Aerial vehicle
An aerial vehicle includes an airframe, a canopy capable of adjusting a speed of falling during falling, a brake cord having one end connected to the canopy, a wind-up apparatus provided in the airframe and being capable of winding up the other end of the brake cord, a sensor unit that detects a distance to an external object, and a controller that controls an operation of the wind-up apparatus based on a result of detection by the sensor unit. The wind-up apparatus includes a gas generator as a drive source. The controller has the wind-up apparatus operate to wind up the other end of the brake cord by activating the gas generator when the distance detected by the sensor unit is equal to or smaller than a prescribed value.
1. An aerial vehicle comprising:
an airframe;
a propulsive mechanism provided in the airframe, the propulsive mechanism propelling the airframe;
a canopy that forms a wing shape by receiving wind, the canopy being capable of adjusting a speed of falling during falling;
a brake cord having one end connected to the canopy;
a wind-up apparatus provided in the airframe, the wind-up apparatus being capable of winding up the other end of the brake cord;
a sensor unit that detects a distance to an external object; and
a controller that controls an operation of the wind-up apparatus based on a result of detection by the sensor unit,
the wind-up apparatus including a gas generator as a drive source, wherein
when the distance detected by the sensor unit is equal to or smaller than a prescribed value, the controller has the wind-up apparatus operate to wind up the other end of the brake cord by activating the gas generator.
2. The aerial vehicle according to claim 1 , wherein
the wind-up apparatus includes
a wind-up shaft around which the brake cord is wound up by being rotated in a direction of wind-up,
a rotary member capable of rotating the wind-up shaft in the direction of wind-up by being rotated in a prescribed direction, and
a movable member movable toward the rotary member,
the rotary member is provided with a plurality of first teeth,
the movable member is provided with a plurality of second teeth that can be meshed with the plurality of first teeth, and
as the movable member moves toward the rotary member by receiving a pressure of gas generated by the gas generator, the plurality of second teeth are meshed with the plurality of first teeth and the rotary member is rotated in the prescribed direction.
3. The aerial vehicle according to claim 1 , wherein
the wind-up apparatus includes
a wind-up shaft around which the brake cord is wound up by being rotated in a direction of wind-up,
a rotary member capable of rotating the wind-up shaft in the direction of wind-up by being rotated in a prescribed direction,
a ring-shaped member movable toward the rotary member, the ring-shaped member being capable of rotating the rotary member in the prescribed direction by being rotated in the prescribed direction, and
a motive power transmitter that transmits motive power to the ring-shaped member,
the motive power transmitter includes a pipe-shaped member, a motive power transmission element movably accommodated in the pipe-shaped member, and a piston capable of pressing the motive power transmission element,
the rotary member is provided with a plurality of first teeth,
the ring-shaped member is provided with a plurality of second teeth that can be meshed with the plurality of first teeth and a plurality of third teeth that can be engaged with the motive power transmission element, and
with movement of the ring-shaped member toward the rotary member by receiving motive power transmitted by the motive power transmission element moved by being pressed by the piston that receives a pressure of gas generated by the gas generator, the motive power transmission element is engaged with the plurality of third teeth and the plurality of second teeth are meshed with the plurality of first teeth, and then the rotary member is rotated in the prescribed direction.
4. The aerial vehicle according to claim 1 , wherein
the gas generator generates gas with burning of gunpowders or a propellant.
5. The aerial vehicle according to claim 1 , comprising a manipulation mechanism provided in the airframe, the brake cord being manipulated with the manipulation mechanism, wherein
the manipulation mechanism can wind up and unwind the other end of the brake cord and includes a driver as a drive source,
the wind-up apparatus is contained in the manipulation mechanism,
the controller controls an operation of the manipulation mechanism based on a result of detection by the sensor unit, and
when the distance detected by the sensor unit is larger than the prescribed value, the controller controls the operation of the manipulation mechanism by controlling the driver.
6. The aerial vehicle according to claim 1 , wherein
the sensor unit includes at least one of an acceleration sensor, a gyro sensor, a barometric pressure sensor, a GNSS apparatus, a laser sensor, an ultrasonic sensor, an infrared sensor, millimeter-wave radar, sub millimeter-wave radar, a speed sensor, and a wind direction sensor.