <NUM>, <NUM>; <NUM>; <NUM>; <NUM>) and an object outside the aerial vehicle (<NUM>; <NUM>, <NUM>; <NUM>; <NUM>; <NUM>);
a drive mechanism (<NUM>, <NUM>; <NUM>, <NUM>; <NUM>, <NUM>; 386a, 386b; 486a) including at least one drive unit serving as a drive source of the safety mechanism (<NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>);
an ejection mechanism (<NUM>; <NUM>, <NUM>; <NUM>) capable of ejecting the drive mechanism (<NUM>, <NUM>; <NUM>, <NUM>; <NUM>, <NUM>; 386a, 386b; 486a) together with the safety mechanism (<NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>); and
a control mechanism that controls operations of the drive mechanism for the drive mechanism to drive the safety mechanism (<NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>) after the ejection mechanism starts ejection of the safety mechanism (<NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>),
wherein the safety mechanism (<NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>; <NUM>) includes an expandable object that is wound or folded in a non-expanded state, the expandable object being capable of generating at least one of lift and buoyancy in an expanded state,
the ejection mechanism (<NUM>; <NUM>, <NUM>; <NUM>) includes an ejection apparatus coupled to the expandable object with a coupling member (<NUM>, <NUM>) being interposed, the ejection apparatus being configured to eject the non-expanded expandable object into air, and
the drive mechanism (<NUM>, <NUM>; <NUM>, <NUM>; <NUM>, <NUM>; 386a, 386b; 486a) includes an expansion mechanism provided in the expandable object, the expansion mechanism being configured to expand the expandable object.